From f02b44bec57bcc70647b3ad921e87b6d21fc240c Mon Sep 17 00:00:00 2001 From: Don Gagne Date: Sat, 2 Mar 2024 09:27:44 -0800 Subject: [PATCH 001/102] Update to latest sitl gazebo camera --- Tools/simulation/gazebo-classic/sitl_gazebo-classic | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/simulation/gazebo-classic/sitl_gazebo-classic b/Tools/simulation/gazebo-classic/sitl_gazebo-classic index 33ac87a37676..da7206e05770 160000 --- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic +++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic @@ -1 +1 @@ -Subproject commit 33ac87a37676fb597de110e926bbf0a080169ffe +Subproject commit da7206e057703cc645770f02437013358b71e1c0 From e0b49afe817fce60f0b0057b7b9b48d5abffd972 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Fri, 1 Mar 2024 11:31:01 +0100 Subject: [PATCH 002/102] bmp388: Driver print out start BMP390 identifier when detected --- src/drivers/barometer/bmp388/bmp388.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/src/drivers/barometer/bmp388/bmp388.cpp b/src/drivers/barometer/bmp388/bmp388.cpp index 8178bc5785dd..50c40e0686f8 100644 --- a/src/drivers/barometer/bmp388/bmp388.cpp +++ b/src/drivers/barometer/bmp388/bmp388.cpp @@ -77,6 +77,7 @@ BMP388::init() if (_chip_id == BMP390_CHIP_ID) { _interface->set_device_type(DRV_BARO_DEVTYPE_BMP390); + this->_item_name = "bmp390"; } _chip_rev_id = _interface->get_reg(BMP3_REV_ID_ADDR); From 1bd65f8bebf99a20c2d31c2e78b26e3806f87ad4 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 4 Mar 2024 09:32:48 +0100 Subject: [PATCH 003/102] mantis-edu: remove duplicate RC define --- boards/atl/mantis-edu/src/board_config.h | 3 --- 1 file changed, 3 deletions(-) diff --git a/boards/atl/mantis-edu/src/board_config.h b/boards/atl/mantis-edu/src/board_config.h index 8b8a99b12e86..f589a6b728f8 100644 --- a/boards/atl/mantis-edu/src/board_config.h +++ b/boards/atl/mantis-edu/src/board_config.h @@ -64,9 +64,6 @@ // Hacks for MAVLink RC button input #define ATL_MANTIS_RC_INPUT_HACKS -// Hacks for MAVLink RC button input -#define ATL_MANTIS_RC_INPUT_HACKS - /* * ADC channels * From 87d79aeb750c7d3c3c6156ba580334503413cd25 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Wed, 28 Feb 2024 21:55:31 +0100 Subject: [PATCH 004/102] netman: generate default config if file doesn't exist ENOENT returns if the file doesn't exist yet, when using mtd /fs/mtd_net always exist. On a filesystem you've to generate the file so if ENOENT returns we've to regenerate the default config as well. --- src/systemcmds/netman/netman.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/systemcmds/netman/netman.cpp b/src/systemcmds/netman/netman.cpp index 1405aca4b17a..b9e653bdfeb1 100644 --- a/src/systemcmds/netman/netman.cpp +++ b/src/systemcmds/netman/netman.cpp @@ -201,7 +201,7 @@ class net_params struct ipv4cfg_s ipcfg; int rv = ipcfg_read(netdev, (FAR struct ipcfg_s *) &ipcfg, AF_INET); - if (rv == -EINVAL || + if (rv == -EINVAL || rv == -ENOENT || (rv == OK && (ipcfg.proto > IPv4PROTO_FALLBACK || ipcfg.ipaddr == 0xffffffff))) { // Build a default ipcfg.ipaddr = HTONL(DEFAULT_IP); From d28653b605738c78e45b128009cf19a771e774e2 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Wed, 28 Feb 2024 21:56:00 +0100 Subject: [PATCH 005/102] nuttx: update apps --- platforms/nuttx/NuttX/apps | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/platforms/nuttx/NuttX/apps b/platforms/nuttx/NuttX/apps index 616f7024a479..e37940d8535f 160000 --- a/platforms/nuttx/NuttX/apps +++ b/platforms/nuttx/NuttX/apps @@ -1 +1 @@ -Subproject commit 616f7024a479bf209eadce133bba5dc8820a7f99 +Subproject commit e37940d8535f603a16b8f6f21c21edaf584218aa From 0186d687b2ac3d62789806d341bd868b388c2504 Mon Sep 17 00:00:00 2001 From: Niklas Hauser Date: Thu, 29 Feb 2024 10:07:54 +0100 Subject: [PATCH 006/102] Add minimal Skynode RC13 config to the PAB manifest --- boards/px4/fmu-v5x/init/rc.board_defaults | 2 +- boards/px4/fmu-v5x/init/rc.board_mavlink | 2 +- boards/px4/fmu-v5x/init/rc.board_sensors | 2 +- boards/px4/fmu-v6x/init/rc.board_defaults | 2 +- boards/px4/fmu-v6x/init/rc.board_mavlink | 2 +- boards/px4/fmu-v6x/init/rc.board_sensors | 8 ++-- boards/px4/fmu-v6xrt/init/rc.board_mavlink | 2 +- platforms/common/pab_manifest.c | 49 ++++++++++++++++++++-- 8 files changed, 55 insertions(+), 14 deletions(-) diff --git a/boards/px4/fmu-v5x/init/rc.board_defaults b/boards/px4/fmu-v5x/init/rc.board_defaults index 83596bc9b209..30ff624b2f63 100644 --- a/boards/px4/fmu-v5x/init/rc.board_defaults +++ b/boards/px4/fmu-v5x/init/rc.board_defaults @@ -16,7 +16,7 @@ param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 1 -if ver hwbasecmp 008 009 00a 010 +if ver hwbasecmp 008 009 00a 010 011 then # Skynode: use the "custom participant" config for uxrce_dds_client param set-default UXRCE_DDS_PTCFG 2 diff --git a/boards/px4/fmu-v5x/init/rc.board_mavlink b/boards/px4/fmu-v5x/init/rc.board_mavlink index 8d1d7c1e38ab..1c85ceff4fe1 100644 --- a/boards/px4/fmu-v5x/init/rc.board_mavlink +++ b/boards/px4/fmu-v5x/init/rc.board_mavlink @@ -3,7 +3,7 @@ # board specific MAVLink startup script. #------------------------------------------------------------------------------ -if ver hwbasecmp 008 009 00a 010 +if ver hwbasecmp 008 009 00a 010 011 then # Start MAVLink on the UART connected to the mission computer mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z diff --git a/boards/px4/fmu-v5x/init/rc.board_sensors b/boards/px4/fmu-v5x/init/rc.board_sensors index e14364c9508e..1a0f426db6f4 100644 --- a/boards/px4/fmu-v5x/init/rc.board_sensors +++ b/boards/px4/fmu-v5x/init/rc.board_sensors @@ -49,7 +49,7 @@ then fi fi -if ver hwbasecmp 008 009 00a 010 +if ver hwbasecmp 008 009 00a 010 011 then #SKYNODE base fmu board orientation diff --git a/boards/px4/fmu-v6x/init/rc.board_defaults b/boards/px4/fmu-v6x/init/rc.board_defaults index 6500693173a5..95d873475b15 100644 --- a/boards/px4/fmu-v6x/init/rc.board_defaults +++ b/boards/px4/fmu-v6x/init/rc.board_defaults @@ -18,7 +18,7 @@ param set-default SENS_EN_INA238 0 param set-default SENS_EN_INA228 0 param set-default SENS_EN_INA226 0 -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then # Skynode: use the "custom participant" config for uxrce_dds_client param set-default UXRCE_DDS_PTCFG 2 diff --git a/boards/px4/fmu-v6x/init/rc.board_mavlink b/boards/px4/fmu-v6x/init/rc.board_mavlink index 4fef2264da97..713d7a41b72b 100644 --- a/boards/px4/fmu-v6x/init/rc.board_mavlink +++ b/boards/px4/fmu-v6x/init/rc.board_mavlink @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # if skynode base board is detected start Mavlink on Telem2 -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z diff --git a/boards/px4/fmu-v6x/init/rc.board_sensors b/boards/px4/fmu-v6x/init/rc.board_sensors index 077eb6f80ba2..f7b132af1117 100644 --- a/boards/px4/fmu-v6x/init/rc.board_sensors +++ b/boards/px4/fmu-v6x/init/rc.board_sensors @@ -56,7 +56,7 @@ then fi #Start Auterion Power Module selector for Skynode boards -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then pm_selector_auterion start else @@ -93,7 +93,7 @@ else icm20649 -s -R 6 start else # Internal SPI BMI088 - if ver hwbasecmp 009 010 + if ver hwbasecmp 009 010 011 then bmi088 -A -R 6 -s start bmi088 -G -R 6 -s start @@ -110,7 +110,7 @@ else fi # Internal SPI bus ICM42688p - if ver hwbasecmp 009 010 + if ver hwbasecmp 009 010 011 then icm42688p -R 12 -s start else @@ -127,7 +127,7 @@ else # Internal SPI bus ICM-42670-P (hard-mounted) icm42670p -R 10 -s start else - if ver hwbasecmp 009 010 + if ver hwbasecmp 009 010 011 then icm20602 -R 6 -s start else diff --git a/boards/px4/fmu-v6xrt/init/rc.board_mavlink b/boards/px4/fmu-v6xrt/init/rc.board_mavlink index 546949911863..5c1a00ff959d 100644 --- a/boards/px4/fmu-v6xrt/init/rc.board_mavlink +++ b/boards/px4/fmu-v6xrt/init/rc.board_mavlink @@ -4,7 +4,7 @@ #------------------------------------------------------------------------------ # if skynode base board is detected start Mavlink on Telem2 -if ver hwbasecmp 009 010 +if ver hwbasecmp 009 010 011 then mavlink start -d /dev/ttyS5 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z diff --git a/platforms/common/pab_manifest.c b/platforms/common/pab_manifest.c index aa2958631f2b..979bb5ecbc9b 100644 --- a/platforms/common/pab_manifest.c +++ b/platforms/common/pab_manifest.c @@ -294,11 +294,54 @@ static const px4_hw_mft_item_t base_configuration_9[] = { .connection = px4_hw_con_onboard, }, { - .id = PX4_MFT_PM2, + .id = PX4_MFT_ETHERNET, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_connector, + }, + { + .id = PX4_MFT_T100_ETH, .present = 1, .mandatory = 1, .connection = px4_hw_con_onboard, }, +}; + +// BASE ID 10 Skynode QS no USB Alaised to ID 9 +// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0 + +// BASE ID 17 Auterion Skynode RC13 with many parts removed +static const px4_hw_mft_item_t base_configuration_17[] = { + { + .id = PX4_MFT_PX4IO, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_USB, + .present = 1, + .mandatory = 1, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_CAN2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, + { + .id = PX4_MFT_CAN3, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_unknown, + }, + { + .id = PX4_MFT_PM2, + .present = 0, + .mandatory = 0, + .connection = px4_hw_con_onboard, + }, { .id = PX4_MFT_ETHERNET, .present = 1, @@ -313,9 +356,6 @@ static const px4_hw_mft_item_t base_configuration_9[] = { }, }; -// BASE ID 10 Skynode QS no USB Alaised to ID 9 -// BASE ID 16 Auterion Skynode RC10, RC11, RC12, RC13 Alaised to ID 0 - static px4_hw_mft_list_entry_t mft_lists[] = { // ver_rev @@ -329,6 +369,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = { {HW_BASE_ID(9), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 9 {HW_BASE_ID(10), base_configuration_9, arraySize(base_configuration_9)}, // Auterion Skynode ver 10 {HW_BASE_ID(16), base_configuration_0, arraySize(base_configuration_0)}, // Auterion Skynode ver 16 + {HW_BASE_ID(17), base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17 }; /************************************************************************************ From 23a41299fa02e69e0445ef245b9409f787c91724 Mon Sep 17 00:00:00 2001 From: Sihyun Noh Date: Tue, 5 Mar 2024 17:00:08 +0900 Subject: [PATCH 007/102] mag calibration: minor cleanup (#22830) --- src/modules/commander/mag_calibration.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/commander/mag_calibration.cpp b/src/modules/commander/mag_calibration.cpp index 3fff697d4940..02ab015e0f17 100644 --- a/src/modules/commander/mag_calibration.cpp +++ b/src/modules/commander/mag_calibration.cpp @@ -1006,8 +1006,8 @@ int do_mag_calibration_quick(orb_advert_t *mavlink_log_pub, float heading_radian return PX4_ERROR; } - calibration_log_critical(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees", - (double)math::radians(heading_radians)); + calibration_log_info(mavlink_log_pub, "Assuming vehicle is facing heading %.1f degrees", + (double)math::degrees(heading_radians)); matrix::Eulerf euler{matrix::Quatf{attitude.q}}; euler(2) = heading_radians; From 9cef8346245b07c81dd52e679e0283eefaf66d97 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Tue, 5 Mar 2024 09:59:28 +0100 Subject: [PATCH 008/102] fmu-v6xrt: update px4board enables vtol --- boards/px4/fmu-v6xrt/default.px4board | 27 +++++++++++++++++++++++---- boards/px4/fmu-v6xrt/rover.px4board | 7 ++++++- 2 files changed, 29 insertions(+), 5 deletions(-) diff --git a/boards/px4/fmu-v6xrt/default.px4board b/boards/px4/fmu-v6xrt/default.px4board index b5e2e23af38c..f9961fd7bbfb 100644 --- a/boards/px4/fmu-v6xrt/default.px4board +++ b/boards/px4/fmu-v6xrt/default.px4board @@ -6,21 +6,30 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS3" CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2" CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS5" CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS6" +CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_BMP388=y +CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y CONFIG_DRIVERS_BAROMETER_MS5611=y CONFIG_DRIVERS_CAMERA_CAPTURE=y CONFIG_DRIVERS_CAMERA_TRIGGER=y -CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y +CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y +CONFIG_COMMON_DISTANCE_SENSOR=y CONFIG_DRIVERS_DSHOT=y CONFIG_DRIVERS_GPS=y +CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y CONFIG_DRIVERS_IMU_BOSCH_BMI088=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y +CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y +CONFIG_COMMON_INS=y CONFIG_COMMON_LIGHT=y -CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y -CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y -CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y +CONFIG_COMMON_MAGNETOMETER=y +CONFIG_DRIVERS_OSD_MSP_OSD=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_POWER_MONITOR_INA228=y CONFIG_DRIVERS_POWER_MONITOR_INA238=y @@ -32,14 +41,20 @@ CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y CONFIG_DRIVERS_UAVCAN=y CONFIG_COMMON_UWB=y +CONFIG_MODULES_AIRSPEED_SELECTOR=y CONFIG_MODULES_BATTERY_STATUS=y CONFIG_MODULES_CAMERA_FEEDBACK=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y CONFIG_MODULES_EKF2=y +CONFIG_MODULES_ESC_BATTERY=y CONFIG_MODULES_EVENTS=y CONFIG_MODULES_FLIGHT_MODE_MANAGER=y +CONFIG_MODULES_FW_ATT_CONTROL=y +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y +CONFIG_MODULES_FW_POS_CONTROL=y +CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_GYRO_FFT=y @@ -57,11 +72,15 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y CONFIG_MODULES_MC_POS_CONTROL=y CONFIG_MODULES_MC_RATE_CONTROL=y CONFIG_MODULES_NAVIGATOR=y +CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y +CONFIG_MODULES_UXRCE_DDS_CLIENT=y +CONFIG_MODULES_VTOL_ATT_CONTROL=y CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y +CONFIG_SYSTEMCMDS_BSONDUMP=y CONFIG_SYSTEMCMDS_DMESG=y CONFIG_SYSTEMCMDS_DUMPFILE=y CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board index 639bac90a099..f754c54e36f7 100644 --- a/boards/px4/fmu-v6xrt/rover.px4board +++ b/boards/px4/fmu-v6xrt/rover.px4board @@ -1,11 +1,16 @@ +CONFIG_MODULES_AIRSPEED_SELECTOR=n CONFIG_MODULES_FLIGHT_MODE_MANAGER=n +CONFIG_MODULES_FW_ATT_CONTROL=n +CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n +CONFIG_MODULES_FW_POS_CONTROL=n +CONFIG_MODULES_FW_RATE_CONTROL=n CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n -CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_ATT_CONTROL=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n CONFIG_MODULES_MC_POS_CONTROL=n CONFIG_MODULES_MC_RATE_CONTROL=n +CONFIG_MODULES_VTOL_ATT_CONTROL=n CONFIG_EKF2_AUX_GLOBAL_POSITION=y # CONFIG_EKF2_WIND is not set CONFIG_MODULES_DIFFERENTIAL_DRIVE=y From d1ae242a918cfc235407a3004938e8c912f22ee8 Mon Sep 17 00:00:00 2001 From: Peter van der Perk Date: Tue, 5 Mar 2024 15:11:14 +0100 Subject: [PATCH 009/102] v6x-rt: fix rover build regression --- boards/px4/fmu-v6xrt/rover.px4board | 1 + 1 file changed, 1 insertion(+) diff --git a/boards/px4/fmu-v6xrt/rover.px4board b/boards/px4/fmu-v6xrt/rover.px4board index f754c54e36f7..2e75c9bdb47b 100644 --- a/boards/px4/fmu-v6xrt/rover.px4board +++ b/boards/px4/fmu-v6xrt/rover.px4board @@ -5,6 +5,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_FW_POS_CONTROL=n CONFIG_MODULES_FW_RATE_CONTROL=n CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n +CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n CONFIG_MODULES_MC_ATT_CONTROL=n CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n From 67e68783cfbc6fe53b630e7ae762e4178d4ae1b7 Mon Sep 17 00:00:00 2001 From: PX4 BuildBot Date: Tue, 5 Mar 2024 12:39:23 +0000 Subject: [PATCH 010/102] Update submodule gz to latest Tue Mar 5 12:39:22 UTC 2024 - gz in PX4/Firmware (5f8f0213a807d327a30a7df05e58f7887cf936ab): https://github.com/PX4/PX4-gazebo-models/commit/222833656802532ec2271986a65fd198cfa48259 - gz current upstream: https://github.com/PX4/PX4-gazebo-models/commit/6b4ed09d1b495fbff663f098979cc046df013abd - Changes: https://github.com/PX4/PX4-gazebo-models/compare/222833656802532ec2271986a65fd198cfa48259...6b4ed09d1b495fbff663f098979cc046df013abd 6b4ed09 2024-02-23 Sergei Grichine - Added IMU sensor noise to the model, to avoid STALE messages (#34) 953e02b 2024-02-22 frede791 - add imu sensor model noise --- Tools/simulation/gz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Tools/simulation/gz b/Tools/simulation/gz index 222833656802..6b4ed09d1b49 160000 --- a/Tools/simulation/gz +++ b/Tools/simulation/gz @@ -1 +1 @@ -Subproject commit 222833656802532ec2271986a65fd198cfa48259 +Subproject commit 6b4ed09d1b495fbff663f098979cc046df013abd From 6f9a37824732a676bf082628ea5ac4b243b44c64 Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 5 Mar 2024 16:23:38 +0100 Subject: [PATCH 011/102] yaw_est: force set gyro bias when at rest The gyro bias estimate from EFK2 is really good when at rest and should be used by the yaw estimator to prevent heading drifts due to poor heading observability. --- src/modules/ekf2/EKF/EKFGSF_yaw.h | 4 ++-- src/modules/ekf2/EKF/gps_control.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/EKFGSF_yaw.h b/src/modules/ekf2/EKF/EKFGSF_yaw.h index 3719aec7cebd..7add1dedef7a 100644 --- a/src/modules/ekf2/EKF/EKFGSF_yaw.h +++ b/src/modules/ekf2/EKF/EKFGSF_yaw.h @@ -67,11 +67,11 @@ class EKFGSF_yaw void setTrueAirspeed(float true_airspeed) { _true_airspeed = true_airspeed; } - void setGyroBias(const Vector3f &imu_gyro_bias) + void setGyroBias(const Vector3f &imu_gyro_bias, const bool force = false) { // Initialise to gyro bias estimate from main filter because there could be a large // uncorrected rate gyro bias error about the gravity vector - if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started) { + if (!_ahrs_ekf_gsf_tilt_aligned || !_ekf_gsf_vel_fuse_started || force) { // init gyro bias for each model for (uint8_t model_index = 0; model_index < N_MODELS_EKFGSF; model_index++) { _ahrs_ekf_gsf[model_index].gyro_bias = imu_gyro_bias; diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index d86020815a8b..cf2f9eb7b454 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -47,7 +47,7 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed) } if (!gyro_bias_inhibited()) { - _yawEstimator.setGyroBias(getGyroBias()); + _yawEstimator.setGyroBias(getGyroBias(), _control_status.flags.vehicle_at_rest); } // run EKF-GSF yaw estimator once per imu_delayed update From c5835a48deb2abc7d403aaab7a657e1a5f624af8 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 6 Mar 2024 15:51:54 +0100 Subject: [PATCH 012/102] FW Position Controller: do not publish roll angle constrain warning in VTOL transition (#22842) * FW Position Control: some cosmetical changes Signed-off-by: Silvan Fuhrer * FW Position Control: disable roll constraining warning in VTOL transition In transitions it is expected that the roll is constrained, and instead of defining an aribitrary threshold let's rather disable the user warning in that case. Signed-off-by: Silvan Fuhrer * FW Pos C: define magic numbers for roll constraining warning as constants Signed-off-by: Silvan Fuhrer --------- Signed-off-by: Silvan Fuhrer --- .../fw_pos_control/FixedwingPositionControl.cpp | 14 ++++++++------ .../fw_pos_control/FixedwingPositionControl.hpp | 7 +++++++ 2 files changed, 15 insertions(+), 6 deletions(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 8b79e1ee4d02..f850e6e22a36 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -512,25 +512,27 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint() float new_roll_setpoint(_npfg.getRollSetpoint()); const float can_run_factor(constrain(_npfg.canRun(_local_pos, _wind_valid), 0.f, 1.f)); - // If the npfg was not running before, reset the user warning variables. hrt_abstime now{hrt_absolute_time()}; - if ((now - _time_since_last_npfg_call) > 2_s) { + // Warn the user when the scale is less than 90% for at least 2 seconds (disable in transition) + + // If the npfg was not running before, reset the user warning variables. + if ((now - _time_since_last_npfg_call) > ROLL_WARNING_TIMEOUT) { _need_report_npfg_uncertain_condition = true; _time_since_first_reduced_roll = 0U; } - // Warn the user when the scale is less than 90% for at least 2 seconds. - if ((1.f - can_run_factor) < 0.1f) { + if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD) { + // NPFG reports a good condition or we are in transition, reset the user warning variables. _need_report_npfg_uncertain_condition = true; _time_since_first_reduced_roll = 0U; } else if (_need_report_npfg_uncertain_condition) { if (_time_since_first_reduced_roll == 0U) { - _time_since_first_reduced_roll = hrt_absolute_time(); + _time_since_first_reduced_roll = now; } - if ((now - _time_since_first_reduced_roll) > 2_s) { + if ((now - _time_since_first_reduced_roll) > ROLL_WARNING_TIMEOUT) { _need_report_npfg_uncertain_condition = false; events::send(events::ID("npfg_roll_command_uncertain"), events::Log::Warning, "Roll command reduced due to uncertain velocity/wind estimates!"); diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp index 43887707c8be..277ba35fbf79 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -169,6 +169,13 @@ static constexpr float POST_TOUCHDOWN_CLAMP_TIME = 0.5f; // [m/s] maximum reference altitude rate threshhold static constexpr float MAX_ALT_REF_RATE_FOR_LEVEL_FLIGHT = 0.1f; +// [s] Timeout that has to pass in roll-constraining failsafe before warning is triggered +static constexpr uint64_t ROLL_WARNING_TIMEOUT = 2_s; + +// [-] Can-run threshold needed to trigger the roll-constraining failsafe warning +static constexpr float ROLL_WARNING_CAN_RUN_THRESHOLD = 0.9f; + + class FixedwingPositionControl final : public ModuleBase, public ModuleParams, public px4::WorkItem { From d96970a2b9829147217ddfa6725157b6c53eef11 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 12:55:38 -0500 Subject: [PATCH 013/102] sensor/vehicle_magnetometer: sensor update loop limit iterations - place upper bound to prevent looping indefinitely (high publish rate, etc) --- .../sensors/vehicle_magnetometer/VehicleMagnetometer.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp index 6bb7c5ef5b2c..df90ffdf9006 100644 --- a/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp +++ b/src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp @@ -461,9 +461,11 @@ void VehicleMagnetometer::Run() } if (_advertised[uorb_index]) { + int sensor_mag_updates = 0; sensor_mag_s report; - while (_sensor_sub[uorb_index].update(&report)) { + while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_sub[uorb_index].update(&report)) { + sensor_mag_updates++; if (_calibration[uorb_index].device_id() != report.device_id) { _calibration[uorb_index].set_device_id(report.device_id); From 87960c04d8d5c170f9fefae81922a5f2d814e5ed Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 12:57:58 -0500 Subject: [PATCH 014/102] mag_bias_estimator: sensor update loop limit iterations --- src/modules/mag_bias_estimator/MagBiasEstimator.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/mag_bias_estimator/MagBiasEstimator.cpp b/src/modules/mag_bias_estimator/MagBiasEstimator.cpp index 4ef331a0710a..e386170a210c 100644 --- a/src/modules/mag_bias_estimator/MagBiasEstimator.cpp +++ b/src/modules/mag_bias_estimator/MagBiasEstimator.cpp @@ -157,10 +157,11 @@ void MagBiasEstimator::Run() bool updated = false; for (int mag_index = 0; mag_index < MAX_SENSOR_COUNT; mag_index++) { + int sensor_mag_updates = 0; sensor_mag_s sensor_mag; - while (_sensor_mag_subs[mag_index].update(&sensor_mag)) { - + while ((sensor_mag_updates < sensor_mag_s::ORB_QUEUE_LENGTH) && _sensor_mag_subs[mag_index].update(&sensor_mag)) { + sensor_mag_updates++; updated = true; // apply existing mag calibration From 2bf1eeb0031a3487c5c30ba498bd9eacccbdc30f Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 12:59:46 -0500 Subject: [PATCH 015/102] sensors/vehicle_acceleration: sensor update loop limit iterations --- .../sensors/vehicle_acceleration/VehicleAcceleration.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp index 05373e0e22d4..938e926a616f 100644 --- a/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp +++ b/src/modules/sensors/vehicle_acceleration/VehicleAcceleration.cpp @@ -231,9 +231,12 @@ void VehicleAcceleration::Run() } // process all outstanding messages + int sensor_sub_updates = 0; sensor_accel_s sensor_data; - while (_sensor_sub.update(&sensor_data)) { + while ((sensor_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) { + sensor_sub_updates++; + const Vector3f accel_raw{sensor_data.x, sensor_data.y, sensor_data.z}; if (accel_raw.isAllFinite()) { From 1fc38aab921e092b4adf4560c5fc172d1f39bd69 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 13:07:17 -0500 Subject: [PATCH 016/102] sensors/vehicle_air_data: sensor update loop limit iterations --- src/modules/sensors/vehicle_air_data/VehicleAirData.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp index d8654c4071ad..c18d670cfc44 100644 --- a/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp +++ b/src/modules/sensors/vehicle_air_data/VehicleAirData.cpp @@ -163,9 +163,11 @@ void VehicleAirData::Run() } if (_advertised[uorb_index]) { + int sensor_sub_updates = 0; sensor_baro_s report; - while (_sensor_sub[uorb_index].update(&report)) { + while ((sensor_sub_updates < sensor_baro_s::ORB_QUEUE_LENGTH) && _sensor_sub[uorb_index].update(&report)) { + sensor_sub_updates++; if (_calibration[uorb_index].device_id() != report.device_id) { _calibration[uorb_index].set_device_id(report.device_id); From 8b6c70e0f2992bc5add859cd427489f33d3bbf62 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 13:07:32 -0500 Subject: [PATCH 017/102] sensors/vehicle_angular_velocity: sensor update loop limit iterations --- .../VehicleAngularVelocity.cpp | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp index f2b0d3540b7d..b1eac451529a 100644 --- a/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp +++ b/src/modules/sensors/vehicle_angular_velocity/VehicleAngularVelocity.cpp @@ -822,9 +822,12 @@ void VehicleAngularVelocity::Run() if (_fifo_available) { // process all outstanding fifo messages + int sensor_sub_updates = 0; sensor_gyro_fifo_s sensor_fifo_data; - while (_sensor_gyro_fifo_sub.update(&sensor_fifo_data)) { + while ((sensor_sub_updates < sensor_gyro_fifo_s::ORB_QUEUE_LENGTH) && _sensor_gyro_fifo_sub.update(&sensor_fifo_data)) { + sensor_sub_updates++; + const float inverse_dt_s = 1e6f / sensor_fifo_data.dt; const int N = sensor_fifo_data.samples; static constexpr int FIFO_SIZE_MAX = sizeof(sensor_fifo_data.x) / sizeof(sensor_fifo_data.x[0]); @@ -863,9 +866,12 @@ void VehicleAngularVelocity::Run() } else { // process all outstanding messages + int sensor_sub_updates = 0; sensor_gyro_s sensor_data; - while (_sensor_sub.update(&sensor_data)) { + while ((sensor_sub_updates < sensor_gyro_s::ORB_QUEUE_LENGTH) && _sensor_sub.update(&sensor_data)) { + sensor_sub_updates++; + if (Vector3f(sensor_data.x, sensor_data.y, sensor_data.z).isAllFinite()) { if (_timestamp_sample_last == 0 || (sensor_data.timestamp_sample <= _timestamp_sample_last)) { From 1c741836c009d4659ac3f1ae29e1e162931cfb87 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Mon, 4 Mar 2024 13:07:40 -0500 Subject: [PATCH 018/102] sensors/vehicle_imu: sensor update loop limit iterations --- src/modules/sensors/vehicle_imu/VehicleIMU.cpp | 12 +++++++++++- 1 file changed, 11 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp index 2e50a9460852..f5b73434969d 100644 --- a/src/modules/sensors/vehicle_imu/VehicleIMU.cpp +++ b/src/modules/sensors/vehicle_imu/VehicleIMU.cpp @@ -194,7 +194,12 @@ void VehicleIMU::Run() // reset data gap monitor _data_gap = false; - while (_sensor_gyro_sub.updated() || _sensor_accel_sub.updated()) { + int sensor_sub_updates = 0; + + while ((_sensor_gyro_sub.updated() || _sensor_accel_sub.updated()) + && (sensor_sub_updates < math::max(sensor_accel_s::ORB_QUEUE_LENGTH, sensor_gyro_s::ORB_QUEUE_LENGTH))) { + sensor_sub_updates++; + bool updated = false; bool consume_all_gyro = !_intervals_configured || _data_gap; @@ -222,11 +227,16 @@ void VehicleIMU::Run() // update accel until integrator ready and caught up to gyro + int sensor_accel_sub_updates = 0; + while (_sensor_accel_sub.updated() + && (sensor_accel_sub_updates < sensor_accel_s::ORB_QUEUE_LENGTH) && (!_accel_integrator.integral_ready() || !_intervals_configured || _data_gap || (_accel_timestamp_sample_last < (_gyro_timestamp_sample_last - 0.5f * _accel_interval_us))) ) { + sensor_accel_sub_updates++; + if (UpdateAccel()) { updated = true; } From bb5efa557721ae4735c10db9e80d89e9c0a1d8cf Mon Sep 17 00:00:00 2001 From: cuav-liu1 Date: Thu, 29 Feb 2024 10:43:59 +0800 Subject: [PATCH 019/102] ICP201: increase config delay --- src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp b/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp index 490aa8885784..4cc21739323a 100755 --- a/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp +++ b/src/drivers/barometer/invensense/icp201xx/ICP201XX.cpp @@ -251,7 +251,7 @@ ICP201XX::RunImpl() case STATE::CONFIG: { if (configure()) { _state = STATE::WAIT_READ; - ScheduleDelayed(30_ms); + ScheduleDelayed(50_ms); } else { if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { From 1e253a96264d5d05c52deb00b4950d95bf01d4cf Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 7 Mar 2024 10:22:25 +0100 Subject: [PATCH 020/102] VTOL: treat Descend mode as Land (#22843) * vtol_type: enable pusher assist also in Descend mode Signed-off-by: Silvan Fuhrer * vtol_type: treat Descend as Land for pusher assist Signed-off-by: Silvan Fuhrer --------- Signed-off-by: Silvan Fuhrer --- .../vtol_att_control/standard_params.c | 1 + src/modules/vtol_att_control/vtol_type.cpp | 28 +++++++++---------- 2 files changed, 15 insertions(+), 14 deletions(-) diff --git a/src/modules/vtol_att_control/standard_params.c b/src/modules/vtol_att_control/standard_params.c index 51b75a159b06..f46f644f181d 100644 --- a/src/modules/vtol_att_control/standard_params.c +++ b/src/modules/vtol_att_control/standard_params.c @@ -48,6 +48,7 @@ * Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). * Only active if demanded down pitch is below VT_PITCH_MIN. * Use VT_FWD_THRUST_SC to tune it. + * Descend mode is treated as Landing too. * * Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized. * diff --git a/src/modules/vtol_att_control/vtol_type.cpp b/src/modules/vtol_att_control/vtol_type.cpp index 45f655101d83..808c9c03c2a9 100644 --- a/src/modules/vtol_att_control/vtol_type.cpp +++ b/src/modules/vtol_att_control/vtol_type.cpp @@ -444,16 +444,21 @@ float VtolType::pusher_assist() } + // the vehicle is "landing" if it is in auto mode and the type is set to LAND, and + // "descending" if it is in auto and climb rate controlled but not altitude controlled + const bool vehicle_is_landing_or_descending = _v_control_mode->flag_control_auto_enabled + && ((_attc->get_pos_sp_triplet()->current.valid + && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND) || + (_v_control_mode->flag_control_climb_rate_enabled && !_v_control_mode->flag_control_altitude_enabled)); + // disable pusher assist depending on setting of forward_thrust_enable_mode: switch (_param_vt_fwd_thrust_en.get()) { case DISABLE: // disable in all modes return 0.0f; break; - case ENABLE_WITHOUT_LAND: // disable in land mode - if (_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - && _v_control_mode->flag_control_auto_enabled) { + case ENABLE_WITHOUT_LAND: // disable in land/descend mode + if (vehicle_is_landing_or_descending) { return 0.0f; } @@ -473,10 +478,8 @@ float VtolType::pusher_assist() break; - case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land mode - if ((_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - && _v_control_mode->flag_control_auto_enabled) || + case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land/descend mode + if (vehicle_is_landing_or_descending || (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _param_mpc_land_alt1.get()))) { return 0.0f; } @@ -484,9 +487,7 @@ float VtolType::pusher_assist() break; case ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND: // disable if below MPC_LAND_ALT2 or in land mode - if ((_attc->get_pos_sp_triplet()->current.valid - && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND - && _v_control_mode->flag_control_auto_enabled) || + if (vehicle_is_landing_or_descending || (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _param_mpc_land_alt2.get()))) { return 0.0f; } @@ -494,10 +495,9 @@ float VtolType::pusher_assist() break; } - // if the thrust scale param is zero or the drone is not in some position or altitude control mode, + // if the thrust scale param is zero or the drone is not in a climb rate controlled mode, // then the pusher-for-pitch strategy is disabled and we can return - if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_position_enabled - || _v_control_mode->flag_control_altitude_enabled)) { + if (_param_vt_fwd_thrust_sc.get() < FLT_EPSILON || !(_v_control_mode->flag_control_climb_rate_enabled)) { return 0.0f; } From 421f13e4b5550a3aa13f6fdd7684b2a0dccd6660 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 6 Mar 2024 17:25:06 +0100 Subject: [PATCH 021/102] ekf2: fix joseph covariance update for Schmidt-Kalman filter If part of the Kalman gain is zeroed, the first step of the joseph update does not produce a symmetrical matrix. --- src/lib/matrix/matrix/Matrix.hpp | 18 ++++++++++++++++++ src/modules/ekf2/EKF/ekf.h | 20 +++++++++++++++----- src/modules/ekf2/EKF/ekf_helper.cpp | 22 +++++++++++++++++----- 3 files changed, 50 insertions(+), 10 deletions(-) diff --git a/src/lib/matrix/matrix/Matrix.hpp b/src/lib/matrix/matrix/Matrix.hpp index 33d2e6cbf0bc..14400683f0ef 100644 --- a/src/lib/matrix/matrix/Matrix.hpp +++ b/src/lib/matrix/matrix/Matrix.hpp @@ -162,6 +162,24 @@ class Matrix return res; } + // Using this function reduces the number of temporary variables needed to compute A * B.T + template + Matrix multiplyByTranspose(const Matrix &other) const + { + Matrix res; + const Matrix &self = *this; + + for (size_t i = 0; i < M; i++) { + for (size_t k = 0; k < P; k++) { + for (size_t j = 0; j < N; j++) { + res(i, k) += self(i, j) * other(k, j); + } + } + } + + return res; + } + // Element-wise multiplication Matrix emult(const Matrix &other) const { diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index 11b98f4173e6..edffd17974d0 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -472,6 +472,17 @@ class Ekf final : public EstimatorInterface { clearInhibitedStateKalmanGains(K); +#if false + // Matrix implementation of the Joseph stabilized covariance update + // This is extremely expensive to compute. Use for debugging purposes only. + auto A = matrix::eye(); + A -= K.multiplyByTranspose(H); + P = A * P; + P = P.multiplyByTranspose(A); + + const VectorState KR = K * R; + P += KR.multiplyByTranspose(K); +#else // Efficient implementation of the Joseph stabilized covariance update // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" @@ -479,9 +490,8 @@ class Ekf final : public EstimatorInterface VectorState PH = P * H; for (unsigned i = 0; i < State::size; i++) { - for (unsigned j = 0; j <= i; j++) { - P(i, j) = P(i, j) - K(i) * PH(j); - P(j, i) = P(i, j); + for (unsigned j = 0; j < State::size; j++) { + P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed) } } @@ -490,11 +500,11 @@ class Ekf final : public EstimatorInterface for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j <= i; j++) { - float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i)); - P(i, j) = s + K(i) * R * K(j); + P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j); P(j, i) = P(i, j); } } +#endif constrainStateVariances(); diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 3a030cf63222..032d35fb31a6 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -850,6 +850,19 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c clearInhibitedStateKalmanGains(K); +#if false + // Matrix implementation of the Joseph stabilized covariance update + // This is extremely expensive to compute. Use for debugging purposes only. + auto A = matrix::eye(); + VectorState H; + H(state_index) = 1.f; + A -= K.multiplyByTranspose(H); + P = A * P; + P = P.multiplyByTranspose(A); + + const VectorState KR = K * R; + P += KR.multiplyByTranspose(K); +#else // Efficient implementation of the Joseph stabilized covariance update // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" @@ -857,9 +870,8 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c VectorState PH = P.row(state_index); for (unsigned i = 0; i < State::size; i++) { - for (unsigned j = 0; j <= i; j++) { - P(i, j) = P(i, j) - K(i) * PH(j); - P(j, i) = P(i, j); + for (unsigned j = 0; j < State::size; j++) { + P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed) } } @@ -868,11 +880,11 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j <= i; j++) { - float s = .5f * (P(i, j) - PH(i) * K(j) + P(i, j) - PH(j) * K(i)); - P(i, j) = s + K(i) * R * K(j); + P(i, j) = P(i, j) - PH(i) * K(j) + K(i) * R * K(j); P(j, i) = P(i, j); } } +#endif constrainStateVariances(); From 2bacb4b65d1a92061cef03779c778e0e8559b787 Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 7 Mar 2024 10:06:53 +0100 Subject: [PATCH 022/102] ekf2: update change indicator --- .../test/change_indication/ekf_gsf_reset.csv | 748 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 656 +++++++-------- 2 files changed, 702 insertions(+), 702 deletions(-) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 2fd39cd68ea8..4e362275b7ec 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -12,380 +12,380 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7 990000,1,-0.0099,-0.013,0.00013,0.015,0.0064,-0.092,0.0022,0.0014,-0.029,1.6e-05,-1.5e-05,3.3e-07,0,0,-0.00016,0,0,0,0,0,0,0,0,0.021,0.021,0.00065,1.5,1.5,2,0.3,0.3,0.61,0.0099,0.01,0.00068,0.04,0.04,0.04,0.0025,0.0025,0.0025,0.0025,0.0025,0.0025,1,1 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+34790000,-0.27,0.015,-0.0078,0.96,0.062,0.088,2.7,0.089,-0.028,0.28,-0.0013,-0.0057,5.5e-05,0.077,-0.034,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.02,0.021,0.005,0.39,0.39,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.00011,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1 +34890000,-0.27,0.015,-0.0077,0.96,0.071,0.089,3.7,0.095,-0.019,0.57,-0.0013,-0.0057,6.1e-05,0.077,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.021,0.023,0.005,0.4,0.41,0.03,2.6e-07,2.3e-07,2e-06,0.028,0.028,0.0001,0.0011,5.3e-05,0.0012,0.0011,0.00061,0.0012,1,1 From 0639f5370c39aeb626c27a0570829668d409a76e Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 7 Mar 2024 15:03:59 +0100 Subject: [PATCH 023/102] ekf2: fix mag and wind covariance prediction --- src/modules/ekf2/EKF/covariance.cpp | 21 ++++++++++++++++++--- 1 file changed, 18 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/covariance.cpp b/src/modules/ekf2/EKF/covariance.cpp index b1a4fff58df0..c6ba03f25622 100644 --- a/src/modules/ekf2/EKF/covariance.cpp +++ b/src/modules/ekf2/EKF/covariance.cpp @@ -166,11 +166,21 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) if (_control_status.flags.mag) { // mag_I: add process noise float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f); - P.slice(State::mag_I.idx, 0) += sq(mag_I_sig); + float mag_I_process_noise = sq(mag_I_sig); + + for (unsigned index = 0; index < State::mag_I.dof; index++) { + const unsigned i = State::mag_I.idx + index; + P(i, i) += mag_I_process_noise; + } // mag_B: add process noise float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f); - P.slice(State::mag_B.idx, 0) += sq(mag_B_sig); + float mag_B_process_noise = sq(mag_B_sig); + + for (unsigned index = 0; index < State::mag_B.dof; index++) { + const unsigned i = State::mag_B.idx + index; + P(i, i) += mag_B_process_noise; + } } #endif // CONFIG_EKF2_MAGNETOMETER @@ -179,7 +189,12 @@ void Ekf::predictCovariance(const imuSample &imu_delayed) if (_control_status.flags.wind) { // wind vel: add process noise float wind_vel_nsd_scaled = math::constrain(_params.wind_vel_nsd, 0.f, 1.f) * (1.f + _params.wind_vel_nsd_scaler * fabsf(_height_rate_lpf)); - P.slice(State::wind_vel.idx, 0) += sq(wind_vel_nsd_scaled) * dt; + float wind_vel_process_noise = sq(wind_vel_nsd_scaled) * dt; + + for (unsigned index = 0; index < State::wind_vel.dof; index++) { + const unsigned i = State::wind_vel.idx + index; + P(i, i) += wind_vel_process_noise; + } } #endif // CONFIG_EKF2_WIND From 0d0978b3b9349c7dcc91ad4f51a5fd8a59358d7c Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 7 Mar 2024 15:13:32 +0100 Subject: [PATCH 024/102] ekf2: update change indicator --- .../test/change_indication/ekf_gsf_reset.csv | 410 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 290 ++++++------- 2 files changed, 350 insertions(+), 350 deletions(-) diff --git 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+34890000,-0.27,0.015,-0.0077,0.96,0.071,0.089,3.7,0.095,-0.02,0.57,-0.0013,-0.0057,6e-05,0.077,-0.033,-0.12,-0.11,-0.024,0.5,0.081,-0.034,-0.067,0,0,0.00036,0.00033,0.042,0.021,0.023,0.005,0.4,0.41,0.03,2.6e-07,2.3e-07,2.1e-06,0.028,0.028,0.0001,0.0011,5.3e-05,0.0012,0.0011,0.00062,0.0012,1,1 From e20215087f7bec80649ff1d5a6e86c059089e732 Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Thu, 7 Mar 2024 15:11:37 -0800 Subject: [PATCH 025/102] Moving from Qurt specific icm4266p driver to mainline version --- boards/modalai/voxl2-slpi/default.px4board | 1 + boards/modalai/voxl2-slpi/src/CMakeLists.txt | 1 - .../src/drivers/icm42688p/CMakeLists.txt | 48 - .../src/drivers/icm42688p/ICM42688P.cpp | 991 ------------------ .../src/drivers/icm42688p/ICM42688P.hpp | 235 ----- .../InvenSense_ICM42688P_registers.hpp | 430 -------- .../src/drivers/icm42688p/icm42688p_main.cpp | 116 -- .../imu/invensense/icm42688p/ICM42688P.hpp | 2 +- 8 files changed, 2 insertions(+), 1822 deletions(-) delete mode 100644 boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt delete mode 100644 boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp delete mode 100644 boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp delete mode 100644 boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp delete mode 100644 boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board index 23cf292adedb..0182f68babc4 100644 --- a/boards/modalai/voxl2-slpi/default.px4board +++ b/boards/modalai/voxl2-slpi/default.px4board @@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y +CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y diff --git a/boards/modalai/voxl2-slpi/src/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/CMakeLists.txt index f23a75ebf115..bb35ef068a33 100644 --- a/boards/modalai/voxl2-slpi/src/CMakeLists.txt +++ b/boards/modalai/voxl2-slpi/src/CMakeLists.txt @@ -44,7 +44,6 @@ add_library(drivers_board ) # Add custom drivers for SLPI -# add_subdirectory(${PX4_BOARD_DIR}/src/drivers/icm42688p) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/rc_controller) add_subdirectory(${PX4_BOARD_DIR}/src/drivers/mavlink_rc_in) # add_subdirectory(${PX4_BOARD_DIR}/src/drivers/spektrum_rc) diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt deleted file mode 100644 index 1f8e2102a5d9..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/CMakeLists.txt +++ /dev/null @@ -1,48 +0,0 @@ -############################################################################ -# -# Copyright (c) 2020 PX4 Development Team. All rights reserved. -# -# Redistribution and use in source and binary forms, with or without -# modification, are permitted provided that the following conditions -# are met: -# -# 1. Redistributions of source code must retain the above copyright -# notice, this list of conditions and the following disclaimer. -# 2. Redistributions in binary form must reproduce the above copyright -# notice, this list of conditions and the following disclaimer in -# the documentation and/or other materials provided with the -# distribution. -# 3. Neither the name PX4 nor the names of its contributors may be -# used to endorse or promote products derived from this software -# without specific prior written permission. -# -# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS -# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE -# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, -# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, -# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS -# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED -# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT -# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN -# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE -# POSSIBILITY OF SUCH DAMAGE. -# -############################################################################ -px4_add_module( - MODULE drivers__imu__invensense__icm42688p - MAIN icm42688p - COMPILE_FLAGS - ${MAX_CUSTOM_OPT_LEVEL} - SRCS - icm42688p_main.cpp - ICM42688P.cpp - ICM42688P.hpp - InvenSense_ICM42688P_registers.hpp - DEPENDS - px4_work_queue - drivers_accelerometer - drivers_gyroscope - drivers__device - ) diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp deleted file mode 100644 index 50c26171e3dc..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.cpp +++ /dev/null @@ -1,991 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ICM42688P.hpp" - -bool hitl_mode = false; - -using namespace time_literals; - -static constexpr int16_t combine(uint8_t msb, uint8_t lsb) -{ - return (msb << 8u) | lsb; -} - -ICM42688P::ICM42688P(const I2CSPIDriverConfig &config) : - // SPI(DRV_IMU_DEVTYPE_ICM42688P, MODULE_NAME, bus, device, spi_mode, bus_frequency), - // I2CSPIDriver(MODULE_NAME, px4::device_bus_to_wq(get_device_id()), bus_option, bus), - // _drdy_gpio(drdy_gpio) - SPI(config), - I2CSPIDriver(config), - _drdy_gpio(config.drdy_gpio), - _px4_accel(get_device_id(), config.rotation), - _px4_gyro(get_device_id(), config.rotation) -{ - if (config.drdy_gpio != 0) { - _drdy_missed_perf = perf_alloc(PC_COUNT, MODULE_NAME": DRDY missed"); - } - - if (!hitl_mode) { - // _px4_accel = std::make_shared(get_device_id(), rotation); - // _px4_gyro = std::make_shared(get_device_id(), rotation); - ConfigureSampleRate(_px4_gyro.get_max_rate_hz()); - // _imu_server_pub.advertise(); - - } else { - ConfigureSampleRate(0); - } -} - -ICM42688P::~ICM42688P() -{ - perf_free(_bad_register_perf); - perf_free(_bad_transfer_perf); - perf_free(_fifo_empty_perf); - perf_free(_fifo_overflow_perf); - perf_free(_fifo_reset_perf); - perf_free(_drdy_missed_perf); - - // if (!hitl_mode){ - // _imu_server_pub.unadvertise(); - // } -} - -int ICM42688P::init() -{ - int ret = SPI::init(); - - if (ret != PX4_OK) { - DEVICE_DEBUG("SPI::init failed (%i)", ret); - return ret; - } - - return Reset() ? 0 : -1; -} - -bool ICM42688P::Reset() -{ - _state = STATE::RESET; - DataReadyInterruptDisable(); - ScheduleClear(); - ScheduleNow(); - return true; -} - -void ICM42688P::exit_and_cleanup() -{ - DataReadyInterruptDisable(); - I2CSPIDriverBase::exit_and_cleanup(); -} - -void ICM42688P::print_status() -{ - I2CSPIDriverBase::print_status(); - - PX4_INFO("FIFO empty interval: %d us (%.1f Hz)", _fifo_empty_interval_us, 1e6 / _fifo_empty_interval_us); - - perf_print_counter(_bad_register_perf); - perf_print_counter(_bad_transfer_perf); - perf_print_counter(_fifo_empty_perf); - perf_print_counter(_fifo_overflow_perf); - perf_print_counter(_fifo_reset_perf); - perf_print_counter(_drdy_missed_perf); -} - -int ICM42688P::probe() -{ - for (int i = 0; i < 3; i++) { - uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I); - - if (whoami == WHOAMI) { - PX4_INFO("ICM42688P::probe successful!"); - return PX4_OK; - - } else { - DEVICE_DEBUG("unexpected WHO_AM_I 0x%02x", whoami); - - uint8_t reg_bank_sel = RegisterRead(Register::BANK_0::REG_BANK_SEL); - int bank = reg_bank_sel >> 4; - - if (bank >= 1 && bank <= 3) { - DEVICE_DEBUG("incorrect register bank for WHO_AM_I REG_BANK_SEL:0x%02x, bank:%d", reg_bank_sel, bank); - // force bank selection and retry - SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0, true); - } - } - } - - return PX4_ERROR; -} - -void ICM42688P::RunImpl() -{ - PX4_INFO(">>> ICM42688P this: %p", this); - - const hrt_abstime now = hrt_absolute_time(); - - switch (_state) { - case STATE::RESET: - // DEVICE_CONFIG: Software reset configuration - RegisterWrite(Register::BANK_0::DEVICE_CONFIG, DEVICE_CONFIG_BIT::SOFT_RESET_CONFIG); - _reset_timestamp = now; - _failure_count = 0; - _state = STATE::WAIT_FOR_RESET; - ScheduleDelayed(2_ms); // to be safe wait 2 ms for soft reset to be effective - break; - - case STATE::WAIT_FOR_RESET: - if ((RegisterRead(Register::BANK_0::WHO_AM_I) == WHOAMI) - && (RegisterRead(Register::BANK_0::DEVICE_CONFIG) == 0x00) - && (RegisterRead(Register::BANK_0::INT_STATUS) & INT_STATUS_BIT::RESET_DONE_INT)) { - - _state = STATE::CONFIGURE; - ScheduleDelayed(10_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data - - } else { - // RESET not complete - if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { - PX4_DEBUG("Reset failed, retrying"); - _state = STATE::RESET; - ScheduleDelayed(100_ms); - - } else { - PX4_DEBUG("Reset not complete, check again in 10 ms"); - ScheduleDelayed(10_ms); - } - } - - break; - - case STATE::CONFIGURE: - - if (Configure()) { - - // Wakeup accel and gyro after configuring registers - ScheduleDelayed(1_ms); // add a delay here to be safe - RegisterWrite(Register::BANK_0::PWR_MGMT0, PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE); - ScheduleDelayed(30_ms); // 30 ms gyro startup time, 10 ms accel from sleep to valid data - - // if configure succeeded then start reading from FIFO - _state = STATE::FIFO_READ; - - if (DataReadyInterruptConfigure()) { - _data_ready_interrupt_enabled = true; - - // backup schedule as a watchdog timeout - ScheduleDelayed(100_ms); - - } else { - PX4_ERR("ICM42688P::RunImpl interrupt configuration failed"); - - _data_ready_interrupt_enabled = false; - ScheduleOnInterval(_fifo_empty_interval_us, _fifo_empty_interval_us); - } - - FIFOReset(); - - } else { - - PX4_ERR("ICM42688P::RunImpl configuration failed"); - - // CONFIGURE not complete - if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) { - PX4_DEBUG("Configure failed, resetting"); - _state = STATE::RESET; - - } else { - PX4_DEBUG("Configure failed, retrying"); - } - - ScheduleDelayed(100_ms); - } - - break; - - case STATE::FIFO_READ: { -#ifndef __PX4_QURT - uint32_t samples = 0; - - if (_data_ready_interrupt_enabled) { - // scheduled from interrupt if _drdy_fifo_read_samples was set as expected - if (_drdy_fifo_read_samples.fetch_and(0) != _fifo_gyro_samples) { - perf_count(_drdy_missed_perf); - - } else { - samples = _fifo_gyro_samples; - } - - // push backup schedule back - ScheduleDelayed(_fifo_empty_interval_us * 2); - } - - if (samples == 0) { - // check current FIFO count - const uint16_t fifo_count = FIFOReadCount(); - - if (fifo_count >= FIFO::SIZE) { - FIFOReset(); - perf_count(_fifo_overflow_perf); - - } else if (fifo_count == 0) { - perf_count(_fifo_empty_perf); - - } else { - // FIFO count (size in bytes) - samples = (fifo_count / sizeof(FIFO::DATA)); - - if (samples > FIFO_MAX_SAMPLES) { - // not technically an overflow, but more samples than we expected or can publish - FIFOReset(); - perf_count(_fifo_overflow_perf); - samples = 0; - } - } - } - - bool success = false; - - if (samples >= 1) { - if (FIFORead(now, samples)) { - success = true; - - if (_failure_count > 0) { - _failure_count--; - } - } - } - - if (!success) { - _failure_count++; - - // full reset if things are failing consistently - if (_failure_count > 10) { - Reset(); - return; - } - } - - // check configuration registers periodically or immediately following any failure - if (RegisterCheck(_register_bank0_cfg[_checked_register_bank0]) - && RegisterCheck(_register_bank1_cfg[_checked_register_bank1]) - && RegisterCheck(_register_bank2_cfg[_checked_register_bank2]) - ) { - _last_config_check_timestamp = now; - _checked_register_bank0 = (_checked_register_bank0 + 1) % size_register_bank0_cfg; - _checked_register_bank1 = (_checked_register_bank1 + 1) % size_register_bank1_cfg; - _checked_register_bank2 = (_checked_register_bank2 + 1) % size_register_bank2_cfg; - - } else { - // register check failed, force reset - perf_count(_bad_register_perf); - Reset(); - } - -#endif - } - - break; - } -} - -void ICM42688P::ConfigureSampleRate(int sample_rate) -{ - if (sample_rate == 0) { - sample_rate = 800; // default to 800 Hz - } - - // round down to nearest FIFO sample dt - const float min_interval = FIFO_SAMPLE_DT; - _fifo_empty_interval_us = math::max(roundf((1e6f / (float)sample_rate) / min_interval) * min_interval, min_interval); - - _fifo_gyro_samples = roundf(math::min((float)_fifo_empty_interval_us / (1e6f / GYRO_RATE), (float)FIFO_MAX_SAMPLES)); - - // recompute FIFO empty interval (us) with actual gyro sample limit - _fifo_empty_interval_us = _fifo_gyro_samples * (1e6f / GYRO_RATE); - - ConfigureFIFOWatermark(_fifo_gyro_samples); -} - -void ICM42688P::ConfigureFIFOWatermark(uint8_t samples) -{ - // FIFO watermark threshold in number of bytes - const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA); - - for (auto &r : _register_bank0_cfg) { - if (r.reg == Register::BANK_0::FIFO_CONFIG2) { - // FIFO_WM[7:0] FIFO_CONFIG2 - r.set_bits = fifo_watermark_threshold & 0xFF; - - } else if (r.reg == Register::BANK_0::FIFO_CONFIG3) { - // FIFO_WM[11:8] FIFO_CONFIG3 - r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F; - } - } -} - -void ICM42688P::SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force) -{ - if (bank != _last_register_bank || force) { - // select BANK_0 - uint8_t cmd_bank_sel[2] {}; - cmd_bank_sel[0] = static_cast(Register::BANK_0::REG_BANK_SEL); - cmd_bank_sel[1] = bank; - transfer(cmd_bank_sel, cmd_bank_sel, sizeof(cmd_bank_sel)); - - _last_register_bank = bank; - } -} - -bool ICM42688P::Configure() -{ - // first set and clear all configured register bits - for (const auto ®_cfg : _register_bank0_cfg) { - RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); - } - - for (const auto ®_cfg : _register_bank1_cfg) { - RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); - } - - for (const auto ®_cfg : _register_bank2_cfg) { - RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits); - } - - // now check that all are configured - bool success = true; - - for (const auto ®_cfg : _register_bank0_cfg) { - if (!RegisterCheck(reg_cfg)) { - success = false; - } - } - - for (const auto ®_cfg : _register_bank1_cfg) { - if (!RegisterCheck(reg_cfg)) { - success = false; - } - } - - for (const auto ®_cfg : _register_bank2_cfg) { - if (!RegisterCheck(reg_cfg)) { - success = false; - } - } - - // // 20-bits data format used - // // the only FSR settings that are operational are ±2000dps for gyroscope and ±16g for accelerometer - if (!hitl_mode) { - _px4_accel.set_range(16.f * CONSTANTS_ONE_G); - _px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f); - _px4_gyro.set_range(math::radians(2000.f)); - _px4_gyro.set_scale(math::radians(1.f / 131.f)); - } - - return success; -} - -static bool interrupt_debug = false; -static uint32_t interrupt_debug_count = 0; -static const uint32_t interrupt_debug_trigger = 800; -static hrt_abstime last_interrupt_time = 0; -static hrt_abstime avg_interrupt_delta = 0; -static hrt_abstime max_interrupt_delta = 0; -static hrt_abstime min_interrupt_delta = 60 * 1000 * 1000; -static hrt_abstime cumulative_interrupt_delta = 0; - -int ICM42688P::DataReadyInterruptCallback(int irq, void *context, void *arg) -{ - hrt_abstime current_interrupt_time = hrt_absolute_time(); - - if (interrupt_debug) { - if (last_interrupt_time) { - hrt_abstime interrupt_delta_time = current_interrupt_time - last_interrupt_time; - - if (interrupt_delta_time > max_interrupt_delta) { max_interrupt_delta = interrupt_delta_time; } - - if (interrupt_delta_time < min_interrupt_delta) { min_interrupt_delta = interrupt_delta_time; } - - cumulative_interrupt_delta += interrupt_delta_time; - } - - last_interrupt_time = current_interrupt_time; - - interrupt_debug_count++; - - if (interrupt_debug_count == interrupt_debug_trigger) { - avg_interrupt_delta = cumulative_interrupt_delta / interrupt_debug_trigger; - PX4_INFO(">>> Max: %llu, Min: %llu, Avg: %llu", max_interrupt_delta, - min_interrupt_delta, avg_interrupt_delta); - interrupt_debug_count = 0; - cumulative_interrupt_delta = 0; - } - } - - static_cast(arg)->DataReady(); - - return 0; -} - -void ICM42688P::DataReady() -{ -#ifndef __PX4_QURT - uint32_t expected = 0; - - if (_drdy_fifo_read_samples.compare_exchange(&expected, _fifo_gyro_samples)) { - ScheduleNow(); - } - -#else - uint16_t fifo_byte_count = FIFOReadCount(); - - FIFORead(hrt_absolute_time(), fifo_byte_count / sizeof(FIFO::DATA)); -#endif -} - -bool ICM42688P::DataReadyInterruptConfigure() -{ - if (_drdy_gpio == 0) { - return false; - } - - // Setup data ready on falling edge - return px4_arch_gpiosetevent(_drdy_gpio, false, true, true, &DataReadyInterruptCallback, this) == 0; -} - -bool ICM42688P::DataReadyInterruptDisable() -{ - if (_drdy_gpio == 0) { - return false; - } - - return px4_arch_gpiosetevent(_drdy_gpio, false, false, false, nullptr, nullptr) == 0; -} - -template -bool ICM42688P::RegisterCheck(const T ®_cfg) -{ - bool success = true; - - const uint8_t reg_value = RegisterRead(reg_cfg.reg); - - if (reg_cfg.set_bits && ((reg_value & reg_cfg.set_bits) != reg_cfg.set_bits)) { - PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not set)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.set_bits); - success = false; - } - - if (reg_cfg.clear_bits && ((reg_value & reg_cfg.clear_bits) != 0)) { - PX4_DEBUG("0x%02hhX: 0x%02hhX (0x%02hhX not cleared)", (uint8_t)reg_cfg.reg, reg_value, reg_cfg.clear_bits); - success = false; - } - - return success; -} - -template -uint8_t ICM42688P::RegisterRead(T reg) -{ - uint8_t cmd[2] {}; - cmd[0] = static_cast(reg) | DIR_READ; - SelectRegisterBank(reg); - transfer(cmd, cmd, sizeof(cmd)); - return cmd[1]; -} - -template -void ICM42688P::RegisterWrite(T reg, uint8_t value) -{ - uint8_t cmd[2] { (uint8_t)reg, value }; - SelectRegisterBank(reg); - transfer(cmd, cmd, sizeof(cmd)); -} - -template -void ICM42688P::RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits) -{ - const uint8_t orig_val = RegisterRead(reg); - - uint8_t val = (orig_val & ~clearbits) | setbits; - - if (orig_val != val) { - RegisterWrite(reg, val); - } -} - -uint16_t ICM42688P::FIFOReadCount() -{ - // read FIFO count - uint8_t fifo_count_buf[3] {}; - fifo_count_buf[0] = static_cast(Register::BANK_0::FIFO_COUNTH) | DIR_READ; - SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); - - if (transfer(fifo_count_buf, fifo_count_buf, sizeof(fifo_count_buf)) != PX4_OK) { - perf_count(_bad_transfer_perf); - return 0; - } - - return combine(fifo_count_buf[1], fifo_count_buf[2]); -} - -// static uint32_t debug_decimator = 0; -// static hrt_abstime last_sample_time = 0; -// static bool imu_debug = true; - -bool ICM42688P::FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples) -{ - FIFOTransferBuffer buffer{}; - const size_t max_transfer_size = 10 * sizeof(FIFO::DATA) + 4; - const size_t transfer_size = math::min(samples * sizeof(FIFO::DATA) + 4, max_transfer_size); - SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); - - if (transfer((uint8_t *)&buffer, (uint8_t *)&buffer, transfer_size) != PX4_OK) { - perf_count(_bad_transfer_perf); - return false; - } - - if (buffer.INT_STATUS & INT_STATUS_BIT::FIFO_FULL_INT) { - perf_count(_fifo_overflow_perf); - FIFOReset(); - return false; - } - - const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL); - - if (fifo_count_bytes >= FIFO::SIZE) { - perf_count(_fifo_overflow_perf); - FIFOReset(); - return false; - } - - const uint16_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA); - - if (fifo_count_samples == 0) { - perf_count(_fifo_empty_perf); - return false; - } - - // check FIFO header in every sample - uint16_t valid_samples = 0; - - // for (int i = 0; i < math::min(samples, fifo_count_samples); i++) { - for (int i = 0; i < math::min(samples, (uint16_t) 10); i++) { - bool valid = true; - - // With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx - const uint8_t FIFO_HEADER = buffer.f[i].FIFO_Header; - - if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_MSG) { - // FIFO sample empty if HEADER_MSG set - valid = false; - - } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ACCEL)) { - // accel bit not set - valid = false; - - } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_GYRO)) { - // gyro bit not set - valid = false; - - } else if (!(FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_20)) { - // Packet does not contain a new and valid extended 20-bit data - valid = false; - - } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_ACCEL) { - // accel ODR changed - valid = false; - - } else if (FIFO_HEADER & FIFO::FIFO_HEADER_BIT::HEADER_ODR_GYRO) { - // gyro ODR changed - valid = false; - } - - if (valid) { - valid_samples++; - - } else { - perf_count(_bad_transfer_perf); - break; - } - } - - // if (imu_debug) { - // debug_decimator++; - // if (debug_decimator == 801) { - // debug_decimator = 0; - // PX4_INFO("Initial: %u Next: %u Valid: %u Delta: %llu", samples, fifo_count_samples, valid_samples, timestamp_sample - last_sample_time); - // } - // last_sample_time = timestamp_sample; - // } - - if (valid_samples > 0) { - if (ProcessTemperature(buffer.f, valid_samples)) { - ProcessGyro(timestamp_sample, buffer.f, valid_samples); - ProcessAccel(timestamp_sample, buffer.f, valid_samples); - ProcessIMU(timestamp_sample, buffer.f, valid_samples); - return true; - } - } - - return false; -} - -void ICM42688P::FIFOReset() -{ - perf_count(_fifo_reset_perf); - - // SIGNAL_PATH_RESET: FIFO flush - RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH); - - // reset while FIFO is disabled - _drdy_fifo_read_samples.store(0); -} - -static constexpr int32_t reassemble_20bit(const uint32_t a, const uint32_t b, const uint32_t c) -{ - // 0xXXXAABBC - uint32_t high = ((a << 12) & 0x000FF000); - uint32_t low = ((b << 4) & 0x00000FF0); - uint32_t lowest = (c & 0x0000000F); - - uint32_t x = high | low | lowest; - - if (a & Bit7) { - // sign extend - x |= 0xFFF00000u; - } - - return static_cast(x); -} - -void ICM42688P::ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) -{ - float accel_x = 0.0, accel_y = 0.0, accel_z = 0.0; - float gyro_x = 0.0, gyro_y = 0.0, gyro_z = 0.0; - - for (int i = 0; i < samples; i++) { - _imu_server_decimator++; - - if (_imu_server_decimator == 8) { - _imu_server_decimator = 0; - // 20 bit hires mode - - // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) - // Accel data is 18 bit - int32_t temp_accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0, - fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4); - int32_t temp_accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0, - fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4); - int32_t temp_accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0, - fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4); - - // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte) - int32_t temp_gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, - fifo[i].Ext_Accel_X_Gyro_X & 0x0F); - int32_t temp_gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, - fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F); - int32_t temp_gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, - fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F); - - // accel samples invalid if -524288 - if (temp_accel_x != -524288 && temp_accel_y != -524288 && temp_accel_z != -524288) { - // shift accel by 2 (2 least significant bits are always 0) - accel_x = (float) temp_accel_x / 4.f; - accel_y = (float) temp_accel_y / 4.f; - accel_z = (float) temp_accel_z / 4.f; - - // shift gyro by 1 (least significant bit is always 0) - gyro_x = (float) temp_gyro_x / 2.f; - gyro_y = (float) temp_gyro_y / 2.f; - gyro_z = (float) temp_gyro_z / 2.f; - - // correct frame for publication - // sensor's frame is +x forward, +y left, +z up - // flip y & z to publish right handed with z down (x forward, y right, z down) - accel_y = -accel_y; - accel_z = -accel_z; - gyro_y = -gyro_y; - gyro_z = -gyro_z; - - // Scale everything appropriately - float accel_scale_factor = (CONSTANTS_ONE_G / 8192.f); - accel_x *= accel_scale_factor; - accel_y *= accel_scale_factor; - accel_z *= accel_scale_factor; - - float gyro_scale_factor = math::radians(1.f / 131.f); - gyro_x *= gyro_scale_factor; - gyro_y *= gyro_scale_factor; - gyro_z *= gyro_scale_factor; - - // Store the data in our array - _imu_server_data.accel_x[_imu_server_index] = accel_x; - _imu_server_data.accel_y[_imu_server_index] = accel_y; - _imu_server_data.accel_z[_imu_server_index] = accel_z; - _imu_server_data.gyro_x[_imu_server_index] = gyro_x; - _imu_server_data.gyro_y[_imu_server_index] = gyro_y; - _imu_server_data.gyro_z[_imu_server_index] = gyro_z; - _imu_server_data.ts[_imu_server_index] = timestamp_sample - (125 * (samples - 1 - i)); - _imu_server_index++; - - // If array is full, publish the data - if (_imu_server_index == 10) { - _imu_server_index = 0; - _imu_server_data.timestamp = hrt_absolute_time(); - _imu_server_data.temperature = 0; // Not used right now - _imu_server_pub.publish(_imu_server_data); - } - } - } - } -} - -void ICM42688P::ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) -{ - sensor_accel_fifo_s accel{}; - accel.timestamp_sample = timestamp_sample; - accel.samples = 0; - accel.dt = FIFO_SAMPLE_DT; - - // 18-bits of accelerometer data - bool scale_20bit = false; - - // first pass - for (int i = 0; i < samples; i++) { - // 20 bit hires mode - // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) - // Accel data is 18 bit () - int32_t accel_x = reassemble_20bit(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0, - fifo[i].Ext_Accel_X_Gyro_X & 0xF0 >> 4); - int32_t accel_y = reassemble_20bit(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0, - fifo[i].Ext_Accel_Y_Gyro_Y & 0xF0 >> 4); - int32_t accel_z = reassemble_20bit(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0, - fifo[i].Ext_Accel_Z_Gyro_Z & 0xF0 >> 4); - - // sample invalid if -524288 - if (accel_x != -524288 && accel_y != -524288 && accel_z != -524288) { - // check if any values are going to exceed int16 limits - static constexpr int16_t max_accel = INT16_MAX; - static constexpr int16_t min_accel = INT16_MIN; - - if (accel_x >= max_accel || accel_x <= min_accel) { - scale_20bit = true; - } - - if (accel_y >= max_accel || accel_y <= min_accel) { - scale_20bit = true; - } - - if (accel_z >= max_accel || accel_z <= min_accel) { - scale_20bit = true; - } - - // shift by 2 (2 least significant bits are always 0) - accel.x[accel.samples] = accel_x / 4; - accel.y[accel.samples] = accel_y / 4; - accel.z[accel.samples] = accel_z / 4; - accel.samples++; - } - } - - if (!scale_20bit) { - // if highres enabled accel data is always 8192 LSB/g - if (!hitl_mode) { - _px4_accel.set_scale(CONSTANTS_ONE_G / 8192.f); - } - - } else { - // 20 bit data scaled to 16 bit (2^4) - for (int i = 0; i < samples; i++) { - // 20 bit hires mode - // Sign extension + Accel [19:12] + Accel [11:4] + Accel [3:2] (20 bit extension byte) - // Accel data is 18 bit () - int16_t accel_x = combine(fifo[i].ACCEL_DATA_X1, fifo[i].ACCEL_DATA_X0); - int16_t accel_y = combine(fifo[i].ACCEL_DATA_Y1, fifo[i].ACCEL_DATA_Y0); - int16_t accel_z = combine(fifo[i].ACCEL_DATA_Z1, fifo[i].ACCEL_DATA_Z0); - - accel.x[i] = accel_x; - accel.y[i] = accel_y; - accel.z[i] = accel_z; - } - - if (!hitl_mode) { - _px4_accel.set_scale(CONSTANTS_ONE_G / 2048.f); - } - } - - // correct frame for publication - for (int i = 0; i < accel.samples; i++) { - // sensor's frame is +x forward, +y left, +z up - // flip y & z to publish right handed with z down (x forward, y right, z down) - accel.x[i] = accel.x[i]; - accel.y[i] = (accel.y[i] == INT16_MIN) ? INT16_MAX : -accel.y[i]; - accel.z[i] = (accel.z[i] == INT16_MIN) ? INT16_MAX : -accel.z[i]; - } - - if (!hitl_mode) { - _px4_accel.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + - perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); - } - - if (accel.samples > 0) { - if (!hitl_mode) { - _px4_accel.updateFIFO(accel); - } - } -} - -void ICM42688P::ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples) -{ - sensor_gyro_fifo_s gyro{}; - gyro.timestamp_sample = timestamp_sample; - gyro.samples = 0; - gyro.dt = FIFO_SAMPLE_DT; - - // 20-bits of gyroscope data - bool scale_20bit = false; - - // first pass - for (int i = 0; i < samples; i++) { - // 20 bit hires mode - // Gyro [19:12] + Gyro [11:4] + Gyro [3:0] (bottom 4 bits of 20 bit extension byte) - int32_t gyro_x = reassemble_20bit(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0, fifo[i].Ext_Accel_X_Gyro_X & 0x0F); - int32_t gyro_y = reassemble_20bit(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0, fifo[i].Ext_Accel_Y_Gyro_Y & 0x0F); - int32_t gyro_z = reassemble_20bit(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0, fifo[i].Ext_Accel_Z_Gyro_Z & 0x0F); - - // check if any values are going to exceed int16 limits - static constexpr int16_t max_gyro = INT16_MAX; - static constexpr int16_t min_gyro = INT16_MIN; - - if (gyro_x >= max_gyro || gyro_x <= min_gyro) { - scale_20bit = true; - } - - if (gyro_y >= max_gyro || gyro_y <= min_gyro) { - scale_20bit = true; - } - - if (gyro_z >= max_gyro || gyro_z <= min_gyro) { - scale_20bit = true; - } - - gyro.x[gyro.samples] = gyro_x / 2; - gyro.y[gyro.samples] = gyro_y / 2; - gyro.z[gyro.samples] = gyro_z / 2; - gyro.samples++; - } - - if (!scale_20bit) { - // if highres enabled gyro data is always 131 LSB/dps - if (!hitl_mode) { - _px4_gyro.set_scale(math::radians(1.f / 131.f)); - } - - } else { - // 20 bit data scaled to 16 bit (2^4) - for (int i = 0; i < samples; i++) { - gyro.x[i] = combine(fifo[i].GYRO_DATA_X1, fifo[i].GYRO_DATA_X0); - gyro.y[i] = combine(fifo[i].GYRO_DATA_Y1, fifo[i].GYRO_DATA_Y0); - gyro.z[i] = combine(fifo[i].GYRO_DATA_Z1, fifo[i].GYRO_DATA_Z0); - } - - if (!hitl_mode) { - _px4_gyro.set_scale(math::radians(2000.f / 32768.f)); - } - } - - // correct frame for publication - for (int i = 0; i < gyro.samples; i++) { - // sensor's frame is +x forward, +y left, +z up - // flip y & z to publish right handed with z down (x forward, y right, z down) - gyro.x[i] = gyro.x[i]; - gyro.y[i] = (gyro.y[i] == INT16_MIN) ? INT16_MAX : -gyro.y[i]; - gyro.z[i] = (gyro.z[i] == INT16_MIN) ? INT16_MAX : -gyro.z[i]; - } - - if (!hitl_mode) { - _px4_gyro.set_error_count(perf_event_count(_bad_register_perf) + perf_event_count(_bad_transfer_perf) + - perf_event_count(_fifo_empty_perf) + perf_event_count(_fifo_overflow_perf)); - } - - if (gyro.samples > 0) { - if (!hitl_mode) { - _px4_gyro.updateFIFO(gyro); - } - } -} - -bool ICM42688P::ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples) -{ - int16_t temperature[FIFO_MAX_SAMPLES]; - float temperature_sum{0}; - - int valid_samples = 0; - - for (int i = 0; i < samples; i++) { - const int16_t t = combine(fifo[i].TEMP_DATA1, fifo[i].TEMP_DATA0); - - // sample invalid if -32768 - if (t != -32768) { - temperature_sum += t; - temperature[valid_samples] = t; - valid_samples++; - } - } - - if (valid_samples > 0) { - const float temperature_avg = temperature_sum / valid_samples; - - for (int i = 0; i < valid_samples; i++) { - // temperature changing wildly is an indication of a transfer error - if (fabsf(temperature[i] - temperature_avg) > 1000) { - perf_count(_bad_transfer_perf); - return false; - } - } - - // use average temperature reading - const float TEMP_degC = (temperature_avg / TEMPERATURE_SENSITIVITY) + TEMPERATURE_OFFSET; - - if (PX4_ISFINITE(TEMP_degC)) { - if (!hitl_mode) { - _px4_accel.set_temperature(TEMP_degC); - _px4_gyro.set_temperature(TEMP_degC); - return true; - } - - } else { - perf_count(_bad_transfer_perf); - } - } - - return false; -} diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp deleted file mode 100644 index e5c63dd9f98a..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/ICM42688P.hpp +++ /dev/null @@ -1,235 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file ICM42688P.hpp - * - * Driver for the Invensense ICM42688P connected via SPI. - * - */ - -#pragma once - -#include "InvenSense_ICM42688P_registers.hpp" - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -using namespace InvenSense_ICM42688P; - -extern bool hitl_mode; - -class ICM42688P : public device::SPI, public I2CSPIDriver -{ -public: - // ICM42688P(I2CSPIBusOption bus_option, int bus, uint32_t device, enum Rotation rotation, int bus_frequency, - // spi_mode_e spi_mode, spi_drdy_gpio_t drdy_gpio); - ICM42688P(const I2CSPIDriverConfig &config); - ~ICM42688P() override; - - // static I2CSPIDriverBase *instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, - // int runtime_instance); - static void print_usage(); - - void RunImpl(); - - int init() override; - void print_status() override; - -private: - void exit_and_cleanup() override; - - // Sensor Configuration - static constexpr float IMU_ODR{8000.f}; // 8kHz accel & gyro ODR configured - static constexpr float FIFO_SAMPLE_DT{1e6f / IMU_ODR}; - static constexpr float GYRO_RATE{1e6f / FIFO_SAMPLE_DT}; - static constexpr float ACCEL_RATE{1e6f / FIFO_SAMPLE_DT}; - - // maximum FIFO samples per transfer is limited to the size of sensor_accel_fifo/sensor_gyro_fifo - // static constexpr uint32_t FIFO_MAX_SAMPLES{math::min(math::min(FIFO::SIZE / sizeof(FIFO::DATA), sizeof(sensor_gyro_fifo_s::x) / sizeof(sensor_gyro_fifo_s::x[0])), sizeof(sensor_accel_fifo_s::x) / sizeof(sensor_accel_fifo_s::x[0]) * (int)(GYRO_RATE / ACCEL_RATE))}; - static constexpr uint32_t FIFO_MAX_SAMPLES{10}; - - // Transfer data - struct FIFOTransferBuffer { - uint8_t cmd{static_cast(Register::BANK_0::INT_STATUS) | DIR_READ}; - uint8_t INT_STATUS{0}; - uint8_t FIFO_COUNTH{0}; - uint8_t FIFO_COUNTL{0}; - FIFO::DATA f[FIFO_MAX_SAMPLES] {}; - }; - // ensure no struct padding - static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), - "Invalid FIFOTransferBuffer size"); - - struct register_bank0_config_t { - Register::BANK_0 reg; - uint8_t set_bits{0}; - uint8_t clear_bits{0}; - }; - - struct register_bank1_config_t { - Register::BANK_1 reg; - uint8_t set_bits{0}; - uint8_t clear_bits{0}; - }; - - struct register_bank2_config_t { - Register::BANK_2 reg; - uint8_t set_bits{0}; - uint8_t clear_bits{0}; - }; - - int probe() override; - - bool Reset(); - - bool Configure(); - void ConfigureSampleRate(int sample_rate); - void ConfigureFIFOWatermark(uint8_t samples); - - void SelectRegisterBank(enum REG_BANK_SEL_BIT bank, bool force = false); - void SelectRegisterBank(Register::BANK_0 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_0); } - void SelectRegisterBank(Register::BANK_1 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_1); } - void SelectRegisterBank(Register::BANK_2 reg) { SelectRegisterBank(REG_BANK_SEL_BIT::USER_BANK_2); } - - static int DataReadyInterruptCallback(int irq, void *context, void *arg); - void DataReady(); - bool DataReadyInterruptConfigure(); - bool DataReadyInterruptDisable(); - - template bool RegisterCheck(const T ®_cfg); - template uint8_t RegisterRead(T reg); - template void RegisterWrite(T reg, uint8_t value); - template void RegisterSetAndClearBits(T reg, uint8_t setbits, uint8_t clearbits); - template void RegisterSetBits(T reg, uint8_t setbits) { RegisterSetAndClearBits(reg, setbits, 0); } - template void RegisterClearBits(T reg, uint8_t clearbits) { RegisterSetAndClearBits(reg, 0, clearbits); } - - uint16_t FIFOReadCount(); - bool FIFORead(const hrt_abstime ×tamp_sample, uint16_t samples); - void FIFOReset(); - - void ProcessIMU(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); - void ProcessAccel(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); - void ProcessGyro(const hrt_abstime ×tamp_sample, const FIFO::DATA fifo[], const uint8_t samples); - bool ProcessTemperature(const FIFO::DATA fifo[], const uint8_t samples); - - const spi_drdy_gpio_t _drdy_gpio; - - // std::shared_ptr _px4_accel; - // std::shared_ptr _px4_gyro; - PX4Accelerometer _px4_accel; - PX4Gyroscope _px4_gyro; - - perf_counter_t _bad_register_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad register")}; - perf_counter_t _bad_transfer_perf{perf_alloc(PC_COUNT, MODULE_NAME": bad transfer")}; - perf_counter_t _fifo_empty_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO empty")}; - perf_counter_t _fifo_overflow_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO overflow")}; - perf_counter_t _fifo_reset_perf{perf_alloc(PC_COUNT, MODULE_NAME": FIFO reset")}; - perf_counter_t _drdy_missed_perf{nullptr}; - - hrt_abstime _reset_timestamp{0}; - hrt_abstime _last_config_check_timestamp{0}; - hrt_abstime _temperature_update_timestamp{0}; - int _failure_count{0}; - - enum REG_BANK_SEL_BIT _last_register_bank {REG_BANK_SEL_BIT::USER_BANK_0}; - - px4::atomic _drdy_fifo_read_samples{0}; - bool _data_ready_interrupt_enabled{false}; - - enum class STATE : uint8_t { - RESET, - WAIT_FOR_RESET, - CONFIGURE, - FIFO_READ, - } _state{STATE::RESET}; - - uint16_t _fifo_empty_interval_us{1250}; // default 1250 us / 800 Hz transfer interval - uint32_t _fifo_gyro_samples{static_cast(_fifo_empty_interval_us / (1000000 / GYRO_RATE))}; - - uint8_t _checked_register_bank0{0}; - static constexpr uint8_t size_register_bank0_cfg{12}; - register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] { - // Register | Set bits, Clear bits - { Register::BANK_0::INT_CONFIG, INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY }, - { Register::BANK_0::FIFO_CONFIG, FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 }, - { Register::BANK_0::GYRO_CONFIG0, GYRO_CONFIG0_BIT::GYRO_FS_SEL_2000_DPS | GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_SET, GYRO_CONFIG0_BIT::GYRO_ODR_8KHZ_CLEAR }, - { Register::BANK_0::ACCEL_CONFIG0, ACCEL_CONFIG0_BIT::ACCEL_FS_SEL_16G | ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_SET, ACCEL_CONFIG0_BIT::ACCEL_ODR_8KHZ_CLEAR }, - { Register::BANK_0::GYRO_CONFIG1, 0, GYRO_CONFIG1_BIT::GYRO_UI_FILT_ORD }, - { Register::BANK_0::GYRO_ACCEL_CONFIG0, 0, GYRO_ACCEL_CONFIG0_BIT::ACCEL_UI_FILT_BW | GYRO_ACCEL_CONFIG0_BIT::GYRO_UI_FILT_BW }, - { Register::BANK_0::ACCEL_CONFIG1, 0, ACCEL_CONFIG1_BIT::ACCEL_UI_FILT_ORD }, - { Register::BANK_0::FIFO_CONFIG1, FIFO_CONFIG1_BIT::FIFO_WM_GT_TH | FIFO_CONFIG1_BIT::FIFO_HIRES_EN | FIFO_CONFIG1_BIT::FIFO_TEMP_EN | FIFO_CONFIG1_BIT::FIFO_GYRO_EN | FIFO_CONFIG1_BIT::FIFO_ACCEL_EN, 0 }, - { Register::BANK_0::FIFO_CONFIG2, 0, 0 }, // FIFO_WM[7:0] set at runtime - { Register::BANK_0::FIFO_CONFIG3, 0, 0 }, // FIFO_WM[11:8] set at runtime - { Register::BANK_0::INT_CONFIG0, INT_CONFIG0_BIT::CLEAR_ON_FIFO_READ, 0 }, - { Register::BANK_0::INT_SOURCE0, INT_SOURCE0_BIT::FIFO_THS_INT1_EN, 0 }, - }; - - uint8_t _checked_register_bank1{0}; - static constexpr uint8_t size_register_bank1_cfg{4}; - register_bank1_config_t _register_bank1_cfg[size_register_bank1_cfg] { - // Register | Set bits, Clear bits - { Register::BANK_1::GYRO_CONFIG_STATIC2, 0, GYRO_CONFIG_STATIC2_BIT::GYRO_NF_DIS | GYRO_CONFIG_STATIC2_BIT::GYRO_AAF_DIS }, - { Register::BANK_1::GYRO_CONFIG_STATIC3, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_SET, GYRO_CONFIG_STATIC3_BIT::GYRO_AAF_DELT_CLEAR}, - { Register::BANK_1::GYRO_CONFIG_STATIC4, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_SET, GYRO_CONFIG_STATIC4_BIT::GYRO_AAF_DELTSQR_LOW_CLEAR}, - { Register::BANK_1::GYRO_CONFIG_STATIC5, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_SET | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_SET, GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_BITSHIFT_CLEAR | GYRO_CONFIG_STATIC5_BIT::GYRO_AAF_DELTSQR_HIGH_CLEAR}, - }; - - uint8_t _checked_register_bank2{0}; - static constexpr uint8_t size_register_bank2_cfg{3}; - register_bank2_config_t _register_bank2_cfg[size_register_bank2_cfg] { - // Register | Set bits, Clear bits - { Register::BANK_2::ACCEL_CONFIG_STATIC2, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_SET, ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DELT_CLEAR | ACCEL_CONFIG_STATIC2_BIT::ACCEL_AAF_DIS }, - { Register::BANK_2::ACCEL_CONFIG_STATIC3, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_SET, ACCEL_CONFIG_STATIC3_BIT::ACCEL_AAF_DELTSQR_LOW_CLEAR }, - { Register::BANK_2::ACCEL_CONFIG_STATIC4, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_SET | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_SET, ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_BITSHIFT_CLEAR | ACCEL_CONFIG_STATIC4_BIT::ACCEL_AAF_DELTSQR_HIGH_CLEAR }, - }; - - uint32_t _temperature_samples{0}; - - // Support for the IMU server - uint32_t _imu_server_index{0}; - uint32_t _imu_server_decimator{0}; - imu_server_s _imu_server_data; - uORB::Publication _imu_server_pub{ORB_ID(imu_server)}; - -}; diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp deleted file mode 100644 index b3c020bd7619..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/InvenSense_ICM42688P_registers.hpp +++ /dev/null @@ -1,430 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -/** - * @file InvenSense_ICM42688P_registers.hpp - * - * Invensense ICM-42688-P registers. - * - */ - -#pragma once - -#include - -namespace InvenSense_ICM42688P -{ -// TODO: move to a central header -static constexpr uint8_t Bit0 = (1 << 0); -static constexpr uint8_t Bit1 = (1 << 1); -static constexpr uint8_t Bit2 = (1 << 2); -static constexpr uint8_t Bit3 = (1 << 3); -static constexpr uint8_t Bit4 = (1 << 4); -static constexpr uint8_t Bit5 = (1 << 5); -static constexpr uint8_t Bit6 = (1 << 6); -static constexpr uint8_t Bit7 = (1 << 7); - -static constexpr uint32_t SPI_SPEED = 24 * 1000 * 1000; // 24 MHz SPI -static constexpr uint8_t DIR_READ = 0x80; - -static constexpr uint8_t WHOAMI = 0x47; - -static constexpr float TEMPERATURE_SENSITIVITY = 132.48f; // LSB/C -static constexpr float TEMPERATURE_OFFSET = 25.f; // C - -namespace Register -{ - -enum class BANK_0 : uint8_t { - DEVICE_CONFIG = 0x11, - - INT_CONFIG = 0x14, - - FIFO_CONFIG = 0x16, - - TEMP_DATA1 = 0x1D, - TEMP_DATA0 = 0x1E, - - INT_STATUS = 0x2D, - FIFO_COUNTH = 0x2E, - FIFO_COUNTL = 0x2F, - FIFO_DATA = 0x30, - - SIGNAL_PATH_RESET = 0x4B, - INTF_CONFIG0 = 0x4C, - INTF_CONFIG1 = 0x4D, - PWR_MGMT0 = 0x4E, - GYRO_CONFIG0 = 0x4F, - ACCEL_CONFIG0 = 0x50, - GYRO_CONFIG1 = 0x51, - GYRO_ACCEL_CONFIG0 = 0x52, - ACCEL_CONFIG1 = 0x53, - - FIFO_CONFIG1 = 0x5F, - FIFO_CONFIG2 = 0x60, - FIFO_CONFIG3 = 0x61, - - INT_CONFIG0 = 0x63, - - INT_SOURCE0 = 0x65, - - SELF_TEST_CONFIG = 0x70, - - WHO_AM_I = 0x75, - REG_BANK_SEL = 0x76, -}; - -enum class BANK_1 : uint8_t { - GYRO_CONFIG_STATIC2 = 0x0B, - GYRO_CONFIG_STATIC3 = 0x0C, - GYRO_CONFIG_STATIC4 = 0x0D, - GYRO_CONFIG_STATIC5 = 0x0E, - INTF_CONFIG5 = 0x7B, -}; -enum class BANK_2 : uint8_t { - ACCEL_CONFIG_STATIC2 = 0x03, - ACCEL_CONFIG_STATIC3 = 0x04, - ACCEL_CONFIG_STATIC4 = 0x05, -}; - -}; - -//---------------- BANK0 Register bits - -// DEVICE_CONFIG -enum DEVICE_CONFIG_BIT : uint8_t { - SOFT_RESET_CONFIG = Bit0, // -}; - -// INT_CONFIG -enum INT_CONFIG_BIT : uint8_t { - INT1_MODE = Bit2, - INT1_DRIVE_CIRCUIT = Bit1, - INT1_POLARITY = Bit0, -}; - -// FIFO_CONFIG -enum FIFO_CONFIG_BIT : uint8_t { - // 7:6 FIFO_MODE - FIFO_MODE_STOP_ON_FULL = Bit7 | Bit6, // 11: STOP-on-FULL Mode -}; - -// INT_STATUS -enum INT_STATUS_BIT : uint8_t { - RESET_DONE_INT = Bit4, - DATA_RDY_INT = Bit3, - FIFO_THS_INT = Bit2, - FIFO_FULL_INT = Bit1, -}; - -// SIGNAL_PATH_RESET -enum SIGNAL_PATH_RESET_BIT : uint8_t { - ABORT_AND_RESET = Bit3, - FIFO_FLUSH = Bit1, -}; - -// PWR_MGMT0 -enum PWR_MGMT0_BIT : uint8_t { - GYRO_MODE_LOW_NOISE = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode - ACCEL_MODE_LOW_NOISE = Bit1 | Bit0, // 11: Places accelerometer in Low Noise (LN) Mode -}; - -// GYRO_CONFIG0 -enum GYRO_CONFIG0_BIT : uint8_t { - // 7:5 GYRO_FS_SEL - GYRO_FS_SEL_2000_DPS = 0, // 0b000 = ±2000dps (default) - GYRO_FS_SEL_1000_DPS = Bit5, - GYRO_FS_SEL_500_DPS = Bit6, - GYRO_FS_SEL_250_DPS = Bit6 | Bit5, - GYRO_FS_SEL_125_DPS = Bit7, - - - // 3:0 GYRO_ODR - // 0001: 32kHz - GYRO_ODR_32KHZ_SET = Bit0, - GYRO_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0010: 16kHz - GYRO_ODR_16KHZ_SET = Bit1, - GYRO_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0011: 8kHz - GYRO_ODR_8KHZ_SET = Bit1 | Bit0, - GYRO_ODR_8KHZ_CLEAR = Bit3 | Bit2, - // 0110: 1kHz (default) - GYRO_ODR_1KHZ_SET = Bit2 | Bit1, - GYRO_ODR_1KHZ_CLEAR = Bit3 | Bit0, -}; - -// ACCEL_CONFIG0 -enum ACCEL_CONFIG0_BIT : uint8_t { - // 7:5 ACCEL_FS_SEL - ACCEL_FS_SEL_16G = 0, // 000: ±16g (default) - ACCEL_FS_SEL_8G = Bit5, - ACCEL_FS_SEL_4G = Bit6, - ACCEL_FS_SEL_2G = Bit6 | Bit5, - - - // 3:0 ACCEL_ODR - // 0001: 32kHz - ACCEL_ODR_32KHZ_SET = Bit0, - ACCEL_ODR_32KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0010: 16kHz - ACCEL_ODR_16KHZ_SET = Bit1, - ACCEL_ODR_16KHZ_CLEAR = Bit3 | Bit2 | Bit0, - // 0011: 8kHz - ACCEL_ODR_8KHZ_SET = Bit1 | Bit0, - ACCEL_ODR_8KHZ_CLEAR = Bit3 | Bit2, - // 0110: 1kHz (default) - ACCEL_ODR_1KHZ_SET = Bit2 | Bit1, - ACCEL_ODR_1KHZ_CLEAR = Bit3 | Bit0, -}; - -// GYRO_CONFIG1 -enum GYRO_CONFIG1_BIT : uint8_t { - GYRO_UI_FILT_ORD = Bit3 | Bit2, // 00: 1st Order -}; - -// GYRO_ACCEL_CONFIG0 -enum GYRO_ACCEL_CONFIG0_BIT : uint8_t { - // 7:4 ACCEL_UI_FILT_BW - ACCEL_UI_FILT_BW = Bit7 | Bit6 | Bit5 | Bit4, // 0: BW=ODR/2 - - // 3:0 GYRO_UI_FILT_BW - GYRO_UI_FILT_BW = Bit3 | Bit2 | Bit1 | Bit0, // 0: BW=ODR/2 -}; - -// ACCEL_CONFIG1 -enum ACCEL_CONFIG1_BIT : uint8_t { - ACCEL_UI_FILT_ORD = Bit4 | Bit3, // 00: 1st Order -}; - -// FIFO_CONFIG1 -enum FIFO_CONFIG1_BIT : uint8_t { - FIFO_RESUME_PARTIAL_RD = Bit6, - FIFO_WM_GT_TH = Bit5, - FIFO_HIRES_EN = Bit4, - FIFO_TEMP_EN = Bit2, - FIFO_GYRO_EN = Bit1, - FIFO_ACCEL_EN = Bit0, -}; - -// INT_CONFIG0 -enum INT_CONFIG0_BIT : uint8_t { - // 3:2 FIFO_THS_INT_CLEAR - CLEAR_ON_FIFO_READ = Bit3, -}; - -// INT_SOURCE0 -enum INT_SOURCE0_BIT : uint8_t { - UI_FSYNC_INT1_EN = Bit6, - PLL_RDY_INT1_EN = Bit5, - RESET_DONE_INT1_EN = Bit4, - UI_DRDY_INT1_EN = Bit3, - FIFO_THS_INT1_EN = Bit2, // FIFO threshold interrupt routed to INT1 - FIFO_FULL_INT1_EN = Bit1, - UI_AGC_RDY_INT1_EN = Bit0, -}; - -// REG_BANK_SEL -enum REG_BANK_SEL_BIT : uint8_t { - USER_BANK_0 = 0, // 0: Select USER BANK 0. - USER_BANK_1 = Bit0, // 1: Select USER BANK 1. - USER_BANK_2 = Bit1, // 2: Select USER BANK 2. - USER_BANK_3 = Bit1 | Bit0, // 3: Select USER BANK 3. -}; - - -//---------------- BANK1 Register bits - -// GYRO_CONFIG_STATIC2 -enum GYRO_CONFIG_STATIC2_BIT : uint8_t { - GYRO_AAF_DIS = Bit1, - GYRO_NF_DIS = Bit0, -}; - -// GYRO_CONFIG_STATIC3 -enum GYRO_CONFIG_STATIC3_BIT : uint8_t { - - // 585 Hz - GYRO_AAF_DELT_SET = Bit3 | Bit2 | Bit0, //13 - GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit1, - - // 213 Hz - // GYRO_AAF_DELT_SET = Bit2 | Bit0, //5 - // GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit1, - - // 126 Hz - //GYRO_AAF_DELT_SET = Bit1 | Bit0, //3 - //GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2, - - // 42 Hz - // GYRO_AAF_DELT_SET = Bit0, //1 - // GYRO_AAF_DELT_CLEAR = Bit5 | Bit4 | Bit3 | Bit2 | Bit1, - -}; - -// GYRO_CONFIG_STATIC4 -enum GYRO_CONFIG_STATIC4_BIT : uint8_t { - - // 585 Hz - GYRO_AAF_DELTSQR_LOW_SET = Bit7 | Bit5 | Bit3 | Bit1, //170 - GYRO_AAF_DELTSQR_LOW_CLEAR = Bit6 | Bit4 | Bit2 | Bit0, - - // 213 Hz - // GYRO_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25 - // GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1, - - // 126 Hz - //GYRO_AAF_DELTSQR_LOW_SET = Bit3 | Bit0, //9 - //GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit2 | Bit1, - - // 42 Hz - // GYRO_AAF_DELTSQR_LOW_SET = Bit0, //1 - // GYRO_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1, -}; - -// GYRO_CONFIG_STATIC5 -enum GYRO_CONFIG_STATIC5_BIT : uint8_t { - - // 585 Hz - GYRO_AAF_DELTSQR_HIGH_SET = 0, - GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, - GYRO_AAF_BITSHIFT_SET = Bit7, // 8 << 4 - GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit5 | Bit4, - - // 213 Hz - // GYRO_AAF_DELTSQR_HIGH_SET = 0, - // GYRO_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, - // GYRO_AAF_BITSHIFT_SET = Bit7 | Bit5, //10 - // GYRO_AAF_BITSHIFT_CLEAR = Bit6 | Bit4, - - // 126 Hz - // GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6, //12 - // GYRO_AAF_BITSHIFT_CLEAR = Bit5 | Bit4, - - // 42 Hz - // GYRO_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15 - // GYRO_AAF_BITSHIFT_CLEAR = 0, - - -}; - - -//---------------- BANK2 Register bits - -// ACCEL_CONFIG_STATIC2 -enum ACCEL_CONFIG_STATIC2_BIT : uint8_t { - ACCEL_AAF_DIS = Bit0, - ACCEL_AAF_DELT = Bit3 | Bit1, - - // 213 Hz - ACCEL_AAF_DELT_SET = Bit3 | Bit1, //5 - ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit2, - - // 42 Hz - // ACCEL_AAF_DELT_SET = Bit1, //1 - // ACCEL_AAF_DELT_CLEAR = Bit6 | Bit5 | Bit4 | Bit3 | Bit2, -}; - -// ACCEL_CONFIG_STATIC3 -enum ACCEL_CONFIG_STATIC3_BIT : uint8_t { - ACCEL_AAF_DELTSQR_LOW = Bit4 | Bit3 | Bit0, - // 213 Hz - ACCEL_AAF_DELTSQR_LOW_SET = Bit4 | Bit3 | Bit0, //25 - ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit2 | Bit1, - - // 42 Hz - // ACCEL_AAF_DELTSQR_LOW_SET = Bit0, //1 - // ACCEL_AAF_DELTSQR_LOW_CLEAR = Bit7 | Bit6 | Bit5 | Bit4 | Bit3 | Bit2 | Bit1, - -}; - -// ACCEL_CONFIG_STATIC4 -enum ACCEL_CONFIG_STATIC4_BIT : uint8_t { - ACCEL_AAF_BITSHIFT = Bit7 | Bit5, - ACCEL_AAF_DELTSQR_HIGH = 0, - // 213 Hz - ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit5, //10 - ACCEL_AAF_BITSHIFT_CLEAR = Bit6 | Bit4, - - // 42 Hz - // ACCEL_AAF_BITSHIFT_SET = Bit7 | Bit6 | Bit5 | Bit4, //15 - // ACCEL_AAF_BITSHIFT_CLEAR = 0, - - ACCEL_AAF_DELTSQR_HIGH_SET = 0, - ACCEL_AAF_DELTSQR_HIGH_CLEAR = Bit3 | Bit2 | Bit1 | Bit0, -}; - - -namespace FIFO -{ -static constexpr size_t SIZE = 2048; - -// FIFO_DATA layout when FIFO_CONFIG1 has FIFO_GYRO_EN and FIFO_ACCEL_EN set - -// Packet 4 -struct DATA { - uint8_t FIFO_Header; - uint8_t ACCEL_DATA_X1; // Accel X [19:12] - uint8_t ACCEL_DATA_X0; // Accel X [11:4] - uint8_t ACCEL_DATA_Y1; // Accel Y [19:12] - uint8_t ACCEL_DATA_Y0; // Accel Y [11:4] - uint8_t ACCEL_DATA_Z1; // Accel Z [19:12] - uint8_t ACCEL_DATA_Z0; // Accel Z [11:4] - uint8_t GYRO_DATA_X1; // Gyro X [19:12] - uint8_t GYRO_DATA_X0; // Gyro X [11:4] - uint8_t GYRO_DATA_Y1; // Gyro Y [19:12] - uint8_t GYRO_DATA_Y0; // Gyro Y [11:4] - uint8_t GYRO_DATA_Z1; // Gyro Z [19:12] - uint8_t GYRO_DATA_Z0; // Gyro Z [11:4] - uint8_t TEMP_DATA1; // Temperature[15:8] - uint8_t TEMP_DATA0; // Temperature[7:0] - uint8_t TimeStamp_h; // TimeStamp[15:8] - uint8_t TimeStamp_l; // TimeStamp[7:0] - uint8_t Ext_Accel_X_Gyro_X; // Accel X [3:0] Gyro X [3:0] - uint8_t Ext_Accel_Y_Gyro_Y; // Accel Y [3:0] Gyro Y [3:0] - uint8_t Ext_Accel_Z_Gyro_Z; // Accel Z [3:0] Gyro Z [3:0] -}; - -// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx -enum FIFO_HEADER_BIT : uint8_t { - HEADER_MSG = Bit7, // 1: FIFO is empty - HEADER_ACCEL = Bit6, // 1: Packet is sized so that accel data have location in the packet, FIFO_ACCEL_EN must be 1 - HEADER_GYRO = Bit5, // 1: Packet is sized so that gyro data have location in the packet, FIFO_GYRO_EN must be1 - HEADER_20 = Bit4, // 1: Packet has a new and valid sample of extended 20-bit data for gyro and/or accel - HEADER_TIMESTAMP_FSYNC = Bit3 | Bit2, - HEADER_ODR_ACCEL = Bit1, // 1: The ODR for accel is different for this accel data packet compared to the previous accel packet - HEADER_ODR_GYRO = Bit0, // 1: The ODR for gyro is different for this gyro data packet compared to the previous gyro packet -}; - -} -} // namespace InvenSense_ICM42688P diff --git a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp b/boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp deleted file mode 100644 index 38deecdf57cb..000000000000 --- a/boards/modalai/voxl2-slpi/src/drivers/icm42688p/icm42688p_main.cpp +++ /dev/null @@ -1,116 +0,0 @@ -/**************************************************************************** - * - * Copyright (c) 2020 PX4 Development Team. All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * 1. Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * 2. Redistributions in binary form must reproduce the above copyright - * notice, this list of conditions and the following disclaimer in - * the documentation and/or other materials provided with the - * distribution. - * 3. Neither the name PX4 nor the names of its contributors may be - * used to endorse or promote products derived from this software - * without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS - * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED - * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - * - ****************************************************************************/ - -#include "ICM42688P.hpp" - -#include -#include -#include - -void ICM42688P::print_usage() -{ - PRINT_MODULE_USAGE_NAME("icm42688p", "driver"); - PRINT_MODULE_USAGE_SUBCATEGORY("imu"); - PRINT_MODULE_USAGE_COMMAND("start"); - PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(false, true); - PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true); - PRINT_MODULE_USAGE_DEFAULT_COMMANDS(); -} - -// I2CSPIDriverBase *ICM42688P::instantiate(const BusCLIArguments &cli, const BusInstanceIterator &iterator, -// int runtime_instance) -// { -// ICM42688P *instance = new ICM42688P(iterator.configuredBusOption(), iterator.bus(), iterator.devid(), cli.rotation, -// cli.bus_frequency, cli.spi_mode, iterator.DRDYGPIO()); -// -// if (!instance) { -// PX4_ERR("alloc failed"); -// return nullptr; -// } -// -// if (OK != instance->init()) { -// delete instance; -// return nullptr; -// } -// -// return instance; -// } - -extern "C" int icm42688p_main(int argc, char *argv[]) -{ - - for (int i = 0; i <= argc - 1; i++) { - if (std::string(argv[i]) == "-h") { - argv[i] = 0; - hitl_mode = true; - break; - } - } - - int ch; - using ThisDriver = ICM42688P; - BusCLIArguments cli{false, true}; - cli.default_spi_frequency = SPI_SPEED; - - while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) { - switch (ch) { - case 'R': - cli.rotation = (enum Rotation)atoi(cli.optArg()); - break; - } - } - - const char *verb = cli.optArg(); - - if (!verb) { - ThisDriver::print_usage(); - return -1; - } - - BusInstanceIterator iterator(MODULE_NAME, cli, DRV_IMU_DEVTYPE_ICM42688P); - - if (!strcmp(verb, "start")) { - return ThisDriver::module_start(cli, iterator); - } - - if (!strcmp(verb, "stop")) { - return ThisDriver::module_stop(iterator); - } - - if (!strcmp(verb, "status")) { - return ThisDriver::module_status(iterator); - } - - ThisDriver::print_usage(); - return -1; -} diff --git a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp index f8c938a5cdc3..a2fc22a9f2e0 100644 --- a/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp +++ b/src/drivers/imu/invensense/icm42688p/ICM42688P.hpp @@ -88,7 +88,7 @@ class ICM42688P : public device::SPI, public I2CSPIDriver FIFO::DATA f[FIFO_MAX_SAMPLES] {}; }; // ensure no struct padding - static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA))); + static_assert(sizeof(FIFOTransferBuffer) == (4 + FIFO_MAX_SAMPLES *sizeof(FIFO::DATA)), "Invalid transfer buffer size"); struct register_bank0_config_t { Register::BANK_0 reg; From f799141a1911179f5f389e8d3c1f33eac68502b9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 09:40:43 +0100 Subject: [PATCH 026/102] FW Pos Controller: do not publish roll angle constrained warning if landed (#22850) Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control/FixedwingPositionControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index f850e6e22a36..970ec95fe3a0 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -522,7 +522,7 @@ float FixedwingPositionControl::getCorrectedNpfgRollSetpoint() _time_since_first_reduced_roll = 0U; } - if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD) { + if (_vehicle_status.in_transition_mode || can_run_factor > ROLL_WARNING_CAN_RUN_THRESHOLD || _landed) { // NPFG reports a good condition or we are in transition, reset the user warning variables. _need_report_npfg_uncertain_condition = true; _time_since_first_reduced_roll = 0U; From 7884e0a3f7e8007d2ef3195a9e3aab95dec300eb Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 11:40:14 +0100 Subject: [PATCH 027/102] Navigator: remove vtol_takeoff special handling for RTL (#22844) We had a special handling for RTL triggered in vtol_takeoff state. The idea is to wait until the VTOL Takeoff is completed and only then switch to RTL. On a second thought this special handling isn't really necessary and for the sake of simplicity should be removed. This also removes the side effect of the indicated flight mode after RTL being set to VTOL_Takeoff again. Signed-off-by: Silvan Fuhrer --- src/modules/navigator/navigator_main.cpp | 12 +----------- 1 file changed, 1 insertion(+), 11 deletions(-) diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp index 30cf417c48f3..8e2f24e1574c 100644 --- a/src/modules/navigator/navigator_main.cpp +++ b/src/modules/navigator/navigator_main.cpp @@ -783,17 +783,7 @@ void Navigator::run() _pos_sp_triplet_published_invalid_once = false; } -#if CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF - - // If we are in VTOL takeoff, do not switch until it is finished. - if (_navigation_mode == &_vtol_takeoff && !get_mission_result()->finished) { - navigation_mode_new = &_vtol_takeoff; - - } else -#endif //CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF - { - navigation_mode_new = &_rtl; - } + navigation_mode_new = &_rtl; break; From a0ae073d8cd4be837f19677ebf882cff976b7a59 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 09:29:08 +0100 Subject: [PATCH 028/102] mission_base: Do not initialize mission from dataman. only listen on mission topic --- src/modules/navigator/mission_base.cpp | 38 ++++++++------------------ 1 file changed, 11 insertions(+), 27 deletions(-) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 360ed16ad469..25cdfa75b6e1 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -52,38 +52,22 @@ MissionBase::MissionBase(Navigator *navigator, int32_t dataman_cache_size_signed _dataman_cache_size_signed(dataman_cache_size_signed) { _dataman_cache.resize(abs(dataman_cache_size_signed)); - _is_current_planned_mission_item_valid = (initMission() == PX4_OK); - updateDatamanCache(); + // Reset _mission here, and listen on changes on the uorb topic instead of initialize from dataman. + _mission.mission_dataman_id = DM_KEY_WAYPOINTS_OFFBOARD_0; + _mission.fence_dataman_id = DM_KEY_FENCE_POINTS_0; + _mission.safepoint_dataman_id = DM_KEY_SAFE_POINTS_0; + _mission.count = 0; + _mission.current_seq = 0; + _mission.land_start_index = -1; + _mission.land_index = -1; + _mission.mission_id = 0; + _mission.geofence_id = 0; + _mission.safe_points_id = 0; _mission_pub.advertise(); } -int MissionBase::initMission() -{ - mission_s mission; - int ret_val{PX4_ERROR}; - - bool success = _dataman_client.readSync(DM_KEY_MISSION_STATE, 0, reinterpret_cast(&mission), - sizeof(mission_s)); - - if (success) { - if (isMissionValid(mission)) { - _mission = mission; - ret_val = PX4_OK; - - } else { - resetMission(); - } - - } else { - PX4_ERR("Could not initialize Mission: Dataman read failed"); - resetMission(); - } - - return ret_val; -} - void MissionBase::updateDatamanCache() { From 51321c605e4916106db745d40139bcd01028ea79 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 09:31:34 +0100 Subject: [PATCH 029/102] mission_base: clean up mission check evaluation --- src/modules/navigator/mission_base.cpp | 39 ++++++++++++++------------ src/modules/navigator/mission_base.h | 7 ++--- 2 files changed, 24 insertions(+), 22 deletions(-) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 25cdfa75b6e1..185bba939006 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -104,29 +104,25 @@ void MissionBase::updateMavlinkMission() _mission = new_mission; - _is_current_planned_mission_item_valid = isMissionValid(_mission); - /* Relevant mission items updated externally*/ if (mission_data_changed) { onMissionUpdate(mission_items_changed); } + + _is_current_planned_mission_item_valid = isMissionValid(); } } void MissionBase::onMissionUpdate(bool has_mission_items_changed) { - _is_current_planned_mission_item_valid = _mission.count > 0; - if (has_mission_items_changed) { _dataman_cache.invalidate(); _load_mission_index = -1; - check_mission_valid(); - - // only warn if the check failed on merit - if ((!_navigator->get_mission_result()->valid) && _mission.count > 0U) { - PX4_WARN("mission check failed"); + if (_navigator->home_global_position_valid()) { + _initialized_mission_checked = true; + check_mission_valid(); } } @@ -159,8 +155,9 @@ MissionBase::on_inactive() /* Need to check the initialized mission once, have to do it here, since we need to wait for the home position. */ if (_navigator->home_global_position_valid() && !_initialized_mission_checked) { - check_mission_valid(); _initialized_mission_checked = true; + check_mission_valid(); + _is_current_planned_mission_item_valid = isMissionValid(); } if (_vehicle_status_sub.get().arming_state != vehicle_status_s::ARMING_STATE_ARMED) { @@ -662,7 +659,7 @@ MissionBase::checkMissionRestart() && ((_mission.current_seq + 1) == _mission.count)) { setMissionIndex(0); _inactivation_index = -1; // reset - _is_current_planned_mission_item_valid = isMissionValid(_mission); + _is_current_planned_mission_item_valid = isMissionValid(); resetMissionJumpCounter(); _navigator->reset_cruising_speed(); _navigator->reset_vroi(); @@ -688,6 +685,12 @@ MissionBase::check_mission_valid() _navigator->get_mission_result()->failure = false; set_mission_result(); + + // only warn if the check failed on merit + if ((!_navigator->get_mission_result()->valid) && _mission.count > 0U) { + PX4_WARN("mission check failed"); + } + } } @@ -860,16 +863,16 @@ void MissionBase::publish_navigator_mission_item() _navigator_mission_item_pub.publish(navigator_mission_item); } -bool MissionBase::isMissionValid(mission_s &mission) const +bool MissionBase::isMissionValid() const { bool ret_val{false}; - if (((mission.current_seq < mission.count) || (mission.count == 0U && mission.current_seq <= 0)) && - (mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 - || mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) && - (mission.timestamp != 0u)) { + if (((_mission.current_seq < _mission.count) || (_mission.count == 0U && _mission.current_seq <= 0)) && + (_mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_0 || + _mission.mission_dataman_id == DM_KEY_WAYPOINTS_OFFBOARD_1) && + (_mission.timestamp != 0u) && + (_navigator->get_mission_result()->valid)) { ret_val = true; - } return ret_val; @@ -1125,7 +1128,7 @@ int MissionBase::setMissionToClosestItem(double lat, double lon, float alt, floa void MissionBase::resetMission() { /* we do not need to reset mission if is already.*/ - if (_mission.count == 0u && isMissionValid(_mission)) { + if (_mission.count == 0u) { return; } diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index 660c918686f2..a501166e0114 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -207,13 +207,12 @@ class MissionBase : public MissionBlock, public ModuleParams int getNonJumpItem(int32_t &mission_index, mission_item_s &mission, bool execute_jump, bool write_jumps, bool mission_direction_backward = false); /** - * @brief Is Mission Parameters Valid + * @brief Is Mission Valid * - * @param mission Mission struct - * @return true is mission parameters are valid + * @return true is mission is valid * @return false otherwise */ - bool isMissionValid(mission_s &mission) const; + bool isMissionValid() const; /** * On mission update From 815cea2abbb3399b7de7140773b295ed48adf44e Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 10:40:34 +0100 Subject: [PATCH 030/102] geofence: publish status of loaded geofence --- msg/CMakeLists.txt | 1 + msg/GeofenceStatus.msg | 7 +++++++ src/modules/navigator/geofence.cpp | 25 +++++++++++++++++++++++++ src/modules/navigator/geofence.h | 5 ++++- 4 files changed, 37 insertions(+), 1 deletion(-) create mode 100644 msg/GeofenceStatus.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 62544cffc07b..2f8bb98c80e0 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -99,6 +99,7 @@ set(msg_files FollowTargetStatus.msg GeneratorStatus.msg GeofenceResult.msg + GeofenceStatus.msg GimbalControls.msg GimbalDeviceAttitudeStatus.msg GimbalDeviceInformation.msg diff --git a/msg/GeofenceStatus.msg b/msg/GeofenceStatus.msg new file mode 100644 index 000000000000..d32b9010c312 --- /dev/null +++ b/msg/GeofenceStatus.msg @@ -0,0 +1,7 @@ +uint64 timestamp # time since system start (microseconds) + +uint32 geofence_id # loaded geofence id +uint8 status # Current geofence status + +uint8 GF_STATUS_LOADING = 0 +uint8 GF_STATUS_READY = 1 diff --git a/src/modules/navigator/geofence.cpp b/src/modules/navigator/geofence.cpp index 4f48d768a57d..55917331a614 100644 --- a/src/modules/navigator/geofence.cpp +++ b/src/modules/navigator/geofence.cpp @@ -81,6 +81,8 @@ Geofence::Geofence(Navigator *navigator) : if (_navigator != nullptr) { updateFence(); } + + _geofence_status_pub.advertise(); } Geofence::~Geofence() @@ -101,6 +103,14 @@ void Geofence::run() if (_initiate_fence_updated) { _initiate_fence_updated = false; _dataman_state = DatamanState::Read; + + geofence_status_s status; + status.timestamp = hrt_absolute_time(); + status.geofence_id = _opaque_id; + status.status = geofence_status_s::GF_STATUS_LOADING; + + _geofence_status_pub.publish(status); + } break; @@ -147,6 +157,14 @@ void Geofence::run() } else { _dataman_state = DatamanState::UpdateRequestWait; + _fence_updated = true; + + geofence_status_s status; + status.timestamp = hrt_absolute_time(); + status.geofence_id = _opaque_id; + status.status = geofence_status_s::GF_STATUS_READY; + + _geofence_status_pub.publish(status); } } @@ -160,6 +178,13 @@ void Geofence::run() _dataman_state = DatamanState::UpdateRequestWait; _updateFence(); _fence_updated = true; + + geofence_status_s status; + status.timestamp = hrt_absolute_time(); + status.geofence_id = _opaque_id; + status.status = geofence_status_s::GF_STATUS_READY; + + _geofence_status_pub.publish(status); } break; diff --git a/src/modules/navigator/geofence.h b/src/modules/navigator/geofence.h index f2f057dc9a77..71d0a6bdf7ec 100644 --- a/src/modules/navigator/geofence.h +++ b/src/modules/navigator/geofence.h @@ -49,6 +49,7 @@ #include #include #include +#include #include #include #include @@ -171,7 +172,7 @@ class Geofence : public ModuleParams mission_stats_entry_s _stats; DatamanState _dataman_state{DatamanState::UpdateRequestWait}; DatamanState _error_state{DatamanState::UpdateRequestWait}; - DatamanCache _dataman_cache{"geofence_dm_cache_miss", 4}; + DatamanCache _dataman_cache{"geofence_dm_cache_miss", 0}; DatamanClient &_dataman_client = _dataman_cache.client(); float _altitude_min{0.0f}; @@ -185,6 +186,8 @@ class Geofence : public ModuleParams bool _fence_updated{true}; ///< flag indicating if fence are updated to dataman cache bool _initiate_fence_updated{true}; ///< flag indicating if fence updated is needed + uORB::Publication _geofence_status_pub{ORB_ID(geofence_status)}; + /** * implementation of updateFence() */ From 1b03ac4d2b756fc415e6a8b1c107e9b0629c01fc Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 10:55:13 +0100 Subject: [PATCH 031/102] mission_base: Only run mission feasibility if the geofence module is ready --- src/modules/navigator/mission_base.cpp | 32 ++++++++++++++++++++++---- src/modules/navigator/mission_base.h | 6 ++++- 2 files changed, 32 insertions(+), 6 deletions(-) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 185bba939006..2ce9f3a596bc 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -120,9 +120,12 @@ void MissionBase::onMissionUpdate(bool has_mission_items_changed) _dataman_cache.invalidate(); _load_mission_index = -1; - if (_navigator->home_global_position_valid()) { - _initialized_mission_checked = true; + if (canRunMissionFeasibility()) { + _mission_checked = true; check_mission_valid(); + + } else { + _mission_checked = false; } } @@ -148,14 +151,15 @@ MissionBase::on_inactive() _land_detected_sub.update(); _vehicle_status_sub.update(); _global_pos_sub.update(); + _geofence_status_sub.update(); parameters_update(); updateMavlinkMission(); - /* Need to check the initialized mission once, have to do it here, since we need to wait for the home position. */ - if (_navigator->home_global_position_valid() && !_initialized_mission_checked) { - _initialized_mission_checked = true; + /* Check the mission */ + if (!_mission_checked && canRunMissionFeasibility()) { + _mission_checked = true; check_mission_valid(); _is_current_planned_mission_item_valid = isMissionValid(); } @@ -240,12 +244,22 @@ MissionBase::on_active() _land_detected_sub.update(); _vehicle_status_sub.update(); _global_pos_sub.update(); + _geofence_status_sub.update(); parameters_update(); updateMavlinkMission(); updateDatamanCache(); + /* Check the mission */ + if (!_mission_checked && canRunMissionFeasibility()) { + _mission_checked = true; + check_mission_valid(); + _is_current_planned_mission_item_valid = isMissionValid(); + update_mission(); + set_mission_items(); + } + // check if heading alignment is necessary, and add it to the current mission item if necessary if (_align_heading_necessary && is_mission_item_reached_or_completed()) { @@ -1347,3 +1361,11 @@ bool MissionBase::checkMissionDataChanged(mission_s new_mission) (new_mission.mission_id != _mission.mission_id) || (new_mission.current_seq != _mission.current_seq)); } + +bool MissionBase::canRunMissionFeasibility() +{ + return _navigator->home_global_position_valid() && + (_geofence_status_sub.get().timestamp > 0) && + (_geofence_status_sub.get().geofence_id == _mission.geofence_id) && + (_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY); +} diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index a501166e0114..d2275cdabb14 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -43,6 +43,7 @@ #include #include #include +#include #include #include #include @@ -308,7 +309,7 @@ class MissionBase : public MissionBlock, public ModuleParams bool _is_current_planned_mission_item_valid{false}; /**< Flag indicating if the currently loaded mission item is valid*/ bool _mission_has_been_activated{false}; /**< Flag indicating if the mission has been activated*/ - bool _initialized_mission_checked{false}; /**< Flag indicating if the initialized mission has been checked by the mission validator*/ + bool _mission_checked{false}; /**< Flag indicating if the mission has been checked by the mission validator*/ bool _system_disarmed_while_inactive{false}; /**< Flag indicating if the system has been disarmed while mission is inactive*/ mission_s _mission; /**< Currently active mission*/ float _mission_init_climb_altitude_amsl{NAN}; /**< altitude AMSL the vehicle will climb to when mission starts */ @@ -443,6 +444,8 @@ class MissionBase : public MissionBlock, public ModuleParams */ bool checkMissionDataChanged(mission_s new_mission); + bool canRunMissionFeasibility(); + int32_t _load_mission_index{-1}; /**< Mission inted of loaded mission items in dataman cache*/ int32_t _dataman_cache_size_signed; /**< Size of the dataman cache. A negativ value indicates that previous mission items should be loaded, a positiv value the next mission items*/ @@ -460,4 +463,5 @@ class MissionBase : public MissionBlock, public ModuleParams ) uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; + uORB::SubscriptionData _geofence_status_sub{ORB_ID(geofence_status)}; }; From fb3aab1fb05ea700f43d1cdeabeb71d501914a87 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 10:57:24 +0100 Subject: [PATCH 032/102] mission_base: check mission feasibility again, if geofence has changed. --- src/modules/navigator/mission_base.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 2ce9f3a596bc..8a1b04710937 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -102,6 +102,11 @@ void MissionBase::updateMavlinkMission() static_cast(new_mission.count) - 1); } + if (new_mission.geofence_id != _mission.geofence_id) { + // New geofence data, need to check mission again. + _mission_checked = false; + } + _mission = new_mission; /* Relevant mission items updated externally*/ From 7fb584adbe65236ba4f6ef40ee923ea022fbd984 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 12:26:29 +0100 Subject: [PATCH 033/102] MissionResult uorb: fix wrong int types --- msg/MissionResult.msg | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/msg/MissionResult.msg b/msg/MissionResult.msg index aaa840762d99..f70326be3b26 100644 --- a/msg/MissionResult.msg +++ b/msg/MissionResult.msg @@ -1,8 +1,8 @@ uint64 timestamp # time since system start (microseconds) -uint16 mission_id # Id for the mission for which the result was generated -uint16 geofence_id # Id for the corresponding geofence for which the result was generated (used for mission feasibility) -uint64 home_position_counter # Counter of the home position for which the result was generated (used for mission feasibility) +uint32 mission_id # Id for the mission for which the result was generated +uint32 geofence_id # Id for the corresponding geofence for which the result was generated (used for mission feasibility) +uint32 home_position_counter # Counter of the home position for which the result was generated (used for mission feasibility) int32 seq_reached # Sequence of the mission item which has been reached, default -1 uint16 seq_current # Sequence of the current mission item From 6c6142ba79eda5d34080f1ca0bb60fd2f38a9046 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 13:25:23 +0100 Subject: [PATCH 034/102] MissionFeasibiltyChecker: Do not delete uorb data on reset. --- .../MissionFeasibility/FeasibilityChecker.cpp | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp index ef829d62f594..b27ef969aaeb 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityChecker.cpp @@ -46,13 +46,6 @@ FeasibilityChecker::FeasibilityChecker() : void FeasibilityChecker::reset() { - - _is_landed = false; - _home_alt_msl = NAN; - _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - _current_position_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); - _vehicle_type = VehicleType::RotaryWing; - _mission_validity_failed = false; _takeoff_failed = false; _land_pattern_validity_failed = false; @@ -86,10 +79,16 @@ void FeasibilityChecker::updateData() if (home.valid_hpos) { _home_lat_lon = matrix::Vector2d(home.lat, home.lon); + + } else { + _home_lat_lon = matrix::Vector2d((double)NAN, (double)NAN); } if (home.valid_alt) { _home_alt_msl = home.alt; + + } else { + _home_alt_msl = NAN; } } From acd750e033d8a9524d49d74b7a99d9b5abbaef96 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 13:28:47 +0100 Subject: [PATCH 035/102] mission_base: Run feasibility checker only after first global position has been published --- src/modules/navigator/mission_base.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 8a1b04710937..1d98a033784e 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -1369,8 +1369,9 @@ bool MissionBase::checkMissionDataChanged(mission_s new_mission) bool MissionBase::canRunMissionFeasibility() { - return _navigator->home_global_position_valid() && - (_geofence_status_sub.get().timestamp > 0) && + return _navigator->home_global_position_valid() && // Need to have a home position checked + _navigator->get_global_position()->timestamp > 0 && // Need to have a position, for first waypoint check + (_geofence_status_sub.get().timestamp > 0) && // Geofence data must be loaded (_geofence_status_sub.get().geofence_id == _mission.geofence_id) && (_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY); } From 1aa26a5a91149fa21a7a83cfd2d96e7f9a3b00a8 Mon Sep 17 00:00:00 2001 From: Konrad Date: Wed, 6 Mar 2024 14:29:42 +0100 Subject: [PATCH 036/102] missionFeasibilityChecker: Fix tests --- .../MissionFeasibility/FeasibilityCheckerTest.cpp | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp b/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp index fa5882690537..0de54f33766c 100644 --- a/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp +++ b/src/modules/navigator/MissionFeasibility/FeasibilityCheckerTest.cpp @@ -65,6 +65,18 @@ class TestFeasibilityChecker : public FeasibilityChecker orb_publish(ORB_ID(home_position), home_pub, &home); } + void publishInvalidHome() + { + home_position_s home = {}; + home.alt = 0.f; + home.valid_alt = false; + home.lat = 0.; + home.lon = 0.; + home.valid_hpos = false; + orb_advert_t home_pub = orb_advertise(ORB_ID(home_position), &home); + orb_publish(ORB_ID(home_position), home_pub, &home); + } + void publishCurrentPosition(double lat, double lon) { vehicle_global_position_s gpos = {}; @@ -122,6 +134,7 @@ TEST_F(FeasibilityCheckerTest, mission_item_validity) ASSERT_EQ(ret, false); checker.reset(); + checker.publishInvalidHome(); mission_item.nav_cmd = NAV_CMD_TAKEOFF; mission_item.altitude_is_relative = true; ret = checker.processNextItem(mission_item, 0, 5); @@ -190,6 +203,7 @@ TEST_F(FeasibilityCheckerTest, check_below_home) // this is done to invalidate the home position checker.reset(); + checker.publishInvalidHome(); checker.publishLanded(true); checker.processNextItem(mission_item, 0, 1); From 04099ed483ed13b19d967c59e3c63cee88c62e29 Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 8 Mar 2024 09:44:42 +0100 Subject: [PATCH 037/102] mission_base: Force mission validity check on activation --- src/modules/navigator/mission_base.cpp | 12 +++++++----- src/modules/navigator/mission_base.h | 5 +++-- 2 files changed, 10 insertions(+), 7 deletions(-) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 1d98a033784e..495639ba33a1 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -207,7 +207,7 @@ MissionBase::on_activation() _mission_has_been_activated = true; _system_disarmed_while_inactive = false; - check_mission_valid(); + check_mission_valid(true); update_mission(); @@ -687,11 +687,13 @@ MissionBase::checkMissionRestart() } void -MissionBase::check_mission_valid() +MissionBase::check_mission_valid(bool forced) { - if ((_navigator->get_mission_result()->mission_id != _mission.mission_id) - || (_navigator->get_mission_result()->geofence_id != _mission.geofence_id) - || (_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) { + // Allow forcing it, since we currently not rechecking if parameters have changed. + if (forced || + (_navigator->get_mission_result()->mission_id != _mission.mission_id) || + (_navigator->get_mission_result()->geofence_id != _mission.geofence_id) || + (_navigator->get_mission_result()->home_position_counter != _navigator->get_home_position()->update_count)) { _navigator->get_mission_result()->mission_id = _mission.mission_id; _navigator->get_mission_result()->geofence_id = _mission.geofence_id; diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index d2275cdabb14..3f7e2ce91d92 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -342,9 +342,10 @@ class MissionBase : public MissionBlock, public ModuleParams void updateMavlinkMission(); /** - * Check whether a mission is ready to go + * @brief Check whether a mission is ready to go + * @param[in] forced flag if the check has to be run irregardles of any updates. */ - void check_mission_valid(); + void check_mission_valid(bool forced = false); /** * Reset mission From 85a882e1cef8c0ca3358d4197e0a0ba2a88adbf9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 19:11:08 +0100 Subject: [PATCH 038/102] FW Position Control: control_backtransition(): always track line from start (#22853) Remove option to track from previous wp to reduce complexity and fix case where prev=current point and the line following broke down. Signed-off-by: Silvan Fuhrer --- .../FixedwingPositionControl.cpp | 25 ++++++------------- .../FixedwingPositionControl.hpp | 2 -- 2 files changed, 8 insertions(+), 19 deletions(-) diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.cpp b/src/modules/fw_pos_control/FixedwingPositionControl.cpp index 970ec95fe3a0..4bb1d5ee3188 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.cpp @@ -2201,7 +2201,6 @@ FixedwingPositionControl::control_manual_position(const float control_interval, } void FixedwingPositionControl::control_backtransition(const float control_interval, const Vector2f &ground_speed, - const position_setpoint_s &pos_sp_prev, const position_setpoint_s &pos_sp_curr) { float target_airspeed = adapt_airspeed_setpoint(control_interval, pos_sp_curr.cruising_speed, @@ -2213,22 +2212,14 @@ void FixedwingPositionControl::control_backtransition(const float control_interv _npfg.setAirspeedNom(target_airspeed * _eas2tas); _npfg.setAirspeedMax(_performance_model.getMaximumCalibratedAirspeed() * _eas2tas); - - if (_position_setpoint_previous_valid) { - Vector2f prev_wp_local = _global_local_proj_ref.project(pos_sp_prev.lat, pos_sp_prev.lon); - navigateLine(prev_wp_local, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); - - } else { - - // if we don't have a previous waypoint for line following, then create one using the current position at the - // start of the transition - if (!_lpos_where_backtrans_started.isAllFinite()) { - _lpos_where_backtrans_started = curr_pos_local; - } - - navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); + // Set the position where the backtransition started the first ime we pass through here. + // Will get reset if not in transition anymore. + if (!_lpos_where_backtrans_started.isAllFinite()) { + _lpos_where_backtrans_started = curr_pos_local; } + navigateLine(_lpos_where_backtrans_started, curr_wp_local, curr_pos_local, ground_speed, _wind_vel); + _att_sp.roll_body = getCorrectedNpfgRollSetpoint(); target_airspeed = _npfg.getAirspeedRef() / _eas2tas; @@ -2452,6 +2443,7 @@ FixedwingPositionControl::Run() if (_vehicle_status_sub.update(&_vehicle_status)) { if (!_vehicle_status.in_transition_mode) { + // reset position of backtransition start if not in transition _lpos_where_backtrans_started = Vector2f(NAN, NAN); } } @@ -2551,8 +2543,7 @@ FixedwingPositionControl::Run() } case FW_POSCTRL_MODE_TRANSITON: { - control_backtransition(control_interval, ground_speed, _pos_sp_triplet.previous, - _pos_sp_triplet.current); + control_backtransition(control_interval, ground_speed, _pos_sp_triplet.current); break; } } diff --git a/src/modules/fw_pos_control/FixedwingPositionControl.hpp b/src/modules/fw_pos_control/FixedwingPositionControl.hpp index 277ba35fbf79..5089021685da 100644 --- a/src/modules/fw_pos_control/FixedwingPositionControl.hpp +++ b/src/modules/fw_pos_control/FixedwingPositionControl.hpp @@ -710,11 +710,9 @@ class FixedwingPositionControl final : public ModuleBase Date: Sat, 9 Mar 2024 02:50:53 +0700 Subject: [PATCH 039/102] boards/mro/ctrl-zero-classic: corrections for mRo Control Zero Classic Board (#22745) - Build target changed from STM32H743II to STM32H743ZI - Missing external SPI interface added - Nonexistent I2C3 interface removed - I2C4 pins changed - Red and Green LED lights remapped - Missing ADC inputs added and already present ones corrected - CAN Silent interfaces corrected - Power pins corrected and Level Shifter pin added to enable ICM20948 - Buzzer pin remapped - HRT channel and PPM pin changed - RSSI input remapped - ICM20602 and BMI088 pins corrected - Serial ports remapped --- boards/mro/ctrl-zero-classic/default.px4board | 12 ++-- .../ctrl-zero-classic/init/rc.board_defaults | 2 +- .../ctrl-zero-classic/init/rc.board_sensors | 2 + .../nuttx-config/bootloader/defconfig | 2 +- .../nuttx-config/include/board.h | 17 ++--- .../nuttx-config/nsh/defconfig | 15 ++--- .../mro/ctrl-zero-classic/src/board_config.h | 67 ++++++++++++------- boards/mro/ctrl-zero-classic/src/i2c.cpp | 1 - boards/mro/ctrl-zero-classic/src/spi.cpp | 7 +- .../ctrl-zero-classic/src/timer_config.cpp | 22 ++++++ 10 files changed, 97 insertions(+), 50 deletions(-) diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index f88c94880fda..c16095b6a096 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -1,9 +1,11 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi" CONFIG_BOARD_ARCHITECTURE="cortex-m7" -CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2" -CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0" -CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1" -CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4" +CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3" +CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4" +CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1" +CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2" +CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5" +CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS0" CONFIG_DRIVERS_ADC_ADS1115=y CONFIG_DRIVERS_ADC_BOARD_ADC=y CONFIG_DRIVERS_BAROMETER_DPS310=y @@ -25,6 +27,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y CONFIG_DRIVERS_POWER_MONITOR_INA226=y CONFIG_DRIVERS_PWM_OUT=y CONFIG_DRIVERS_RC_INPUT=y +CONFIG_DRIVERS_SAFETY_BUTTON=y CONFIG_DRIVERS_SMART_BATTERY_BATMON=y CONFIG_COMMON_TELEMETRY=y CONFIG_DRIVERS_TONE_ALARM=y @@ -96,4 +99,3 @@ CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_USB_CONNECTED=y CONFIG_SYSTEMCMDS_VER=y CONFIG_SYSTEMCMDS_WORK_QUEUE=y -CONFIG_EXAMPLES_FAKE_GPS=y diff --git a/boards/mro/ctrl-zero-classic/init/rc.board_defaults b/boards/mro/ctrl-zero-classic/init/rc.board_defaults index 32117f4a5886..110c240ee8a0 100644 --- a/boards/mro/ctrl-zero-classic/init/rc.board_defaults +++ b/boards/mro/ctrl-zero-classic/init/rc.board_defaults @@ -6,4 +6,4 @@ param set-default BAT1_V_DIV 10.1 param set-default BAT1_A_PER_V 17 -safety_button start +param set-default TEL_FRSKY_CONFIG 103 diff --git a/boards/mro/ctrl-zero-classic/init/rc.board_sensors b/boards/mro/ctrl-zero-classic/init/rc.board_sensors index 111e3eb0440b..46f488794516 100644 --- a/boards/mro/ctrl-zero-classic/init/rc.board_sensors +++ b/boards/mro/ctrl-zero-classic/init/rc.board_sensors @@ -16,3 +16,5 @@ icm20948 -s -b 1 -R 8 -M start # Interal DPS310 (barometer) dps310 -s -b 2 start + +safety_button start diff --git a/boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig b/boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig index 1167e3eefa79..1160920a4eb3 100644 --- a/boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig +++ b/boards/mro/ctrl-zero-classic/nuttx-config/bootloader/defconfig @@ -15,7 +15,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H743ZI=y CONFIG_ARCH_CHIP_STM32H7=y CONFIG_ARCH_INTERRUPTSTACK=768 CONFIG_ARMV7M_BASEPRI_WAR=y diff --git a/boards/mro/ctrl-zero-classic/nuttx-config/include/board.h b/boards/mro/ctrl-zero-classic/nuttx-config/include/board.h index d5ffa2c5848e..52206cccd00f 100644 --- a/boards/mro/ctrl-zero-classic/nuttx-config/include/board.h +++ b/boards/mro/ctrl-zero-classic/nuttx-config/include/board.h @@ -222,6 +222,9 @@ /* UART/USART */ +#define GPIO_USART1_TX GPIO_USART1_TX_3 /* PB6 */ +#define GPIO_USART1_RX GPIO_USART1_RX_3 /* PB7 */ + #define GPIO_USART2_TX GPIO_USART2_TX_2 /* PD5 */ #define GPIO_USART2_RX GPIO_USART2_RX_2 /* PD6 */ #define GPIO_USART2_CTS GPIO_USART2_CTS_NSS_2 /* PD3 */ @@ -235,9 +238,6 @@ #define GPIO_UART4_TX GPIO_UART4_TX_2 /* PA0 */ #define GPIO_UART4_RX GPIO_UART4_RX_2 /* PA1 */ -#define GPIO_USART6_TX 0 /* USART6 is RX-only */ -#define GPIO_USART6_RX GPIO_USART6_RX_1 /* PC7 */ - #define GPIO_UART7_TX GPIO_UART7_TX_3 /* PE8 */ #define GPIO_UART7_RX GPIO_UART7_RX_3 /* PE7 */ @@ -268,13 +268,14 @@ #define GPIO_SPI5_MISO GPIO_SPI5_MISO_1 /* PF8 */ #define GPIO_SPI5_MOSI GPIO_SPI5_MOSI_2 /* PF9 */ +#define GPIO_SPI6_SCK ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */ +#define GPIO_SPI6_MISO GPIO_SPI6_MISO_1 /* PG12 */ +#define GPIO_SPI6_MOSI GPIO_SPI6_MOSI_1 /* PG14 */ + /* I2C */ #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2 /* PB8 */ #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2 /* PB9 */ -#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2 /* PH7 */ -#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2 /* PH8 */ - -#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4 /* PB6 */ -#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4 /* PB7 */ +#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2 /* PF14 */ +#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2 /* PF15 */ diff --git a/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig b/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig index 0811c67f0af1..7e56401723d0 100644 --- a/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig +++ b/boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig @@ -56,7 +56,7 @@ CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-classic/nuttx-con CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y CONFIG_ARCH_BOARD_CUSTOM_NAME="px4" CONFIG_ARCH_CHIP="stm32h7" -CONFIG_ARCH_CHIP_STM32H743II=y +CONFIG_ARCH_CHIP_STM32H743ZI=y CONFIG_ARCH_CHIP_STM32H7=y CONFIG_ARCH_INTERRUPTSTACK=768 CONFIG_ARCH_STACKDUMP=y @@ -192,7 +192,6 @@ CONFIG_STM32H7_DMA2=y CONFIG_STM32H7_DMACAPABLE=y CONFIG_STM32H7_FLOWCONTROL_BROKEN=y CONFIG_STM32H7_I2C1=y -CONFIG_STM32H7_I2C3=y CONFIG_STM32H7_I2C4=y CONFIG_STM32H7_I2C_DYNTIMEO=y CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10 @@ -212,17 +211,20 @@ CONFIG_STM32H7_SPI2=y CONFIG_STM32H7_SPI5=y CONFIG_STM32H7_SPI5_DMA=y CONFIG_STM32H7_SPI5_DMA_BUFFER=1024 +CONFIG_STM32H7_SPI6=y +CONFIG_STM32H7_TIM15=y +CONFIG_STM32H7_TIM16=y CONFIG_STM32H7_TIM1=y CONFIG_STM32H7_TIM2=y CONFIG_STM32H7_TIM3=y CONFIG_STM32H7_TIM4=y CONFIG_STM32H7_TIM8=y +CONFIG_STM32H7_USART1=y +CONFIG_STM32H7_USART2=y +CONFIG_STM32H7_USART3=y CONFIG_STM32H7_UART4=y CONFIG_STM32H7_UART7=y CONFIG_STM32H7_UART8=y -CONFIG_STM32H7_USART2=y -CONFIG_STM32H7_USART3=y -CONFIG_STM32H7_USART6=y CONFIG_STM32H7_USART_BREAKS=y CONFIG_STM32H7_USART_INVERT=y CONFIG_STM32H7_USART_SINGLEWIRE=y @@ -252,9 +254,6 @@ CONFIG_USART3_IFLOWCONTROL=y CONFIG_USART3_OFLOWCONTROL=y CONFIG_USART3_RXBUFSIZE=600 CONFIG_USART3_TXBUFSIZE=3000 -CONFIG_USART6_BAUD=57600 -CONFIG_USART6_RXBUFSIZE=600 -CONFIG_USART6_TXBUFSIZE=1500 CONFIG_USBDEV=y CONFIG_USBDEV_BUSPOWERED=y CONFIG_USBDEV_MAXPOWER=500 diff --git a/boards/mro/ctrl-zero-classic/src/board_config.h b/boards/mro/ctrl-zero-classic/src/board_config.h index dfb0dfcb1a78..d40eb1e56ffc 100644 --- a/boards/mro/ctrl-zero-classic/src/board_config.h +++ b/boards/mro/ctrl-zero-classic/src/board_config.h @@ -45,95 +45,111 @@ #include /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */ -#define GPIO_nLED_RED /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11) -#define GPIO_nLED_GREEN /* PB1 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1) +#define GPIO_nLED_RED /* PB4 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4) +#define GPIO_nLED_GREEN /* PB5 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN5) #define GPIO_nLED_BLUE /* PB3 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3) +#define GPIO_LED_SAFETY /* PE6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN6) + #define BOARD_HAS_CONTROL_STATUS_LEDS 1 #define BOARD_OVERLOAD_LED LED_RED #define BOARD_ARMED_STATE_LED LED_BLUE /* ADC channels */ #define PX4_ADC_GPIO \ - /* PA2 */ GPIO_ADC12_INP14, \ + /* PC4 */ GPIO_ADC12_INP4, \ /* PA3 */ GPIO_ADC12_INP15, \ /* PA4 */ GPIO_ADC12_INP18, \ - /* PC1 */ GPIO_ADC123_INP11 + /* PC0 */ GPIO_ADC123_INP10, \ + /* PC5 */ GPIO_ADC12_INP8, \ + /* PB0 */ GPIO_ADC12_INP9, \ + /* PB1 */ GPIO_ADC12_INP5 /* Define Channel numbers must match above GPIO pins */ -#define ADC_BATTERY_VOLTAGE_CHANNEL 14 /* PA2 BATT_VOLT_SENS */ +#define ADC_BATTERY_VOLTAGE_CHANNEL 4 /* PC4 BATT_VOLT_SENS */ #define ADC_BATTERY_CURRENT_CHANNEL 15 /* PA3 BATT_CURRENT_SENS */ #define ADC_SCALED_V5_CHANNEL 18 /* PA4 VDD_5V_SENS */ -#define ADC_RC_RSSI_CHANNEL 11 /* PC1 */ +#define ADC_RC_RSSI_CHANNEL 10 /* PC0 */ +#define ADC_AIRSPEED_VOLTAGE_CHANNEL 8 /* PC5 */ +#define ADC_AUX1_VOLTAGE_CHANNEL 9 /* PB0 */ +#define ADC_AUX2_VOLTAGE_CHANNEL 5 /* PB1 */ #define ADC_CHANNELS \ ((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \ (1 << ADC_BATTERY_CURRENT_CHANNEL) | \ (1 << ADC_SCALED_V5_CHANNEL) | \ - (1 << ADC_RC_RSSI_CHANNEL)) + (1 << ADC_RC_RSSI_CHANNEL) | \ + (1 << ADC_AIRSPEED_VOLTAGE_CHANNEL) | \ + (1 << ADC_AUX1_VOLTAGE_CHANNEL) | \ + (1 << ADC_AUX2_VOLTAGE_CHANNEL)) /* HW has to large of R termination on ADC todo:change when HW value is chosen */ #define BOARD_ADC_OPEN_CIRCUIT_V (5.6f) /* CAN Silence: Silent mode control */ -#define GPIO_CAN1_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) -#define GPIO_CAN2_SILENT_S0 /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5) +#define GPIO_CAN1_SILENT_S0 /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11) +#define GPIO_CAN2_SILENT_S0 /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN12) /* PWM */ #define DIRECT_PWM_OUTPUT_CHANNELS 12 /* Power supply control and monitoring GPIOs */ -#define GPIO_nPOWER_IN_A /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) +#define GPIO_nPOWER_IN_A /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) #define GPIO_VDD_BRICK1_VALID GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */ #define BOARD_NUMBER_BRICKS 1 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4) +#define GPIO_LEVEL_SHIFTER_OE /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13) + /* Define True logic Power Control in arch agnostic form */ #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true)) #define READ_VDD_3V3_SPEKTRUM_POWER_EN() (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0) /* Tone alarm output */ -#define TONE_ALARM_TIMER 2 /* timer 2 */ -#define TONE_ALARM_CHANNEL 1 /* PA15 TIM2_CH1 */ +#define TONE_ALARM_TIMER 16 /* timer 16 */ +#define TONE_ALARM_CHANNEL 1 /* PF6 TIM16_CH1 */ -#define GPIO_BUZZER_1 /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15) +#define GPIO_BUZZER_1 /* PF6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN6) #define GPIO_TONE_ALARM_IDLE GPIO_BUZZER_1 -#define GPIO_TONE_ALARM GPIO_TIM2_CH1OUT_2 +#define GPIO_TONE_ALARM GPIO_TIM16_CH1OUT_2 /* USB OTG FS */ #define GPIO_OTGFS_VBUS /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9) /* High-resolution timer */ #define HRT_TIMER 3 /* use timer3 for the HRT */ -#define HRT_TIMER_CHANNEL 1 /* use capture/compare channel 1 */ +#define HRT_TIMER_CHANNEL 2 /* use capture/compare channel 1 */ -#define HRT_PPM_CHANNEL /* T3C3 */ 3 /* use capture/compare channel 3 */ -#define GPIO_PPM_IN /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1 +#define HRT_PPM_CHANNEL /* T3C2 */ 2 /* use capture/compare channel 2 */ +#define GPIO_PPM_IN /* PC7 T3C2 */ GPIO_TIM3_CH2IN_3 /* RC Serial port */ -#define RC_SERIAL_PORT "/dev/ttyS3" +#define RC_SERIAL_PORT "/dev/ttyS5" -#define GPIO_RSSI_IN /* PC1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1) +#define GPIO_RSSI_IN /* PC0 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) /* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */ -#define GPIO_SAFETY_SWITCH_IN /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4) -/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */ +#define GPIO_SAFETY_SWITCH_IN /* PA10 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTA|GPIO_PIN10) +/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFETY_BUTTON() */ #define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */ +/* No PX4IO processor present */ +#define PX4_MFT_HW_SUPPORTED_PX4_MFT_PX4IO 0 + /* Power switch controls ******************************************************/ #define SPEKTRUM_POWER(_on_true) VDD_3V3_SPEKTRUM_POWER_EN(_on_true) /* * Board has a separate RC_IN * - * GPIO PPM_IN on PB0 T3CH3 + * GPIO PPM_IN on PC7 T3CH2 * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7 * Inversion is possible in the UART and can drive GPIO_PPM_IN as an output */ -#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0) +#define GPIO_PPM_IN_AS_OUT (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7) #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT) #define SPEKTRUM_RX_AS_UART() /* Can be left as uart */ #define SPEKTRUM_OUT(_one_true) px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true)) @@ -156,7 +172,7 @@ #define BOARD_HAS_STATIC_MANIFEST 1 -#define BOARD_NUM_IO_TIMERS 5 +#define BOARD_NUM_IO_TIMERS 6 #define BOARD_ENABLE_CONSOLE_BUFFER @@ -171,9 +187,12 @@ GPIO_CAN2_SILENT_S0, \ GPIO_nPOWER_IN_A, \ GPIO_VDD_3V3_SPEKTRUM_POWER_EN, \ + GPIO_LEVEL_SHIFTER_OE, \ GPIO_TONE_ALARM_IDLE, \ GPIO_SAFETY_SWITCH_IN, \ GPIO_OTGFS_VBUS, \ + GPIO_BTN_SAFETY, \ + GPIO_LED_SAFETY, \ } __BEGIN_DECLS diff --git a/boards/mro/ctrl-zero-classic/src/i2c.cpp b/boards/mro/ctrl-zero-classic/src/i2c.cpp index 1b8927c69939..49c9ea1c7efd 100644 --- a/boards/mro/ctrl-zero-classic/src/i2c.cpp +++ b/boards/mro/ctrl-zero-classic/src/i2c.cpp @@ -35,6 +35,5 @@ constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = { initI2CBusExternal(1), - initI2CBusExternal(3), initI2CBusExternal(4), }; diff --git a/boards/mro/ctrl-zero-classic/src/spi.cpp b/boards/mro/ctrl-zero-classic/src/spi.cpp index 4a4c3502bbd9..674ae3f09b2f 100644 --- a/boards/mro/ctrl-zero-classic/src/spi.cpp +++ b/boards/mro/ctrl-zero-classic/src/spi.cpp @@ -37,7 +37,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { initSPIBus(SPI::Bus::SPI1, { - initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}), + initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortG, GPIO::Pin3}, SPI::DRDY{GPIO::PortG, GPIO::Pin2}), initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}), }, {GPIO::PortE, GPIO::Pin3}), initSPIBus(SPI::Bus::SPI2, { @@ -46,7 +46,10 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = { }), initSPIBus(SPI::Bus::SPI5, { initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}), - initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), + initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin0}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}), + }), + initSPIBusExternal(SPI::Bus::SPI6, { + initSPIConfigExternal(SPI::CS{GPIO::PortG, GPIO::Pin9}), }), }; diff --git a/boards/mro/ctrl-zero-classic/src/timer_config.cpp b/boards/mro/ctrl-zero-classic/src/timer_config.cpp index 23bb7a1decc7..50760e387bba 100644 --- a/boards/mro/ctrl-zero-classic/src/timer_config.cpp +++ b/boards/mro/ctrl-zero-classic/src/timer_config.cpp @@ -33,6 +33,28 @@ #include +/* Timer allocation + * + * TIM1_CH4 T FMU_CH1 + * TIM1_CH3 T FMU_CH2 + * TIM1_CH2 T FMU_CH3 + * TIM1_CH1 T FMU_CH4 + * + * TIM4_CH2 T FMU_CH5 + * TIM4_CH3 T FMU_CH6 + * TIM2_CH3 T FMU_CH7 + * TIM2_CH1 T FMU_CH8 + * + * TIM2_CH4 T FMU_CH9 + * TIM15_CH1 T FMU_CH10 + * + * TIM8_CH1 T FMU_CH11 + * + * TIM4_CH4 T FMU_CH12 + * + * TIM16_CH1 T BUZZER - Driven by other driver + */ + constexpr io_timers_t io_timers[MAX_IO_TIMERS] = { initIOTimer(Timer::Timer1, DMA{DMA::Index1}), initIOTimer(Timer::Timer4, DMA{DMA::Index1}), From 57df7e35b284ce49065e469c1bb828055a24b459 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Fri, 8 Mar 2024 13:28:24 -0800 Subject: [PATCH 040/102] uORB: make queue size (ORB_QUEUE_LENGTH) completely static (#22815) Previously uORB queue size was an awkward mix of runtime configurable (at advertise or IOCTL before allocate), but effectively static with all queue size settings (outside of test code) actually coming from the topic declaration (presently ORB_QUEUE_LENGTH in the .msg). This change finally resolves the inconsistency making the queue size fully static. Additionally there were some corner cases that the muorb and orb communicator implementation were not correctly handling. This PR provides fixes for those issues. Also correctly sets remote queue lengths now based on the topic definitions. * Made setting of uORB topic queue size in based on topic definition only * Fixes to the ModalAI muorb implementation * Removed libfc sensor from format checks * msg/TransponderReport.msg ORB_QUEUE_LENGTH 8->16 (was set to higher in AdsbConflict.h --------- Co-authored-by: Eric Katzfey Co-authored-by: Daniel Agar --- Tools/astyle/files_to_check_code_style.sh | 1 + Tools/msg/templates/uorb/msg.cpp.em | 9 ++- msg/OrbTestMedium.msg | 2 + msg/TransponderReport.msg | 2 +- platforms/common/px4_log.cpp | 2 +- platforms/common/uORB/Publication.hpp | 22 +------ platforms/common/uORB/PublicationMulti.hpp | 4 +- platforms/common/uORB/uORB.cpp | 19 +++--- platforms/common/uORB/uORB.h | 38 ++++++----- platforms/common/uORB/uORBDeviceNode.cpp | 60 ++---------------- platforms/common/uORB/uORBDeviceNode.hpp | 23 +++---- platforms/common/uORB/uORBManager.cpp | 63 ++++++++----------- platforms/common/uORB/uORBManager.hpp | 11 +--- platforms/common/uORB/uORBManagerUsr.cpp | 14 +---- .../uORB/uORB_tests/uORBTest_UnitTest.cpp | 12 ++-- platforms/ros2/include/uORB/Publication.hpp | 20 +----- src/drivers/camera_trigger/camera_trigger.cpp | 2 +- src/drivers/drv_orb_dev.h | 7 +-- src/drivers/tone_alarm/ToneAlarm.cpp | 2 - src/lib/adsb/AdsbConflict.h | 2 +- src/lib/events/events.cpp | 2 +- src/lib/systemlib/mavlink_log.cpp | 2 +- .../HealthAndArmingChecksTest.cpp | 2 +- src/modules/commander/commander_helper.cpp | 4 +- src/modules/mavlink/mavlink_main.cpp | 4 +- src/modules/uxrce_dds_client/dds_topics.h.em | 2 +- .../uxrce_dds_client/vehicle_command_srv.cpp | 3 +- .../zenoh/subscribers/uorb_subscriber.hpp | 2 +- 28 files changed, 108 insertions(+), 228 deletions(-) diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index 486eac9464ce..e0cc5693edb3 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -30,4 +30,5 @@ exec find boards msg src platforms test \ -path src/lib/cdrstream/cyclonedds -prune -o \ -path src/lib/cdrstream/rosidl -prune -o \ -path src/modules/zenoh/zenoh-pico -prune -o \ + -path src/modules/muorb/apps/libfc-sensor-api -prune -o \ -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN diff --git a/Tools/msg/templates/uorb/msg.cpp.em b/Tools/msg/templates/uorb/msg.cpp.em index b77c013b91e1..4ffe4c38d14c 100644 --- a/Tools/msg/templates/uorb/msg.cpp.em +++ b/Tools/msg/templates/uorb/msg.cpp.em @@ -73,9 +73,16 @@ struct_size, padding_end_size = add_padding_bytes(sorted_fields, search_path) #include #include +@{ +queue_length = 1 +for constant in spec.constants: + if constant.name == 'ORB_QUEUE_LENGTH': + queue_length = constant.val +}@ + @[for topic in topics]@ static_assert(static_cast(ORB_ID::@topic) == @(all_topics.index(topic)), "ORB_ID index mismatch"); -ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast(ORB_ID::@topic)); +ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), @(message_hash)u, static_cast(ORB_ID::@topic), @queue_length); @[end for] void print_message(const orb_metadata *meta, const @uorb_struct& message) diff --git a/msg/OrbTestMedium.msg b/msg/OrbTestMedium.msg index b25ae1c8514b..43109d49d54e 100644 --- a/msg/OrbTestMedium.msg +++ b/msg/OrbTestMedium.msg @@ -4,4 +4,6 @@ int32 val uint8[64] junk +uint8 ORB_QUEUE_LENGTH = 16 + # TOPICS orb_test_medium orb_test_medium_multi orb_test_medium_wrap_around orb_test_medium_queue orb_test_medium_queue_poll diff --git a/msg/TransponderReport.msg b/msg/TransponderReport.msg index 6a1ca064186b..d5171cf3b303 100644 --- a/msg/TransponderReport.msg +++ b/msg/TransponderReport.msg @@ -47,4 +47,4 @@ uint16 ADSB_EMITTER_TYPE_SERVICE_SURFACE=18 uint16 ADSB_EMITTER_TYPE_POINT_OBSTACLE=19 uint16 ADSB_EMITTER_TYPE_ENUM_END=20 -uint8 ORB_QUEUE_LENGTH = 8 +uint8 ORB_QUEUE_LENGTH = 16 diff --git a/platforms/common/px4_log.cpp b/platforms/common/px4_log.cpp index a3d9b02338aa..73a3671c8982 100644 --- a/platforms/common/px4_log.cpp +++ b/platforms/common/px4_log.cpp @@ -74,7 +74,7 @@ void px4_log_initialize(void) log_message.severity = 6; // info strcpy((char *)log_message.text, "initialized uORB logging"); log_message.timestamp = hrt_absolute_time(); - orb_log_message_pub = orb_advertise_queue(ORB_ID(log_message), &log_message, log_message_s::ORB_QUEUE_LENGTH); + orb_log_message_pub = orb_advertise(ORB_ID(log_message), &log_message); } __EXPORT void px4_log_modulename(int level, const char *module_name, const char *fmt, ...) diff --git a/platforms/common/uORB/Publication.hpp b/platforms/common/uORB/Publication.hpp index 7547e3b7faf3..a0a7cc20cf71 100644 --- a/platforms/common/uORB/Publication.hpp +++ b/platforms/common/uORB/Publication.hpp @@ -48,24 +48,6 @@ namespace uORB { -template class DefaultQueueSize -{ -private: - template - static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *) - { - return T::ORB_QUEUE_LENGTH; - } - - template static constexpr uint8_t get_queue_size(...) - { - return 1; - } - -public: - static constexpr unsigned value = get_queue_size(nullptr); -}; - class PublicationBase { public: @@ -97,7 +79,7 @@ class PublicationBase /** * uORB publication wrapper class */ -template::value> +template class Publication : public PublicationBase { public: @@ -113,7 +95,7 @@ class Publication : public PublicationBase bool advertise() { if (!advertised()) { - _handle = orb_advertise_queue(get_topic(), nullptr, ORB_QSIZE); + _handle = orb_advertise(get_topic(), nullptr); } return advertised(); diff --git a/platforms/common/uORB/PublicationMulti.hpp b/platforms/common/uORB/PublicationMulti.hpp index bc275940b604..6e8863b17d12 100644 --- a/platforms/common/uORB/PublicationMulti.hpp +++ b/platforms/common/uORB/PublicationMulti.hpp @@ -51,7 +51,7 @@ namespace uORB /** * Base publication multi wrapper class */ -template::value> +template class PublicationMulti : public PublicationBase { public: @@ -73,7 +73,7 @@ class PublicationMulti : public PublicationBase { if (!advertised()) { int instance = 0; - _handle = orb_advertise_multi_queue(get_topic(), nullptr, &instance, QSIZE); + _handle = orb_advertise_multi(get_topic(), nullptr, &instance); } return advertised(); diff --git a/platforms/common/uORB/uORB.cpp b/platforms/common/uORB/uORB.cpp index c91ac6bccec3..a68f3c5dc83c 100644 --- a/platforms/common/uORB/uORB.cpp +++ b/platforms/common/uORB/uORB.cpp @@ -118,22 +118,11 @@ orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) return uORB::Manager::get_instance()->orb_advertise(meta, data); } -orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, unsigned int queue_size) -{ - return uORB::Manager::get_instance()->orb_advertise(meta, data, queue_size); -} - orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) { return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance); } -orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size) -{ - return uORB::Manager::get_instance()->orb_advertise_multi(meta, data, instance, queue_size); -} - int orb_unadvertise(orb_advert_t handle) { return uORB::Manager::get_instance()->orb_unadvertise(handle); @@ -227,6 +216,14 @@ const char *orb_get_c_type(unsigned char short_type) return nullptr; } +uint8_t orb_get_queue_size(const struct orb_metadata *meta) +{ + if (meta) { + return meta->o_queue; + } + + return 0; +} void orb_print_message_internal(const orb_metadata *meta, const void *data, bool print_topic_name) { diff --git a/platforms/common/uORB/uORB.h b/platforms/common/uORB/uORB.h index fc06a2da3cda..a8964b4d27cd 100644 --- a/platforms/common/uORB/uORB.h +++ b/platforms/common/uORB/uORB.h @@ -53,6 +53,8 @@ struct orb_metadata { const uint16_t o_size_no_padding; /**< object size w/o padding at the end (for logger) */ uint32_t message_hash; /**< Hash over all fields for message compatibility checks */ orb_id_size_t o_id; /**< ORB_ID enum */ + uint8_t o_queue; /**< queue size */ + }; typedef const struct orb_metadata *orb_id_t; @@ -102,14 +104,16 @@ typedef const struct orb_metadata *orb_id_t; * @param _size_no_padding Struct size w/o padding at the end * @param _message_hash 32 bit message hash over all fields * @param _orb_id_enum ORB ID enum e.g.: ORB_ID::vehicle_status + * @param _queue_size Queue size from topic definition */ -#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum) \ - const struct orb_metadata __orb_##_name = { \ - #_name, \ - sizeof(_struct), \ - _size_no_padding, \ - _message_hash, \ - _orb_id_enum \ +#define ORB_DEFINE(_name, _struct, _size_no_padding, _message_hash, _orb_id_enum, _queue_size) \ + const struct orb_metadata __orb_##_name = { \ + #_name, \ + sizeof(_struct), \ + _size_no_padding, \ + _message_hash, \ + _orb_id_enum, \ + _queue_size \ }; struct hack __BEGIN_DECLS @@ -135,23 +139,11 @@ typedef void *orb_advert_t; */ extern orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data) __EXPORT; -/** - * @see uORB::Manager::orb_advertise() - */ -extern orb_advert_t orb_advertise_queue(const struct orb_metadata *meta, const void *data, - unsigned int queue_size) __EXPORT; - /** * @see uORB::Manager::orb_advertise_multi() */ extern orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) __EXPORT; -/** - * @see uORB::Manager::orb_advertise_multi() - */ -extern orb_advert_t orb_advertise_multi_queue(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size) __EXPORT; - /** * @see uORB::Manager::orb_unadvertise() */ @@ -160,7 +152,7 @@ extern int orb_unadvertise(orb_advert_t handle) __EXPORT; /** * @see uORB::Manager::orb_publish() */ -extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT; +extern int orb_publish(const struct orb_metadata *meta, orb_advert_t handle, const void *data) __EXPORT; /** * Advertise as the publisher of a topic. @@ -241,6 +233,12 @@ extern int orb_get_interval(int handle, unsigned *interval) __EXPORT; */ const char *orb_get_c_type(unsigned char short_type); +/** + * Returns the queue size of a topic + * @param meta orb topic metadata + */ +extern uint8_t orb_get_queue_size(const struct orb_metadata *meta); + /** * Print a topic to console. Do not call this directly, use print_message() instead. * @param meta orb topic metadata diff --git a/platforms/common/uORB/uORBDeviceNode.cpp b/platforms/common/uORB/uORBDeviceNode.cpp index 112170de6b5b..e83b3f3e04e3 100644 --- a/platforms/common/uORB/uORBDeviceNode.cpp +++ b/platforms/common/uORB/uORBDeviceNode.cpp @@ -48,37 +48,10 @@ static uORB::SubscriptionInterval *filp_to_subscription(cdev::file_t *filp) { return static_cast(filp->f_priv); } -// round up to nearest power of two -// Such as 0 => 1, 1 => 1, 2 => 2 ,3 => 4, 10 => 16, 60 => 64, 65...255 => 128 -// Note: When the input value > 128, the output is always 128 -static inline uint8_t round_pow_of_two_8(uint8_t n) -{ - if (n == 0) { - return 1; - } - - // Avoid is already a power of 2 - uint8_t value = n - 1; - - // Fill 1 - value |= value >> 1U; - value |= value >> 2U; - value |= value >> 4U; - - // Unable to round-up, take the value of round-down - if (value == UINT8_MAX) { - value >>= 1U; - } - - return value + 1; -} - -uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, - uint8_t queue_size) : +uORB::DeviceNode::DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path) : CDev(strdup(path)), // success is checked in CDev::init _meta(meta), - _instance(instance), - _queue_size(round_pow_of_two_8(queue_size)) + _instance(instance) { } @@ -186,7 +159,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen) /* re-check size */ if (nullptr == _data) { - const size_t data_size = _meta->o_size * _queue_size; + const size_t data_size = _meta->o_size * _meta->o_queue; _data = (uint8_t *) px4_cache_aligned_alloc(data_size); if (_data) { @@ -217,7 +190,7 @@ uORB::DeviceNode::write(cdev::file_t *filp, const char *buffer, size_t buflen) /* wrap-around happens after ~49 days, assuming a publisher rate of 1 kHz */ unsigned generation = _generation.fetch_add(1); - memcpy(_data + (_meta->o_size * (generation % _queue_size)), buffer, _meta->o_size); + memcpy(_data + (_meta->o_size * (generation % _meta->o_queue)), buffer, _meta->o_size); // callbacks for (auto item : _callbacks) { @@ -254,13 +227,6 @@ uORB::DeviceNode::ioctl(cdev::file_t *filp, int cmd, unsigned long arg) *(uintptr_t *)arg = (uintptr_t)this; return PX4_OK; - case ORBIOCSETQUEUESIZE: { - lock(); - int ret = update_queue_size(arg); - unlock(); - return ret; - } - case ORBIOCGETINTERVAL: *(unsigned *)arg = filp_to_subscription(filp)->get_interval_us(); return PX4_OK; @@ -389,12 +355,11 @@ uORB::DeviceNode::print_statistics(int max_topic_length) const uint8_t instance = get_instance(); const int8_t sub_count = subscriber_count(); - const uint8_t queue_size = get_queue_size(); unlock(); PX4_INFO_RAW("%-*s %2i %4i %2i %4i %s\n", max_topic_length, get_meta()->o_name, (int)instance, (int)sub_count, - queue_size, get_meta()->o_size, get_devname()); + get_meta()->o_queue, get_meta()->o_size, get_devname()); return true; } @@ -483,21 +448,6 @@ int16_t uORB::DeviceNode::process_received_message(int32_t length, uint8_t *data } #endif /* CONFIG_ORB_COMMUNICATOR */ -int uORB::DeviceNode::update_queue_size(unsigned int queue_size) -{ - if (_queue_size == queue_size) { - return PX4_OK; - } - - //queue size is limited to 255 for the single reason that we use uint8 to store it - if (_data || _queue_size > queue_size || queue_size > 255) { - return PX4_ERROR; - } - - _queue_size = round_pow_of_two_8(queue_size); - return PX4_OK; -} - unsigned uORB::DeviceNode::get_initial_generation() { ATOMIC_ENTER; diff --git a/platforms/common/uORB/uORBDeviceNode.hpp b/platforms/common/uORB/uORBDeviceNode.hpp index c5c5bb22c0c8..527c5ddf2b4f 100644 --- a/platforms/common/uORB/uORBDeviceNode.hpp +++ b/platforms/common/uORB/uORBDeviceNode.hpp @@ -62,7 +62,7 @@ class UnitTest; class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode { public: - DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path, uint8_t queue_size = 1); + DeviceNode(const struct orb_metadata *meta, const uint8_t instance, const char *path); virtual ~DeviceNode(); // no copy, assignment, move, move assignment @@ -179,15 +179,6 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNodeo_queue; } int8_t subscriber_count() const { return _subscriber_count; } @@ -234,7 +225,7 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNodeo_queue == 1) { ATOMIC_ENTER; memcpy(dst, _data, _meta->o_size); generation = _generation.load(); @@ -253,12 +244,12 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNodeo_queue, generation, current_generation - 1)) { // Reader is too far behind: some messages are lost - generation = current_generation - _queue_size; + generation = current_generation - _meta->o_queue; } - memcpy(dst, _data + (_meta->o_size * (generation % _queue_size)), _meta->o_size); + memcpy(dst, _data + (_meta->o_size * (generation % _meta->o_queue)), _meta->o_size); ATOMIC_LEAVE; ++generation; @@ -295,7 +286,7 @@ class uORB::DeviceNode : public cdev::CDev, public IntrusiveSortedListNode 1) { - PX4_WARN("orb_advertise_multi: failed to set queue size"); - } - /* get the advertiser handle and close the node */ orb_advert_t advertiser; - result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); + int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); px4_close(fd); if (result == PX4_ERROR) { @@ -602,6 +592,22 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) { PX4_DEBUG("entering process_remote_topic: name: %s", topic_name); + // First make sure this is a valid topic + const struct orb_metadata *const *topic_list = orb_get_topics(); + orb_id_t topic_ptr = nullptr; + + for (size_t i = 0; i < orb_topics_count(); i++) { + if (strcmp(topic_list[i]->o_name, topic_name) == 0) { + topic_ptr = topic_list[i]; + break; + } + } + + if (! topic_ptr) { + PX4_ERR("process_remote_topic meta not found for %s\n", topic_name); + return -1; + } + // Look to see if we already have a node for this topic char nodepath[orb_maxpath]; int ret = uORB::Utils::node_mkpath(nodepath, topic_name); @@ -613,7 +619,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) uORB::DeviceNode *node = device_master->getDeviceNode(nodepath); if (node) { - PX4_INFO("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name); + PX4_DEBUG("Marking DeviceNode(%s) as advertised in process_remote_topic", topic_name); node->mark_as_advertised(); _remote_topics.insert(topic_name); return 0; @@ -622,27 +628,9 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) } // We didn't find a node so we need to create it via an advertisement - const struct orb_metadata *const *topic_list = orb_get_topics(); - orb_id_t topic_ptr = nullptr; - - for (size_t i = 0; i < orb_topics_count(); i++) { - if (strcmp(topic_list[i]->o_name, topic_name) == 0) { - topic_ptr = topic_list[i]; - break; - } - } - - if (topic_ptr) { - PX4_INFO("Advertising remote topic %s", topic_name); - _remote_topics.insert(topic_name); - // Add some queue depth when advertising remote topics. These - // topics may get aggregated and thus delivered in a batch that - // requires some buffering in a queue. - orb_advertise(topic_ptr, nullptr, 5); - - } else { - PX4_INFO("process_remote_topic meta not found for %s\n", topic_name); - } + PX4_DEBUG("Advertising remote topic %s", topic_name); + _remote_topics.insert(topic_name); + orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue); return 0; } @@ -663,8 +651,11 @@ int16_t uORB::Manager::process_add_subscription(const char *messageName) PX4_DEBUG("DeviceNode(%s) not created yet", messageName); } else { - // node is present. - node->process_add_subscription(); + // node is present. But don't send any data to it if it + // is a node advertised by the remote side + if (_remote_topics.find(messageName) == false) { + node->process_add_subscription(); + } } } else { diff --git a/platforms/common/uORB/uORBManager.hpp b/platforms/common/uORB/uORBManager.hpp index 1c2870b1eecd..d5202b9236af 100644 --- a/platforms/common/uORB/uORBManager.hpp +++ b/platforms/common/uORB/uORBManager.hpp @@ -215,17 +215,15 @@ class uORB::Manager * @param data A pointer to the initial data to be published. * For topics updated by interrupt handlers, the advertisement * must be performed from non-interrupt context. - * @param queue_size Maximum number of buffered elements. If this is 1, no queuing is - * used. * @return nullptr on error, otherwise returns an object pointer * that can be used to publish to the topic. * If the topic in question is not known (due to an * ORB_DEFINE with no corresponding ORB_DECLARE) * this function will return nullptr and set errno to ENOENT. */ - orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data, unsigned int queue_size = 1) + orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data = nullptr) { - return orb_advertise_multi(meta, data, nullptr, queue_size); + return orb_advertise_multi(meta, data, nullptr); } /** @@ -250,16 +248,13 @@ class uORB::Manager * @param instance Pointer to an integer which will yield the instance ID (0-based) * of the publication. This is an output parameter and will be set to the newly * created instance, ie. 0 for the first advertiser, 1 for the next and so on. - * @param queue_size Maximum number of buffered elements. If this is 1, no queuing is - * used. * @return nullptr on error, otherwise returns a handle * that can be used to publish to the topic. * If the topic in question is not known (due to an * ORB_DEFINE with no corresponding ORB_DECLARE) * this function will return nullptr and set errno to ENOENT. */ - orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size = 1); + orb_advert_t orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance); /** * Unadvertise a topic. diff --git a/platforms/common/uORB/uORBManagerUsr.cpp b/platforms/common/uORB/uORBManagerUsr.cpp index af00dbb9ba58..e1a413e4c685 100644 --- a/platforms/common/uORB/uORBManagerUsr.cpp +++ b/platforms/common/uORB/uORBManagerUsr.cpp @@ -89,8 +89,7 @@ int uORB::Manager::orb_exists(const struct orb_metadata *meta, int instance) return data.ret; } -orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance, - unsigned int queue_size) +orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, const void *data, int *instance) { /* open the node as an advertiser */ int fd = node_open(meta, true, instance); @@ -100,19 +99,10 @@ orb_advert_t uORB::Manager::orb_advertise_multi(const struct orb_metadata *meta, return nullptr; } - /* Set the queue size. This must be done before the first publication; thus it fails if - * this is not the first advertiser. - */ - int result = px4_ioctl(fd, ORBIOCSETQUEUESIZE, (unsigned long)queue_size); - - if (result < 0 && queue_size > 1) { - PX4_WARN("orb_advertise_multi: failed to set queue size"); - } - /* get the advertiser handle and close the node */ orb_advert_t advertiser; - result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); + int result = px4_ioctl(fd, ORBIOCGADVERTISER, (unsigned long)&advertiser); px4_close(fd); if (result == PX4_ERROR) { diff --git a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp index f8631fa04de0..b40b60ad4760 100644 --- a/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp +++ b/platforms/common/uORB/uORB_tests/uORBTest_UnitTest.cpp @@ -574,8 +574,8 @@ int uORBTest::UnitTest::test_wrap_around() bool updated{false}; // Advertise but not publish topics, only generate device_node, which is convenient for modifying DeviceNode::_generation - const int queue_size = 16; - ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_wrap_around), nullptr, queue_size); + const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_wrap_around)); + ptopic = orb_advertise(ORB_ID(orb_test_medium_wrap_around), nullptr); if (ptopic == nullptr) { return test_fail("advertise failed: %d", errno); @@ -828,9 +828,9 @@ int uORBTest::UnitTest::test_queue() return test_fail("subscribe failed: %d", errno); } - const int queue_size = 16; + const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue)); orb_test_medium_s t{}; - ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue), &t, queue_size); + ptopic = orb_advertise(ORB_ID(orb_test_medium_queue), &t); if (ptopic == nullptr) { return test_fail("advertise failed: %d", errno); @@ -935,9 +935,9 @@ int uORBTest::UnitTest::pub_test_queue_main() { orb_test_medium_s t{}; orb_advert_t ptopic{nullptr}; - const int queue_size = 50; + const int queue_size = orb_get_queue_size(ORB_ID(orb_test_medium_queue_poll)); - if ((ptopic = orb_advertise_queue(ORB_ID(orb_test_medium_queue_poll), &t, queue_size)) == nullptr) { + if ((ptopic = orb_advertise(ORB_ID(orb_test_medium_queue_poll), &t)) == nullptr) { _thread_should_exit = true; return test_fail("advertise failed: %d", errno); } diff --git a/platforms/ros2/include/uORB/Publication.hpp b/platforms/ros2/include/uORB/Publication.hpp index 3b53424e0b35..b7f1d0768d0b 100644 --- a/platforms/ros2/include/uORB/Publication.hpp +++ b/platforms/ros2/include/uORB/Publication.hpp @@ -45,28 +45,10 @@ namespace uORB { -template class DefaultQueueSize -{ -private: - template - static constexpr uint8_t get_queue_size(decltype(T::ORB_QUEUE_LENGTH) *) - { - return T::ORB_QUEUE_LENGTH; - } - - template static constexpr uint8_t get_queue_size(...) - { - return 1; - } - -public: - static constexpr unsigned value = get_queue_size(nullptr); -}; - /** * uORB publication wrapper class */ -template::value> +template class Publication { public: diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp index c03e63aca45a..4f49e5692baf 100644 --- a/src/drivers/camera_trigger/camera_trigger.cpp +++ b/src/drivers/camera_trigger/camera_trigger.cpp @@ -314,7 +314,7 @@ CameraTrigger::CameraTrigger() : // Advertise critical publishers here, because we cannot advertise in interrupt context camera_trigger_s trigger{}; - _trigger_pub = orb_advertise_queue(ORB_ID(camera_trigger), &trigger, camera_trigger_s::ORB_QUEUE_LENGTH); + _trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger); } CameraTrigger::~CameraTrigger() diff --git a/src/drivers/drv_orb_dev.h b/src/drivers/drv_orb_dev.h index 042dbe2097e1..42f361d43968 100644 --- a/src/drivers/drv_orb_dev.h +++ b/src/drivers/drv_orb_dev.h @@ -64,13 +64,10 @@ /** Get the priority for the topic */ #define ORBIOCGPRIORITY _ORBIOC(14) -/** Set the queue size of the topic */ -#define ORBIOCSETQUEUESIZE _ORBIOC(15) - /** Get the minimum interval at which the topic can be seen to be updated for this subscription */ -#define ORBIOCGETINTERVAL _ORBIOC(16) +#define ORBIOCGETINTERVAL _ORBIOC(15) /** Check whether the topic is advertised, sets *(unsigned long *)arg to 1 if advertised, 0 otherwise */ -#define ORBIOCISADVERTISED _ORBIOC(17) +#define ORBIOCISADVERTISED _ORBIOC(16) #endif /* _DRV_UORB_H */ diff --git a/src/drivers/tone_alarm/ToneAlarm.cpp b/src/drivers/tone_alarm/ToneAlarm.cpp index 5893f9018f7e..256f218b76f8 100644 --- a/src/drivers/tone_alarm/ToneAlarm.cpp +++ b/src/drivers/tone_alarm/ToneAlarm.cpp @@ -45,8 +45,6 @@ using namespace time_literals; ToneAlarm::ToneAlarm() : ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::hp_default) { - // ensure ORB_ID(tune_control) is advertised with correct queue depth - orb_advertise_queue(ORB_ID(tune_control), nullptr, tune_control_s::ORB_QUEUE_LENGTH); } ToneAlarm::~ToneAlarm() diff --git a/src/lib/adsb/AdsbConflict.h b/src/lib/adsb/AdsbConflict.h index 84ed38287dbb..b00d04f4dbd3 100644 --- a/src/lib/adsb/AdsbConflict.h +++ b/src/lib/adsb/AdsbConflict.h @@ -151,7 +151,7 @@ class AdsbConflict transponder_report_s tr{}; - orb_advert_t fake_traffic_report_publisher = orb_advertise_queue(ORB_ID(transponder_report), &tr, (unsigned int)20); + orb_advert_t fake_traffic_report_publisher = orb_advertise(ORB_ID(transponder_report), &tr); TRAFFIC_STATE _traffic_state_previous{TRAFFIC_STATE::NO_CONFLICT}; diff --git a/src/lib/events/events.cpp b/src/lib/events/events.cpp index c4d6867020c0..9bb215d3561f 100644 --- a/src/lib/events/events.cpp +++ b/src/lib/events/events.cpp @@ -61,7 +61,7 @@ void send(EventType &event) orb_publish(ORB_ID(event), orb_event_pub, &event); } else { - orb_event_pub = orb_advertise_queue(ORB_ID(event), &event, event_s::ORB_QUEUE_LENGTH); + orb_event_pub = orb_advertise(ORB_ID(event), &event); } pthread_mutex_unlock(&publish_event_mutex); diff --git a/src/lib/systemlib/mavlink_log.cpp b/src/lib/systemlib/mavlink_log.cpp index d31136f21530..94870af7ae12 100644 --- a/src/lib/systemlib/mavlink_log.cpp +++ b/src/lib/systemlib/mavlink_log.cpp @@ -73,6 +73,6 @@ __EXPORT void mavlink_vasprintf(int severity, orb_advert_t *mavlink_log_pub, con orb_publish(ORB_ID(mavlink_log), *mavlink_log_pub, &log_msg); } else { - *mavlink_log_pub = orb_advertise_queue(ORB_ID(mavlink_log), &log_msg, mavlink_log_s::ORB_QUEUE_LENGTH); + *mavlink_log_pub = orb_advertise(ORB_ID(mavlink_log), &log_msg); } } diff --git a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp index bc919080bf56..912d3bb1293b 100644 --- a/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp +++ b/src/modules/commander/HealthAndArmingChecks/HealthAndArmingChecksTest.cpp @@ -55,7 +55,7 @@ class ReporterTest : public ::testing::Test void SetUp() override { // ensure topic exists, otherwise we might lose first queued events - orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH); + orb_advertise(ORB_ID(event), nullptr); } }; diff --git a/src/modules/commander/commander_helper.cpp b/src/modules/commander/commander_helper.cpp index f642541fb74b..48c93982495a 100644 --- a/src/modules/commander/commander_helper.cpp +++ b/src/modules/commander/commander_helper.cpp @@ -153,7 +153,7 @@ int buzzer_init() tune_durations[tune_control_s::TUNE_ID_BATTERY_WARNING_SLOW] = 800000; tune_durations[tune_control_s::TUNE_ID_SINGLE_BEEP] = 300000; - tune_control_pub = orb_advertise_queue(ORB_ID(tune_control), &tune_control, tune_control_s::ORB_QUEUE_LENGTH); + tune_control_pub = orb_advertise(ORB_ID(tune_control), &tune_control); return PX4_OK; } @@ -330,7 +330,7 @@ int led_init() led_control.mode = led_control_s::MODE_OFF; led_control.priority = 0; led_control.timestamp = hrt_absolute_time(); - led_control_pub = orb_advertise_queue(ORB_ID(led_control), &led_control, led_control_s::ORB_QUEUE_LENGTH); + led_control_pub = orb_advertise(ORB_ID(led_control), &led_control); /* first open normal LEDs */ fd_leds = px4_open(LED0_DEVICE_PATH, O_RDWR); diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp index bb26398ba919..2467554e97a5 100644 --- a/src/modules/mavlink/mavlink_main.cpp +++ b/src/modules/mavlink/mavlink_main.cpp @@ -124,13 +124,13 @@ Mavlink::Mavlink() : // ensure topic exists, otherwise we might lose first queued commands if (orb_exists(ORB_ID(vehicle_command), 0) == PX4_ERROR) { - orb_advertise_queue(ORB_ID(vehicle_command), nullptr, vehicle_command_s::ORB_QUEUE_LENGTH); + orb_advertise(ORB_ID(vehicle_command), nullptr); } _vehicle_command_sub.subscribe(); if (orb_exists(ORB_ID(event), 0) == PX4_ERROR) { - orb_advertise_queue(ORB_ID(event), nullptr, event_s::ORB_QUEUE_LENGTH); + orb_advertise(ORB_ID(event), nullptr); } _event_sub.subscribe(); diff --git a/src/modules/uxrce_dds_client/dds_topics.h.em b/src/modules/uxrce_dds_client/dds_topics.h.em index c664d87a9f7d..cade47b5fdce 100644 --- a/src/modules/uxrce_dds_client/dds_topics.h.em +++ b/src/modules/uxrce_dds_client/dds_topics.h.em @@ -168,7 +168,7 @@ bool RcvTopicsPubs::init(uxrSession *session, uxrStreamId reliable_out_stream_id { @[ for idx, sub in enumerate(subscriptions + subscriptions_multi)]@ { - uint16_t queue_depth = uORB::DefaultQueueSize<@(sub['simple_base_type'])_s>::value * 2; // use a bit larger queue size than internal + uint16_t queue_depth = orb_get_queue_size(ORB_ID(@(sub['simple_base_type']))) * 2; // use a bit larger queue size than internal create_data_reader(session, reliable_out_stream_id, best_effort_in_stream_id, participant_id, @(idx), client_namespace, "@(sub['topic_simple'])", "@(sub['dds_type'])", queue_depth); } @[ end for]@ diff --git a/src/modules/uxrce_dds_client/vehicle_command_srv.cpp b/src/modules/uxrce_dds_client/vehicle_command_srv.cpp index aac0bd2c5857..c25d6757d4a9 100644 --- a/src/modules/uxrce_dds_client/vehicle_command_srv.cpp +++ b/src/modules/uxrce_dds_client/vehicle_command_srv.cpp @@ -39,8 +39,7 @@ VehicleCommandSrv::VehicleCommandSrv(uxrSession *session, uxrStreamId reliable_o uxrStreamId input_stream_id, uxrObjectId participant_id, const char *client_namespace, const uint8_t index) : SrvBase(session, reliable_out_stream_id, input_stream_id, participant_id) { - uint16_t queue_depth = uORB::DefaultQueueSize::value * - 2; // use a bit larger queue size than internal + uint16_t queue_depth = orb_get_queue_size(ORB_ID(vehicle_command)) * 2; // use a bit larger queue size than internal create_replier(input_stream_id, participant_id, index, client_namespace, "vehicle_command", "VehicleCommand", queue_depth); }; diff --git a/src/modules/zenoh/subscribers/uorb_subscriber.hpp b/src/modules/zenoh/subscribers/uorb_subscriber.hpp index bd16b64398fd..550c1a3f4584 100644 --- a/src/modules/zenoh/subscribers/uorb_subscriber.hpp +++ b/src/modules/zenoh/subscribers/uorb_subscriber.hpp @@ -55,7 +55,7 @@ class uORB_Zenoh_Subscriber : public Zenoh_Subscriber _cdr_ops(ops) { int instance = 0; - _uorb_pub_handle = orb_advertise_multi_queue(_uorb_meta, nullptr, &instance, 1); //FIXME template magic qsize + _uorb_pub_handle = orb_advertise_multi(_uorb_meta, nullptr, &instance); }; ~uORB_Zenoh_Subscriber() override = default; From b81ad8841e90ecd2ddf70bc0409d2d880d389f91 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Wed, 6 Mar 2024 13:15:44 -0700 Subject: [PATCH 041/102] drivers: broadcom AFBR update to API 1.5.6 --- .../broadcom/afbrs50/Inc/api/argus_api.h | 109 +++++- .../broadcom/afbrs50/Inc/api/argus_dca.h | 65 +++- .../broadcom/afbrs50/Inc/api/argus_map.h | 101 ++++- .../broadcom/afbrs50/Inc/api/argus_msk.h | 170 -------- .../broadcom/afbrs50/Inc/api/argus_offset.h | 23 +- .../broadcom/afbrs50/Inc/api/argus_pba.h | 366 ++++++++++++++++-- .../broadcom/afbrs50/Inc/api/argus_px.h | 3 + .../broadcom/afbrs50/Inc/api/argus_status.h | 9 +- .../broadcom/afbrs50/Inc/api/argus_version.h | 6 +- .../broadcom/afbrs50/Inc/api/argus_xtalk.h | 65 +++- .../broadcom/afbrs50/Inc/utility/fp_div.h | 16 +- .../broadcom/afbrs50/Inc/utility/fp_mul.h | 12 +- .../broadcom/afbrs50/Inc/utility/fp_rnd.h | 4 +- .../broadcom/afbrs50/Inc/utility/int_math.h | 2 +- .../broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a | Bin 231568 -> 238570 bytes .../afbrs50/Lib/libafbrs50_m4_fpu_os.a | Bin 183564 -> 189626 bytes 16 files changed, 659 insertions(+), 292 deletions(-) delete mode 100644 src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h index 44cdc921683d..3e30649ae104 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_api.h @@ -160,6 +160,11 @@ status_t Argus_InitMode(argus_hnd_t *hnd, s2pi_slave_t spi_slave, argus_mode_t m * Also refer to #Argus_ReinitMode, which uses a specified measurement * mode instead of the currently active measurement mode. * + * @note If a full re-initialization is not desired, refer to the + * #Argus_RestoreDeviceState function that will only re-write the + * register map to the device to restore its state after an power + * cycle. + * * @param hnd The API handle; contains all internal states and data. * * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). @@ -182,6 +187,11 @@ status_t Argus_Reinit(argus_hnd_t *hnd); * Also refer to #Argus_Reinit, which re-uses the currently active * measurement mode instead of an user specified measurement mode. * + * @note If a full re-initialization is not desired, refer to the + * #Argus_RestoreDeviceState function that will only re-write the + * register map to the device to restore its state after an power + * cycle. + * * @param hnd The API handle; contains all internal states and data. * * @param mode The specified measurement mode to be initialized. @@ -274,6 +284,69 @@ argus_hnd_t *Argus_CreateHandle(void); *****************************************************************************/ status_t Argus_DestroyHandle(argus_hnd_t *hnd); +/*!*************************************************************************** + * @brief Restores the device state with a re-write of all register values. + * + * @details The function invalidates and restores the device state by executing + * a re-write of the full register map. + * + * The purpose of this function is to recover from known external + * events like power cycles, for example due to sleep / wake-up + * functionality. This can be implemented by cutting off the external + * power supply of the device (e.g. via a MOSFET switch controlled by + * a GPIB pin). By calling this function, the expected state of the + * API is written to the device without the need to fully re-initialize + * the device. Thus, the API can resume where it has stopped as if + * there has never been a power cycle. + * + * The internal state machines like the dynamic configuration adaption + * (DCA) algorithm will not be reseted. The API/sensor will immediately + * resume at the last state that was optimized for the given + * environmental conditions. + * + * The use case of sleep / wake-up can be implemented as follows: + * + * 1. In case of ongoing measurements, stop the measurements via + * the #Argus_StopMeasurementTimer function (if started by the + * #Argus_StartMeasurementTimer function). + * + * 2. Shut down the device by removing the 5V power supply, e.g. + * via a GPIO pin that switches a MOSFET circuit. + * + * 3. After the desired sleep period, power the device by switching + * the 5V power supply on again. Wait until the power-on-reset + * (POR) is finished (approx. 1 ms) or just repeat step 4 until + * it succeeds. + * + * 4. Call the #Argus_RestoreDeviceState function to trigger the + * restoration of the device state in the API. Note that the + * function will return an error code if it fails. One can repeat + * the execution of that function a few times until it succeeds. + * + * 6. Continue with measurements via #Argus_StartMeasurementTimer + * of #Argus_TriggerMeasurement functions as desired. + * + * @note If a complete re-initialization (= soft-reset) is desired, see + * the #Argus_Reinit functionality. + * + * @note Changing a configuration or calibration parameter will always + * invalidate the device state as well as the state machine of the + * dynamic configuration adaption (DCA) algorithm. In that case, the + * device/API needs a few measurements to adopt to the present + * environmental conditions before the first valid measurement result + * can be obtained. This is almost similar to re-initializing the + * device (see #Argus_Reinit) which would also re-read the EEPROM. + * On the other hand, the #Argus_RestoreDeviceState does not reset + * or re-initialize anything. It just makes sure that the device + * register map (which has changed to its reset values after the + * power cycle) is what the API expects upon the next measurement. + * + * @param hnd The device handle object to be invalidated. + * + * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). + *****************************************************************************/ +status_t Argus_RestoreDeviceState(argus_hnd_t *hnd); + /*!************************************************************************** * Generic API ****************************************************************************/ @@ -726,7 +799,7 @@ status_t Argus_ExecuteXtalkCalibrationSequence(argus_hnd_t *hnd); * After calibration has finished successfully, the obtained data is * applied immediately and can be read from the API using the * #Argus_GetCalibrationPixelRangeOffsets or - * #Argus_GetCalibrationGlobalRangeOffset function. + * #Argus_GetCalibrationGlobalRangeOffsets function. * * @param hnd The API handle; contains all internal states and data. * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). @@ -775,7 +848,7 @@ status_t Argus_ExecuteRelativeRangeOffsetCalibrationSequence(argus_hnd_t *hnd); * After calibration has finished successfully, the obtained data is * applied immediately and can be read from the API using the * #Argus_GetCalibrationPixelRangeOffsets or - * #Argus_GetCalibrationGlobalRangeOffset function. + * #Argus_GetCalibrationGlobalRangeOffsets function. * * @param hnd The API handle; contains all internal states and data. * @param targetRange The absolute range between the reference plane and the @@ -1043,28 +1116,40 @@ status_t Argus_GetConfigurationUnambiguousRange(argus_hnd_t *hnd, ****************************************************************************/ /*!*************************************************************************** - * @brief Sets the global range offset value to a specified device. + * @brief Sets the global range offset values to a specified device. * - * @details The global range offset is subtracted from the raw range values. + * @details The global range offsets are subtracted from the raw range values. + * There are two distinct values that are applied in low or high + * power stage setting respectively. * * @param hnd The API handle; contains all internal states and data. - * @param value The new global range offset in meter and Q0.15 format. + * @param offset_low The new global range offset for the low power stage in + * meter and Q0.15 format. + * @param offset_high The new global range offset for the high power stage in + * meter and Q0.15 format. * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_SetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, - q0_15_t value); +status_t Argus_SetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd, + q0_15_t offset_low, + q0_15_t offset_high); /*!*************************************************************************** - * @brief Gets the global range offset value from a specified device. + * @brief Gets the global range offset values from a specified device. * - * @details The global range offset is subtracted from the raw range values. + * @details The global range offsets are subtracted from the raw range values. + * There are two distinct values that are applied in low or high + * power stage setting respectively. * * @param hnd The API handle; contains all internal states and data. - * @param value The current global range offset in meter and Q0.15 format. + * @param offset_low The current range offset for the low power stage in + * meter and Q0.15 format. + * @param offset_high The current global range offset for the high power stage + * in meter and Q0.15 format. * @return Returns the \link #status_t status\endlink (#STATUS_OK on success). *****************************************************************************/ -status_t Argus_GetCalibrationGlobalRangeOffset(argus_hnd_t *hnd, - q0_15_t *value); +status_t Argus_GetCalibrationGlobalRangeOffsets(argus_hnd_t *hnd, + q0_15_t *offset_low, + q0_15_t *offset_high); /*!*************************************************************************** * @brief Sets the relative pixel offset table to a specified device. diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h index 8f6b40bdc5b9..8d9a854b2cc1 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_dca.h @@ -210,9 +210,13 @@ typedef enum argus_dca_gain_t { * - [9]: #ARGUS_STATE_LASER_ERROR * - [10]: #ARGUS_STATE_HAS_DATA * - [11]: #ARGUS_STATE_HAS_AUX_DATA - * - [12]: #ARGUS_STATE_DCA_MAX + * - [12]: #ARGUS_STATE_SATURATED_PIXELS * - [13]: DCA Power Stage * - [14-15]: DCA Gain Stages + * - [16]: #ARGUS_STATE_DCA_MIN + * - [17]: #ARGUS_STATE_DCA_MAX + * - [18]: #ARGUS_STATE_DCA_RESET + * - [18-31]: not used * . *****************************************************************************/ typedef enum argus_state_t { @@ -229,36 +233,35 @@ typedef enum argus_state_t { * - 1: Enabled: measurement with detuned frequency. */ ARGUS_STATE_DUAL_FREQ_MODE = 1U << 1U, - /*! 0x0004: Measurement Frequency for Dual Frequency Mode + /*! 0x0004: Measurement Frequency for Dual Frequency Mode \n * (only if #ARGUS_STATE_DUAL_FREQ_MODE flag is set). * - 0: A-Frame w/ detuned frequency, * - 1: B-Frame w/ detuned frequency */ ARGUS_STATE_MEASUREMENT_FREQ = 1U << 2U, - /*! 0x0008: Debug Mode. If set, the range value of erroneous pixels + /*! 0x0008: Debug Mode. \n + * If set, the range value of erroneous pixels * are not cleared or reset. * - 0: Disabled (default). * - 1: Enabled. */ ARGUS_STATE_DEBUG_MODE = 1U << 3U, - /*! 0x0010: Weak Signal Flag. + /*! 0x0010: Weak Signal Flag. \n * Set whenever the Pixel Binning Algorithm is detecting a * weak signal, i.e. if the amplitude dies not reach its - * (absolute) threshold. If the Golden Pixel is enabled, - * this also indicates that the Pixel Binning Algorithm - * falls back to the Golden Pixel. + * (absolute) threshold. * - 0: Normal Signal. - * - 1: Weak Signal or Golden Pixel Mode. */ + * - 1: Weak Signal. */ ARGUS_STATE_WEAK_SIGNAL = 1U << 4U, - /*! 0x0020: Background Light Warning Flag. + /*! 0x0020: Background Light Warning Flag. \n * Set whenever the background light is very high and the * measurement data might be unreliable. * - 0: No Warning: Background Light is within valid range. * - 1: Warning: Background Light is very high. */ ARGUS_STATE_BGL_WARNING = 1U << 5U, - /*! 0x0040: Background Light Error Flag. + /*! 0x0040: Background Light Error Flag. \n * Set whenever the background light is too high and the * measurement data is unreliable or invalid. * - 0: No Error: Background Light is within valid range. @@ -270,7 +273,7 @@ typedef enum argus_state_t { * - 1: PLL locked at start of integration. */ ARGUS_STATE_PLL_LOCKED = 1U << 7U, - /*! 0x0100: Laser Failure Warning Flag. + /*! 0x0100: Laser Failure Warning Flag. \n * Set whenever the an invalid system condition is detected. * (i.e. DCA at max state but no amplitude on any (incl. reference) * pixel, not amplitude but any saturated pixel). @@ -279,7 +282,7 @@ typedef enum argus_state_t { * condition stays, a laser malfunction error is raised. */ ARGUS_STATE_LASER_WARNING = 1U << 8U, - /*! 0x0200: Laser Failure Error Flag. + /*! 0x0200: Laser Failure Error Flag. \n * Set whenever a laser malfunction error is raised and the * system is put into a safe state. * - 0: No Error: Laser is operating properly. @@ -297,13 +300,12 @@ typedef enum argus_state_t { * - 1: Auxiliary data is available and correctly evaluated. */ ARGUS_STATE_HAS_AUX_DATA = 1U << 11U, - /*! 0x1000: DCA Maximum State Flag. - * Set whenever the DCA has extended all its parameters to their - * maximum values and can not increase the integration energy any - * further. - * - 0: DCA has not yet reached its maximum state. - * - 1: DCA has reached its maximum state and can not increase any further. */ - ARGUS_STATE_DCA_MAX = 1U << 12U, + /*! 0x0100: Pixel Saturation Flag. \n + * Set whenever any pixel is saturated, i.e. its pixel state is + * #PIXEL_SAT + * - 0: No saturated pixels. + * - 1: Any saturated pixels. */ + ARGUS_STATE_SATURATED_PIXELS = 1U << 12U, /*! 0x2000: DCA is in high Optical Output Power stage. */ ARGUS_STATE_DCA_POWER_HIGH = DCA_POWER_HIGH << ARGUS_STATE_DCA_POWER_SHIFT, @@ -320,6 +322,31 @@ typedef enum argus_state_t { /*! 0xC000: DCA is in high Pixel Input Gain stage. */ ARGUS_STATE_DCA_GAIN_HIGH = DCA_GAIN_HIGH << ARGUS_STATE_DCA_GAIN_SHIFT, + /*! 0x10000: DCA Minimum State Flag. \n + * Set whenever the DCA has reduced all its parameters to their + * minimum values and it can not decrease the integration energy + * any further. + * - 0: DCA has not yet reached its minimum state. + * - 1: DCA has reached its minimum state and can not decrease + * its parameters any further. */ + ARGUS_STATE_DCA_MIN = 1U << 16U, + + /*! 0x20000: DCA Maximum State Flag. \n + * Set whenever the DCA has extended all its parameters to their + * maximum values and it can not increase the integration energy + * any further. + * - 0: DCA has not yet reached its maximum state. + * - 1: DCA has reached its maximum state and can not increase + * its parameters any further. */ + ARGUS_STATE_DCA_MAX = 1U << 17U, + + /*! 0x20000: DCA Reset State Flag. \n + * Set whenever the DCA is resetting all its parameters to their + * minimum values because it has detected too many saturated pixels. + * - 0: DCA is operating in normal mode. + * - 1: DCA is performing a reset. */ + ARGUS_STATE_DCA_RESET = 1U << 18U, + } argus_state_t; /*!*************************************************************************** diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h index 4ffa55656ba2..22a85b9d3e24 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_map.h @@ -58,6 +58,7 @@ extern "C" { *****************************************************************************/ #include "utility/int_math.h" +#include #include @@ -138,6 +139,13 @@ extern "C" { #define PIXEL_CH2N(c) (((((c) << 1U) ^ 0x1CU) & 0x1CU) | (((c) >> 3U) & 0x02U) | ((c) & 0x01U)) +/*!***************************************************************************** + * @brief Macro to create a pixel mask given by the pixels n-index. + * @param n n-index of the pixel. + * @return The pixel mask with only n-index pixel set. + ******************************************************************************/ +#define PIXELN_MASK(n) (0x01U << (n)) + /*!***************************************************************************** * @brief Macro to determine if a pixel given by the n-index is enabled in a pixel mask. * @param msk 32-bit pixel mask @@ -151,15 +159,22 @@ extern "C" { * @param msk 32-bit pixel mask * @param n n-index of the pixel to enable. ******************************************************************************/ -#define PIXELN_ENABLE(msk, n) ((msk) |= (0x01U << (n))) +#define PIXELN_ENABLE(msk, n) ((msk) |= (PIXELN_MASK(n))) /*!***************************************************************************** * @brief Macro disable a pixel given by the n-index in a pixel mask. * @param msk 32-bit pixel mask * @param n n-index of the pixel to disable. ******************************************************************************/ -#define PIXELN_DISABLE(msk, n) ((msk) &= (~(0x01U << (n)))) +#define PIXELN_DISABLE(msk, n) ((msk) &= (~PIXELN_MASK(n))) + +/*!***************************************************************************** + * @brief Macro to create a pixel mask given by the pixels ADC channel number. + * @param c The ADC channel number of the pixel. + * @return The 32-bit pixel mask with only pixel ADC channel set. + ******************************************************************************/ +#define PIXELCH_MASK(c) (0x01U << (PIXEL_CH2N(c))) /*!***************************************************************************** * @brief Macro to determine if an ADC pixel channel is enabled from a pixel mask. @@ -184,6 +199,14 @@ extern "C" { #define PIXELCH_DISABLE(msk, c) (PIXELN_DISABLE(msk, PIXEL_CH2N(c))) +/*!***************************************************************************** + * @brief Macro to create a pixel mask given by the pixel x-y-indices. + * @param x x-index of the pixel. + * @param y y-index of the pixel. + * @return The 32-bit pixel mask with only pixel ADC channel set. + ******************************************************************************/ +#define PIXELXY_MASK(x, y) (0x01U << (PIXEL_XY2N(x, y))) + /*!***************************************************************************** * @brief Macro to determine if a pixel given by the x-y-indices is enabled in a pixel mask. * @param msk 32-bit pixel mask @@ -337,10 +360,10 @@ static inline uint32_t ShiftSelectedPixels(const uint32_t pixel_mask, uint32_t shifted_mask = 0; - for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) { - for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { - int8_t x_src = x - dx; - int8_t y_src = y - dy; + for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) { + for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { + int8_t x_src = (int8_t)(x - dx); + int8_t y_src = (int8_t)(y - dy); if (dy & 0x1) { /* Compensate for hexagonal pixel shape. */ @@ -409,8 +432,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask, int8_t min_y = -1; /* Find nearest not selected pixel. */ - for (uint8_t x = 0; x < ARGUS_PIXELS_X; ++x) { - for (uint8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { + for (int8_t x = 0; x < ARGUS_PIXELS_X; ++x) { + for (int8_t y = 0; y < ARGUS_PIXELS_Y; ++y) { if (!PIXELXY_ISENABLED(pixel_mask, x, y)) { int32_t distx = (x - center_x) << 1; @@ -423,8 +446,8 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask, if (dist < min_dist) { min_dist = dist; - min_x = x; - min_y = y; + min_x = (int8_t)x; + min_y = (int8_t)y; } } } @@ -438,6 +461,64 @@ static inline uint32_t FillPixelMask(uint32_t pixel_mask, return pixel_mask; } + +/*!***************************************************************************** + * @brief Fills a pixel mask with the direct neighboring pixels around a pixel. + * + * @details The pixel mask is iteratively filled with the direct neighbors of the + * specified center pixel. + * + * Note that the function is able to handle corner and edge pixels and + * also to handle odd/even lines (which have different layouts) + * + * @param x The selected pixel x-index. + * @param y The selected pixel y-index. + * @return The filled pixel mask with all direct neighbors of the selected pixel. + ******************************************************************************/ +static inline uint32_t GetAdjacentPixelsMask(const uint_fast8_t x, + const uint_fast8_t y) +{ + assert(x < ARGUS_PIXELS_X); + assert(y < ARGUS_PIXELS_Y); + + uint32_t mask = 0u; + + bool isXEdgeLow = (x == 0); + bool isXEdgeHigh = (x == (ARGUS_PIXELS_X - 1)); + bool isYEdgeLow = (y == 0); + bool isYEdgeHigh = (y == (ARGUS_PIXELS_Y - 1)); + + if (y % 2 == 0) { + if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x, y - 1); } + + if ((!isXEdgeHigh) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x + 1, y - 1); } + + if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); } + + if ((!isXEdgeHigh) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x + 1, y + 1); } + + if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x, y + 1); } + + if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); } + + } else { + if ((!isXEdgeLow) && (!isYEdgeLow)) { PIXELXY_ENABLE(mask, x - 1, y - 1); } + + if (!isYEdgeLow) { PIXELXY_ENABLE(mask, x, y - 1); } + + if (!isXEdgeHigh) { PIXELXY_ENABLE(mask, x + 1, y); } + + if (!isYEdgeHigh) { PIXELXY_ENABLE(mask, x, y + 1); } + + if ((!isXEdgeLow) && (!isYEdgeHigh)) { PIXELXY_ENABLE(mask, x - 1, y + 1); } + + if (!isXEdgeLow) { PIXELXY_ENABLE(mask, x - 1, y); } + } + + return mask; +} + + /*! @} */ #ifdef __cplusplus } // extern "C" diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h deleted file mode 100644 index 258fb3826092..000000000000 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_msk.h +++ /dev/null @@ -1,170 +0,0 @@ -/*************************************************************************//** - * @file - * @brief This file is part of the AFBR-S50 API. - * @details Defines macros to work with pixel and ADC channel masks. - * - * @copyright - * - * Copyright (c) 2021, Broadcom Inc - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions are met: - * - * 1. Redistributions of source code must retain the above copyright notice, this - * list of conditions and the following disclaimer. - * - * 2. Redistributions in binary form must reproduce the above copyright notice, - * this list of conditions and the following disclaimer in the documentation - * and/or other materials provided with the distribution. - * - * 3. Neither the name of the copyright holder nor the names of its - * contributors may be used to endorse or promote products derived from - * this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" - * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE - * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE - * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE - * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL - * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR - * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, - * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE - * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - *****************************************************************************/ - -#ifndef ARGUS_MSK_H -#define ARGUS_MSK_H - -/*!*************************************************************************** - * @defgroup argusmap ADC Channel Mapping - * @ingroup argusres - * - * @brief Pixel ADC Channel (n) to x-y-Index Mapping - * - * @details The ADC Channels of each pixel or auxiliary channel on the device - * is numbered in a way that is convenient on the chip. The macros - * in this module are defined in order to obtain the x-y-indices of - * each channel and vice versa. - * - * @addtogroup argusmap - * @{ - *****************************************************************************/ - -#include "api/argus_def.h" -#include "utility/int_math.h" - -/*!***************************************************************************** - * @brief Macro to determine the channel number of an specified Pixel. - * @param x The x index of the pixel. - * @param y The y index of the pixel. - * @return The channel number n of the pixel. - ******************************************************************************/ -#define PIXEL_XY2N(x, y) ((((x) ^ 7) << 1) | ((y) & 2) << 3 | ((y) & 1)) - -/*!***************************************************************************** - * @brief Macro to determine the x index of an specified Pixel channel. - * @param n The channel number of the pixel. - * @return The x index number of the pixel. - ******************************************************************************/ -#define PIXEL_N2X(n) ((((n) >> 1U) & 7) ^ 7) - -/*!***************************************************************************** - * @brief Macro to determine the y index of an specified Pixel channel. - * @param n The channel number of the pixel. - * @return The y index number of the pixel. - ******************************************************************************/ -#define PIXEL_N2Y(n) (((n) & 1U) | (((n) >> 3) & 2U)) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC Pixel channel was enabled from a pixel mask. - * @param msk The 32-bit pixel mask - * @param ch The channel number of the pixel. - * @return True if the pixel channel n was enabled, false elsewise. - ******************************************************************************/ -#define PIXELN_ISENABLED(msk, ch) (((msk) >> (ch)) & 0x01U) - -/*!***************************************************************************** - * @brief Macro enables an ADC Pixel channel in a pixel mask. - * @param msk The 32-bit pixel mask - * @param ch The channel number of the pixel. - ******************************************************************************/ -#define PIXELN_ENABLE(msk, ch) ((msk) |= (0x01U << (ch))) - -/*!***************************************************************************** - * @brief Macro disables an ADC Pixel channel in a pixel mask. - * @param msk The 32-bit pixel mask - * @param ch The channel number of the pixel. - ******************************************************************************/ -#define PIXELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << (ch)))) - -/*!***************************************************************************** - * @brief Macro to determine if an ADC Pixel channel was enabled from a pixel mask. - * @param msk 32-bit pixel mask - * @param x x index of the pixel. - * @param y y index of the pixel. - * @return True if the pixel (x,y) was enabled, false elsewise. - ******************************************************************************/ -#define PIXELXY_ISENABLED(msk, x, y) (PIXELN_ISENABLED(msk, PIXEL_XY2N(x, y))) - -/*!***************************************************************************** - * @brief Macro enables an ADC Pixel channel in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x index of the pixel. - * @param y y index of the pixel. - ******************************************************************************/ -#define PIXELXY_ENABLE(msk, x, y) (PIXELN_ENABLE(msk, PIXEL_XY2N(x, y))) - -/*!***************************************************************************** - * @brief Macro disables an ADC Pixel channel in a pixel mask. - * @param msk 32-bit pixel mask - * @param x x index of the pixel. - * @param y y index of the pixel. - ******************************************************************************/ -#define PIXELXY_DISABLE(msk, x, y) (PIXELN_DISABLE(msk, PIXEL_XY2N(x, y))) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC channel was enabled from a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel n was enabled, false elsewise. - ******************************************************************************/ -#define CHANNELN_ISENABLED(msk, ch) (((msk) >> ((ch) - 32U)) & 0x01U) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC channel was enabled from a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel n was enabled, false elsewise. - ******************************************************************************/ -#define CHANNELN_ENABLE(msk, ch) ((msk) |= (0x01U << ((ch) - 32U))) - -/*!***************************************************************************** - * @brief Macro to determine if a ADC channel was enabled from a channel mask. - * @param msk 32-bit channel mask - * @param ch channel number of the ADC channel. - * @return True if the ADC channel n was enabled, false elsewise. - ******************************************************************************/ -#define CHANNELN_DISABLE(msk, ch) ((msk) &= (~(0x01U << ((ch) - 32U)))) - - -/*!***************************************************************************** - * @brief Macro to determine the number of enabled pixel channels via a popcount - * algorithm. - * @param pxmsk 32-bit pixel mask - * @return The count of enabled pixel channels. - ******************************************************************************/ -#define PIXEL_COUNT(pxmsk) popcount(pxmsk) - -/*!***************************************************************************** - * @brief Macro to determine the number of enabled channels via a popcount - * algorithm. - * @param pxmsk 32-bit pixel mask - * @param chmsk 32-bit channel mask - * @return The count of enabled ADC channels. - ******************************************************************************/ -#define CHANNEL_COUNT(pxmsk, chmsk) (popcount(pxmsk) + popcount(chmsk)) - -/*! @} */ -#endif /* ARGUS_MSK_H */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h index 7a41440f3976..3ef649d45b3b 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_offset.h @@ -36,6 +36,9 @@ #ifndef ARGUS_OFFSET_H #define ARGUS_OFFSET_H +#ifdef __cplusplus +extern "C" { +#endif /*!*************************************************************************** * @addtogroup argus_cal @@ -48,12 +51,26 @@ * @brief Pixel Range Offset Table. * @details Contains pixel range offset values for all 32 active pixels. *****************************************************************************/ -typedef struct argus_cal_offset_table_t { - /*! The offset values per pixel in meter and Q0.15 format. */ - q0_15_t Table[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; +typedef union argus_cal_offset_table_t { + struct { + /*! The offset values table for Low Power Stage of all 32 pixels. + * Unit: meter; Format: Q0.15 */ + q0_15_t LowPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + + /*! The offset values table for High Power Stage of all 32 pixels. + * Unit: meter; Format: Q0.15 */ + q0_15_t HighPower[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + }; + + /*! The offset values table for Low/High Power Stages of all 32 pixels. + * Unit: meter; Format: Q0.15 */ + q0_15_t Table[ARGUS_DCA_POWER_STAGE_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; } argus_cal_offset_table_t; /*! @} */ +#ifdef __cplusplus +} // extern "C" +#endif #endif /* ARGUS_OFFSET_T */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h index f28576500d11..f412229396a6 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_pba.h @@ -55,11 +55,11 @@ extern "C" { * information from the filtered pixels by averaging them in a * specified way. * - * The Pixel Binning Algorithm is a three-stage filter with a - * fallback value: + * Basically, the Pixel Binning Algorithm is a multi-stage filter: * * -# A fixed pre-filter mask is applied to statically disable * specified pixels. + * * -# A relative and absolute amplitude filter is applied in the * second stage. The relative filter is determined by a ratio * of the maximum amplitude off all available (i.e. not filtered @@ -75,12 +75,28 @@ extern "C" { * selected and considered for the final 1D distance. The * absolute threshold is used to dismiss pixels that are below * the noise level. The latter would be considered for the 1D - * result if the maximum amplitude is already very low. + * result if the maximum amplitude is already very low.\n + * Those threshold are implemented using a hysteresis behavior. + * For its configuration, see the following parameters: + * - #argus_cfg_pba_t::RelativeAmplitudeInclusion + * - #argus_cfg_pba_t::RelativeAmplitudeExclusion + * - #argus_cfg_pba_t::AbsoluteAmplitudeInclusion + * - #argus_cfg_pba_t::AbsoluteAmplitudeExclusion + * . + * * -# An absolute minimum distance filter is applied in addition * to the amplitude filter. This removes all pixel that have * a lower distance than the specified threshold. This is used * to remove invalid pixels that can be detected by a physically - * not correct negative distance. + * not correct negative distance.\n + * For its configuration, see the following parameters: + * - #PBA_ENABLE_MIN_DIST_SCOPE + * - #argus_cfg_pba_t::AbsoluteDistanceScopeInclusion + * - #argus_cfg_pba_t::AbsoluteDistanceScopeExclusion + * - #argus_cfg_pba_t::RelativeDistanceScopeInclusion + * - #argus_cfg_pba_t::RelativeDistanceScopeExclusion + * . + * * -# A distance filter is used to distinguish pixels that target * the actual object from pixels that see the brighter background, * e.g. white walls. Thus, the pixel with the minimum distance @@ -90,11 +106,31 @@ extern "C" { * determined by an relative (to the current minimum distance) * and an absolute value. The larger scope value is the * relevant one, i.e. the relative distance scope can be used - * to heed the increasing noise at larger distances. + * to heed the increasing noise at larger distances.\n + * For its configuration, see the following parameters: + * - #argus_cfg_pba_t::AbsoluteMinimumDistanceThreshold + * . + * * -# If all of the above filters fail to determine a single valid * pixel, the Golden Pixel is used as a fallback value. The * Golden Pixel is the pixel that sits right at the focus point - * of the optics at large distances. + * of the optics at large distances. Thus, it is expected to + * have the best signal at large distances.\n + * For its configuration, see the following parameters: + * - #PBA_ENABLE_GOLDPX_FALLBACK_MODE + * . + * + * -# In order to avoid unwanted effects from "out-of-focus" pixels + * in application that require a smaller focus, the Golden Pixel + * Priority Mode prioritizes a valid signal on the central + * Golden Pixel over other pixels. That is, while the Golden + * Pixel has a reasonable signal strength, it is the only pixel + * considered for the 1D result.\n + * For its configuration, see the following parameters: + * - #PBA_ENABLE_GOLDPX_FALLBACK_MODE + * - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeInclusion + * - #argus_cfg_pba_t::GoldenPixelPriorityAmplitudeExclusion + * . * . * * After filtering is done, there may be more than a single pixel @@ -113,14 +149,17 @@ extern "C" { * @brief Enable flags for the pixel binning algorithm. * * @details Determines the pixel binning algorithm feature enable status. + * * - [0]: #PBA_ENABLE: Enables the pixel binning feature. * - [1]: reserved * - [2]: reserved * - [3]: reserved - * - [4]: reserved - * - [5]: #PBA_ENABLE_GOLDPX: Enables the Golden Pixel feature. - * - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance scope - * feature. + * - [4]: #PBA_ENABLE_GOLDPX_PRIORITY_MODE: Enables the Golden Pixel + * priority mode feature. + * - [5]: #PBA_ENABLE_GOLDPX_FALLBACK_MODE: Enables the Golden Pixel + * fallback mode feature. + * - [6]: #PBA_ENABLE_MIN_DIST_SCOPE: Enables the minimum distance + * scope feature. * - [7]: reserved * . *****************************************************************************/ @@ -128,8 +167,17 @@ typedef enum argus_pba_flags_t { /*! Enables the pixel binning feature. */ PBA_ENABLE = 1U << 0U, - /*! Enables the Golden Pixel. */ - PBA_ENABLE_GOLDPX = 1U << 5U, + /*! Enables the Golden Pixel Priority Mode. + * If enabled, the Golden Pixel is prioritized over other Pixels as long + * as it has a good signal (determined by # */ + PBA_ENABLE_GOLDPX_PRIORITY_MODE = 1U << 4U, + + /*! Enables the Golden Pixel Fallback Mode. + * If enabled, the Golden Pixel is used as a last fallback pixel to obtain + * a valid signal from. This is recommended for all non-multi pixel + * devices whose TX field-of-view is aligned to target the Golden Pixel in + * factory calibration. */ + PBA_ENABLE_GOLDPX_FALLBACK_MODE = 1U << 5U, /*! Enables the minimum distance scope filter. */ PBA_ENABLE_MIN_DIST_SCOPE = 1U << 6U, @@ -168,65 +216,297 @@ typedef struct { * about the individual evaluation modes. */ argus_pba_averaging_mode_t AveragingMode; - /*! The Relative amplitude threshold value (in %) of the max. amplitude. + /*! The relative amplitude inclusion threshold (in %) of the max. amplitude. * - * Pixels with amplitude below this threshold value are dismissed. + * Pixels, whose amplitudes raise above this inclusion threshold, are + * added to the pixel binning. The amplitude must fall below the + * exclusion (#RelativeAmplitudeExclusion) threshold to be removed from + * the pixel binning again. * * All available values from the 8-bit representation are valid. * The actual percentage value is determined by 100%/256*x. * - * Use 0 to disable the relative amplitude threshold. */ - uq0_8_t RelAmplThreshold; + * Note: in addition to the relative criteria, there is also the absolute + * criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be greater than or equal to the #RelativeAmplitudeExclusion. + * + * Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #RelativeAmplitudeExclusion and + * #RelativeAmplitudeInclusion) to disable the relative amplitude + * hysteresis. */ + uq0_8_t RelativeAmplitudeInclusion; - /*! The relative minimum distance scope value in %. + /*! The relative amplitude exclusion threshold (in %) of the max. amplitude. * - * Pixels that have a range value within [x0, x0 + dx] are considered - * for the pixel binning, where x0 is the minimum distance of all - * amplitude picked pixels and dx is the minimum distance scope value. - * The minimum distance scope value will be the maximum of relative - * and absolute value. + * Pixels, whose amplitudes fall below this exclusion threshold, are + * removed from the pixel binning. The amplitude must raise above the + * inclusion (#RelativeAmplitudeInclusion) threshold to be added back + * to be pixel binning again. * * All available values from the 8-bit representation are valid. * The actual percentage value is determined by 100%/256*x. * - * Special values: - * - 0: Use 0 for absolute value only or to choose the pixel with the - * minimum distance only (of also the absolute value is 0)! */ - uq0_8_t RelMinDistanceScope; + * Note: in addition to the relative criteria, there is also the absolute + * criteria (#AbsoluteAmplitudeInclusion, #AbsoluteAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be less than or equal to #RelativeAmplitudeInclusion. + * + * Use #RelativeAmplitudeExclusion == #RelativeAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #RelativeAmplitudeExclusion and + * #RelativeAmplitudeInclusion) to disable the relative amplitude + * hysteresis. */ + uq0_8_t RelativeAmplitudeExclusion; + + /*! The absolute amplitude inclusion threshold in LSB. + * + * Pixels, whose amplitudes raise above this inclusion threshold, are + * added to the pixel binning. The amplitude must fall below the + * exclusion (#RelativeAmplitudeExclusion) threshold to be removed from + * the pixel binning again. + * + * The absolute amplitude hysteresis is only valid if the Golden Pixel + * mode is enabled. Otherwise, the thresholds are set to 0 LSB internally + * which disables the absolute criteria. + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/16. + * + * Note: in addition to the absolute criteria, there is also the relative + * criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be greater than or equal to #AbsoluteAmplitudeExclusion. + * + * Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #AbsoluteAmplitudeExclusion and + * #AbsoluteAmplitudeInclusion) to disable the absolute amplitude + * hysteresis. */ + uq12_4_t AbsoluteAmplitudeInclusion; + + /*! The absolute amplitude exclusion threshold in LSB. + * + * Pixels, whose amplitudes fall below this exclusion threshold, are + * removed from the pixel binning. The amplitude must raise above the + * inclusion (#RelativeAmplitudeInclusion) threshold to be added back + * to be pixel binning again. + * + * The absolute amplitude hysteresis is only valid if the Golden Pixel + * mode is enabled. Otherwise, the thresholds are set to 0 LSB internally + * which disables the absolute criteria. + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/16. + * + * Note: in addition to the absolute criteria, there is also the relative + * criteria (#RelativeAmplitudeInclusion, #RelativeAmplitudeExclusion). + * The pixels are added to the pixel binning if their respective amplitude + * is larger than the absolute AND relative inclusion values. On the other + * hand, they are removed if their amplitude falls below the absolute OR + * relative exclusion threshold. + * + * Must be less than or equal to #AbsoluteAmplitudeInclusion. + * + * Use #AbsoluteAmplitudeExclusion == #AbsoluteAmplitudeInclusion to + * disable the hysteresis behavior and use it as a threshold only. + * + * Use 0 (for both, #AbsoluteAmplitudeExclusion and + * #AbsoluteAmplitudeInclusion) to disable the absolute amplitude + * hysteresis. */ + uq12_4_t AbsoluteAmplitudeExclusion; + + /*! The Golden Pixel Priority Mode inclusion threshold in LSB. + * + * The Golden Pixel Priority Mode prioritizes a valid signal on the + * Golden Pixel over other pixel to avoid unwanted effects from + * "out-of-focus" pixels in application that require a smaller focus. + * + * If the Golden Pixel priority mode is enabled (see + * #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid signal + * with amplitude higher than this inclusion threshold, its priority state + * is enabled and the binning exits early by dismissing all other pixels + * regardless of their respective amplitude or state. The Golden Pixel + * priority state is disabled if the Golden Pixel amplitude falls below + * the exclusion threshold (#GoldenPixelPriorityAmplitudeExclusion) or its + * state becomes invalid (e.g. #PIXEL_SAT). + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/16. + * + * Use 0 to disable the Golden Pixel priority mode hysteresis. */ + uq12_4_t GoldenPixelPriorityAmplitudeInclusion; - /*! The absolute amplitude threshold value in LSB. + /*! The Golden Pixel Priority Mode exclusion threshold in LSB. * - * Pixels with amplitude below this threshold value are dismissed. + * The Golden Pixel Priority Mode prioritizes a valid signal on the + * Golden Pixel over other pixel to avoid unwanted effects from + * "out-of-focus" pixels in application that require a smaller focus. * - * The absolute amplitude threshold is only valid if the Golden Pixel - * mode is enabled. Otherwise, the threshold is set to 0 LSB internally. + * If the Golden Pixel priority mode is enabled (see + * #PBA_ENABLE_GOLDPX_PRIORITY_MODE) and the Golden Pixel has a valid + * signal with amplitude higher than the exclusion threshold + * (#GoldenPixelPriorityAmplitudeInclusion), its priority state is enabled + * and the binning exits early by dismissing all other pixels regardless + * of their respective amplitude or state. The Golden Pixel priority state + * is disabled if the Golden Pixel amplitude falls below this exclusion + * threshold or its state becomes invalid (e.g. #PIXEL_SAT). * * All available values from the 16-bit representation are valid. * The actual LSB value is determined by x/16. * - * Use 0 to disable the absolute amplitude threshold. */ - uq12_4_t AbsAmplThreshold; + * Use 0 to disable the Golden Pixel priority mode hysteresis. */ + uq12_4_t GoldenPixelPriorityAmplitudeExclusion; + + /*! The relative minimum distance scope inclusion threshold (in %). + * + * Pixels, whose range is smaller than the minimum distance inclusion + * threshold (x_min + dx_incl) are added to the pixel binning. The + * range must raise above the exclusion + * (#RelativeDistanceScopeExclusion) threshold to be removed + * from the pixel binning again. The relative value is determined + * by multiplying the percentage with the minimum distance. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute inclusion values + * (#AbsoluteDistanceScopeInclusion). + * + * All available values from the 8-bit representation are valid. + * The actual percentage value is determined by 100%/256*x. + * + * Must be smaller than or equal to the #RelativeDistanceScopeExclusion. + * + * Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq0_8_t RelativeDistanceScopeInclusion; + + /*! The relative distance scope exclusion threshold (in %). + * + * Pixels, whose range is larger than the minimum distance exclusion + * threshold (x_min + dx_excl) are removed from the pixel binning. The + * range must fall below the inclusion + * (#RelativeDistanceScopeInclusion) threshold to be added + * to the pixel binning again. The relative value is determined + * by multiplying the percentage with the minimum distance. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute exclusion values + * (#AbsoluteDistanceScopeExclusion). + * + * All available values from the 8-bit representation are valid. + * The actual percentage value is determined by 100%/256*x. + * + * Must be larger than or equal to the #RelativeDistanceScopeInclusion. + * + * Use #RelativeDistanceScopeExclusion == #RelativeDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq0_8_t RelativeDistanceScopeExclusion; - /*! The absolute minimum distance scope value in m. + /*! The absolute minimum distance scope inclusion threshold (in m). * - * Pixels that have a range value within [x0, x0 + dx] are considered - * for the pixel binning, where x0 is the minimum distance of all - * amplitude picked pixels and dx is the minimum distance scope value. - * The minimum distance scope value will be the maximum of relative - * and absolute value. + * Pixels, whose range is smaller than the minimum distance inclusion + * threshold (x_min + dx_incl) are added to the pixel binning. The + * range must raise above the exclusion + * (#AbsoluteDistanceScopeExclusion) threshold to be added + * to the pixel binning again. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute exclusion values + * (#RelativeDistanceScopeInclusion). + * + * All available values from the 16-bit representation are valid. + * The actual LSB value is determined by x/2^15. + * + * Must be smaller than or equal to the #AbsoluteDistanceScopeExclusion. + * + * Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq1_15_t AbsoluteDistanceScopeInclusion; + + /*! The absolute minimum distance scope exclusion threshold (in m). + * + * Pixels, whose range is larger than the minimum distance exclusion + * threshold (x_min + dx_excl) are removed from the pixel binning. The + * range must fall below the inclusion + * (#AbsoluteDistanceScopeInclusion) threshold to be added + * to the pixel binning again. + * + * The distance scope determines an interval within that pixels + * are considered valid, originating at the minimum distance (x_min). + * The width of the interval is specified by the relative and absolute + * minimum distance scope thresholds. The actual values it the + * maximum of both, the relative and absolute exclusion values + * (#RelativeDistanceScopeExclusion). * * All available values from the 16-bit representation are valid. * The actual LSB value is determined by x/2^15. * - * Special values: - * - 0: Use 0 for relative value only or to choose the pixel with the - * minimum distance only (of also the relative value is 0)! */ - uq1_15_t AbsMinDistanceScope; + * Must be larger than or equal to the #AbsoluteDistanceScopeInclusion. + * + * Use #AbsoluteDistanceScopeExclusion == #AbsoluteDistanceScopeInclusion to + * disable the hysteresis behavior and use it as a threshold only. */ + uq1_15_t AbsoluteDistanceScopeExclusion; + + /*! The Golden Pixel Saturation Filter Pixel Threshold. + * + * The Golden Pixel Saturation Filter will evaluate the status of the + * Golden Pixel to #PIXEL_INVALID if a certain number of active pixels, + * i.e. pixels that are not removed by the static pre-filter mask + * (#PrefilterMask), are saturated (#PIXEL_SAT). + * + * The purpose of this filter is to avoid erroneous situations with highly + * reflective targets (e.g. retro-reflectors) that can invalidate the + * Golden Pixel such that it would not show the correct saturation state. + * In order to avoid using the Golden Pixel in that scenario, this filter + * mechanism can be used to remove the Golden Pixel if a specified number + * of other pixels show saturation state. + * + * Use 0 to disable the Golden Pixel Saturation Filter. */ + uint8_t GoldenPixelSaturationFilterPixelThreshold; + + /*! The Golden Pixel out-of-sync age limit for the GPPM. + * + * The Golden Pixel out-of-sync age is the number of consecutive frames + * where the Golden Pixel is out-of-sync. This parameters is the threshold + * to distinguish between temporary and permanent out-of-sync states. + * + * Temporary out-of-sync states happen when the target rapidly changes. In + * this case, the Golden Pixel Priority Mode (GPPM) is not exited. Only if + * the out-of-sync age exceeds the specified threshold, the Golden Pixel is + * considered erroneous and the GPPM is exited. + * + * Use 0 to disable the Golden Pixel out-of-sync aging (= infinity). */ + uint8_t GoldenPixelOutOfSyncAgeThreshold; /*! The absolute minimum distance threshold value in m. * * Pixels with distance below this threshold value are dismissed. */ - q9_22_t AbsMinDistanceThreshold; + q9_22_t AbsoluteMinimumDistanceThreshold; /*! The pre-filter pixel mask determines the pixel channels that are * statically excluded from the pixel binning (i.e. 1D distance) result. diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h index a739cea7f367..3d4ef3d50ce4 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_px.h @@ -55,6 +55,9 @@ extern "C" { * Also used as a special value to determine no object detected or infinity range. */ #define ARGUS_RANGE_MAX (Q9_22_MAX) +/*! Minimum range value in Q9.22 format. */ +#define ARGUS_RANGE_MIN (Q9_22_MIN) + /*!*************************************************************************** * @brief Status flags for the evaluated pixel structure. * diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h index 77cd85641363..8f3fb09688f4 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_status.h @@ -227,12 +227,19 @@ enum Status { /*! -114: AFBR-S50 Error: Register data integrity is lost (e.g. due to unexpected * power-on-reset cycle or invalid write cycle of SPI. System tries to - * reset the values. */ + * reset the values. + * + * @note If this error occurs after intentionally cycling the power supply + * of the device, use the #Argus_RestoreDeviceState API function to properly + * recover the current API state into the device to avoid that issue. */ ERROR_ARGUS_DATA_INTEGRITY_LOST = -114, /*! -115: AFBR-S50 Error: The range offsets calibration failed! */ ERROR_ARGUS_RANGE_OFFSET_CALIBRATION_FAILED = -115, + /*! -116: AFBR-S50 Error: The VSUB calibration failed! */ + ERROR_ARGUS_VSUB_CALIBRATION_FAILED = -116, + /*! -191: AFBR-S50 Error: The device is currently busy and cannot execute the * requested command. */ ERROR_ARGUS_BUSY = -191, diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h index a1a2d878ac99..f58ba1bba74e 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_version.h @@ -56,13 +56,13 @@ extern "C" { #define ARGUS_API_VERSION_MAJOR 1 /*! Minor version number of the AFBR-S50 API. */ -#define ARGUS_API_VERSION_MINOR 4 +#define ARGUS_API_VERSION_MINOR 5 /*! Bugfix version number of the AFBR-S50 API. */ -#define ARGUS_API_VERSION_BUGFIX 4 +#define ARGUS_API_VERSION_BUGFIX 6 /*! Build version number of the AFBR-S50 API. */ -#define ARGUS_API_VERSION_BUILD "20230327150535" +#define ARGUS_API_VERSION_BUILD "20240208081753" /*****************************************************************************/ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h index 6f3d40b49a42..284538a52bc9 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/api/argus_xtalk.h @@ -72,30 +72,28 @@ typedef struct xtalk_t { * @details Contains crosstalk vector values for all 32 active pixels, * separated for A/B-Frames. *****************************************************************************/ -typedef struct argus_cal_xtalk_table_t { - union { - struct { - /*! The crosstalk vector table for A-Frames. */ - xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; - - /*! The crosstalk vector table for B-Frames. */ - xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; - }; - - /*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/ - xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; +typedef union argus_cal_xtalk_table_t { + struct { + /*! The crosstalk vector table for A-Frames. */ + xtalk_t FrameA[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + + /*! The crosstalk vector table for B-Frames. */ + xtalk_t FrameB[ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; }; + /*! The crosstalk vector table for A/B-Frames of all 32 pixels.*/ + xtalk_t Table[ARGUS_DFM_FRAME_COUNT][ARGUS_PIXELS_X][ARGUS_PIXELS_Y]; + } argus_cal_xtalk_table_t; /*!*************************************************************************** - * @brief Pixel-To-Pixel Crosstalk Compensation Parameters. - * @details Contains calibration data that belongs to the pixel-to-pixel - * crosstalk compensation feature. + * @brief Electrical Pixel-To-Pixel Crosstalk Compensation Parameters. + * @details Contains calibration data that belongs to the electrical + * pixel-to-pixel crosstalk compensation feature. *****************************************************************************/ -typedef struct argus_cal_p2pxtalk_t { - /*! Pixel-To-Pixel Compensation on/off. */ +typedef struct argus_cal_electrical_p2pxtalk_t { + /*! Electrical Pixel-To-Pixel Compensation on/off. */ bool Enabled; /*! The relative threshold determines when the compensation is active for @@ -134,8 +132,39 @@ typedef struct argus_cal_p2pxtalk_t { * Higher values determine more influence on the reference pixel signal. */ q3_12_t KcFactorCRefPx; -} argus_cal_p2pxtalk_t; +} argus_cal_electrical_p2pxtalk_t; + +/*!*************************************************************************** + * @brief Optical Pixel-To-Pixel Crosstalk Compensation Parameters. + * @details Contains calibration data that belongs to the optical + * pixel-to-pixel crosstalk compensation feature. + *****************************************************************************/ +typedef struct argus_cal_optical_p2pxtalk_t { + /*! Optical Pixel-To-Pixel Compensation on/off. */ + bool Enabled; + + /*! The sine component of the coupling coefficient that determines the amount + * of a neighbour pixel signal that influences the raw signal of certain pixel. + * Higher values determine more influence on the individual pixel signal. */ + q3_12_t CouplingCoeffS; + + /*! The cosine component of the coupling coefficient that determines the amount + * of a neighbour pixel signal that influences the raw signal of a certain pixel. + * Higher values determine more influence on the individual pixel signal. */ + q3_12_t CouplingCoeffC; + +} argus_cal_optical_p2pxtalk_t; + +/*!*************************************************************************** + * @brief Pixel-To-Pixel Crosstalk Compensation Parameters. + * @details Contains combined calibration data for electrical and + * optical pixel-to-pixel crosstalk compensation feature. + *****************************************************************************/ +typedef struct argus_cal_p2pxtalk_t { + argus_cal_electrical_p2pxtalk_t Electrical; + argus_cal_optical_p2pxtalk_t Optical; +} argus_cal_p2pxtalk_t; /*! @} */ #ifdef __cplusplus diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h index 60b75a164a3e..09c6fdfdc3d7 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_div.h @@ -61,7 +61,7 @@ extern "C" { * @details Algorithm to evaluate a/b, where b is in Q15.16 format, on a 32-bit * architecture with maximum precision. * The result is correctly rounded and given as the input format. - * Division by 0 yields max. values determined by signa of numerator. + * Division by 0 yields max. values determined by signs of numerator. * Too high/low results are truncated to max/min values. * * Depending on the architecture, the division is implemented with a 64-bit @@ -89,14 +89,14 @@ inline int32_t fp_div16(int32_t a, q15_16_t b) if (c > 0x80000000U) { return INT32_MIN; } - return -c; + return (int32_t) - c; } else { c = ((c / b) + (1 << 13U)) >> 14U; if (c > (int64_t)INT32_MAX) { return INT32_MAX; } - return c; + return (int32_t)c; } #else @@ -159,10 +159,16 @@ inline int32_t fp_div16(int32_t a, q15_16_t b) /* Figure out the sign of result */ if ((uint32_t)(a ^ b) & 0x80000000U) { - result = -result; + return (int32_t) - result; + + } else { + // fix 05.10.2023; the corner case, when result == INT32_MAX + 1: + // Catch the wraparound (to INT32_MIN) and truncate instead. + if (quotient > INT32_MAX) { return INT32_MAX; } + + return (int32_t)result; } - return (int32_t)result; #endif } diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h index 78db5826445a..e0996d6d78a5 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_mul.h @@ -118,7 +118,7 @@ inline uint32_t fp_mulu(uint32_t u, uint32_t v, uint_fast8_t shift) assert(shift <= 32); #if USE_64BIT_MUL const uint64_t w = (uint64_t)u * (uint64_t)v; - return (w >> shift) + ((w >> (shift - 1)) & 1U); + return (uint32_t)((w >> shift) + ((w >> (shift - 1)) & 1U)); #else uint32_t tmp[2] = { 0 }; muldwu(tmp, u, v); @@ -158,15 +158,15 @@ inline int32_t fp_muls(int32_t u, int32_t v, uint_fast8_t shift) uint32_t u2, v2; - if (u < 0) { u2 = -u; sign = -sign; } else { u2 = u; } + if (u < 0) { u2 = (uint32_t) - u; sign = -sign; } else { u2 = (uint32_t)u; } - if (v < 0) { v2 = -v; sign = -sign; } else { v2 = v; } + if (v < 0) { v2 = (uint32_t) - v; sign = -sign; } else { v2 = (uint32_t)v; } const uint32_t res = fp_mulu(u2, v2, shift); assert(sign > 0 ? res <= 0x7FFFFFFFU : res <= 0x80000000U); - return sign > 0 ? res : -res; + return sign > 0 ? (int32_t)res : -(int32_t)res; } @@ -225,7 +225,9 @@ inline uint32_t fp_mul_u32_u16(uint32_t u, uint16_t v, uint_fast8_t shift) *****************************************************************************/ inline int32_t fp_mul_s32_u16(int32_t u, uint16_t v, uint_fast8_t shift) { - return u >= 0 ? fp_mul_u32_u16(u, v, shift) : - fp_mul_u32_u16(-u, v, shift); + return u >= 0 ? + (int32_t)fp_mul_u32_u16((uint32_t)u, v, shift) : + -(int32_t)fp_mul_u32_u16((uint32_t) - u, v, shift); } /*! @} */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h index ad6f71e09cc6..056f2e027df2 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/fp_rnd.h @@ -80,7 +80,7 @@ inline uint32_t fp_rndu(uint32_t Q, uint_fast8_t n) *****************************************************************************/ inline int32_t fp_rnds(int32_t Q, uint_fast8_t n) { - return (Q < 0) ? -fp_rndu(-Q, n) : fp_rndu(Q, n); + return (Q < 0) ? -(int32_t)fp_rndu((uint32_t)(-Q), n) : (int32_t)fp_rndu((uint32_t)Q, n); } /*!*************************************************************************** @@ -108,7 +108,7 @@ inline uint32_t fp_truncu(uint32_t Q, uint_fast8_t n) *****************************************************************************/ inline int32_t fp_truncs(int32_t Q, uint_fast8_t n) { - return (Q < 0) ? -fp_truncu(-Q, n) : fp_truncu(Q, n); + return (Q < 0) ? -(int32_t)fp_truncu((uint32_t)(-Q), n) : (int32_t)fp_truncu((uint32_t)Q, n); } /*! @} */ diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h index 27de8cc68897..b9b200414663 100644 --- a/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h +++ b/src/drivers/distance_sensor/broadcom/afbrs50/Inc/utility/int_math.h @@ -66,7 +66,7 @@ inline uint32_t log2i(uint32_t x) { assert(x != 0); #if 1 - return 31 - __builtin_clz(x); + return (uint32_t)(31 - __builtin_clz(x)); #else #define S(k) if (x >= (1 << k)) { i += k; x >>= k; } int i = 0; S(16); S(8); S(4); S(2); S(1); return i; diff --git a/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a b/src/drivers/distance_sensor/broadcom/afbrs50/Lib/libafbrs50_m4_fpu.a index e4e6dc0c52cd053098fa96f10f8c558d14e9c94a..1cd0fe27e0dffe061af3a6a778d9876d2f27d920 100644 GIT binary patch delta 97635 zcmcG%30xFM_BdYMJvSo^hsvc649ckv3|`R8zMA0M~%m%Ln5)<)AVl8_>XZ3O>d&S!2s}WcK zU}){9USnj`)a7ff^}msUAt{Sjcyi6jUblQj+Vjt^S-v)9<;ywCUs+>46-v&dW-VK0 zRSzR0xt{N3wXgf#rTo&DuUWft^>Wkl*Rq!`pSO1L+U4A;A^z5t0;#TDH{_0l8y2eI zn*Ai)kq{O4N{BDOL%2bqff!eNB;-0pjvdSG7%`IDJwjP~d;~=(`v+yNa_SJtq=ZB* zS058asJZz2{zFl8a)ah5iZ(l%*Y0yRuMKG0L#vos+}JRKGNLJsM{4z{c<$w}uqOf= zKXDf@C6A2H3X+*QQ&Ch!9flyCF=y&tT6r@=k>*Gz8*ODwvwa_P*@e(~dl~bc zJw%zR~{NZk>h@xN2P_L36IINMapF 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zSPDn43F#N`zwn_qxeuv)%x7$d8db$R>n`B zWQiTu0mYC)4~C0X?&!l}%Z7Zxf;{-Wr&&Ek&kzBe`$?KAX$H|)gwiG2M~2G4BLqEJ zP$-QiNqteg1$S-{;u`5W%!%k{?BikuD~}p@xgWGqh8oq)R1TF6l~1izF4EKzV>FtnA2H zw%epm;d84I?qD5~ia4jQ^&yx|!H?jp+MRz_jrH(m?(;2(gC~J_(DH&pKJ{CO#)rYp z{O|axZs9v9Gat{j-T7CPvVmWtly&%_6~=pE&pEc!uedTUB$!@0>mPr;@c6d@v6dj= z@E2Q6ccPl%zXDa_c!3|g01Ha^B@l+8v!L&=hP&RM4 Date: Wed, 6 Mar 2024 13:16:25 -0700 Subject: [PATCH 042/102] boards: ARK Flow fix typo --- boards/ark/can-flow/firmware.prototype | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/boards/ark/can-flow/firmware.prototype b/boards/ark/can-flow/firmware.prototype index a59e1adca629..fc0df258228e 100644 --- a/boards/ark/can-flow/firmware.prototype +++ b/boards/ark/can-flow/firmware.prototype @@ -4,7 +4,7 @@ "description": "Firmware for the ARK flow board", "image": "", "build_time": 0, - "summary": "ARFFLOW", + "summary": "ARKFLOW", "version": "0.1", "image_size": 0, "image_maxsize": 2080768, From 8dcfcf5b9ecb1e6765ef6d4e6a3cd837114b4329 Mon Sep 17 00:00:00 2001 From: KonradRudin <98741601+KonradRudin@users.noreply.github.com> Date: Mon, 11 Mar 2024 09:46:16 +0100 Subject: [PATCH 043/102] mission_base: land_start_item invalid only when negative. (#22856) rtl: land_start_item invalid only when negative. Update src/modules/navigator/rtl.cpp --- src/modules/navigator/mission_base.h | 2 +- src/modules/navigator/rtl.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index 3f7e2ce91d92..6fa0f100b492 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -123,7 +123,7 @@ class MissionBase : public MissionBlock, public ModuleParams * @return true If mission has a land start of land item and a land item * @return false otherwise */ - bool hasMissionLandStart() const { return _mission.land_start_index > 0 && _mission.land_index > 0;}; + bool hasMissionLandStart() const { return _mission.land_start_index >= 0 && _mission.land_index >= 0;}; /** * @brief Go to next Mission Item * Go to next non jump mission item diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index db20f8cf7475..f039c428324c 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -604,7 +604,7 @@ void RTL::parameters_update() bool RTL::hasMissionLandStart() const { - return _mission_sub.get().land_start_index > 0; + return _mission_sub.get().land_start_index >= 0 && _mission_sub.get().land_index >= 0; } bool RTL::hasVtolLandApproach(const PositionYawSetpoint &rtl_position) const From 14e416947329d9059799d9febd94f334f611017e Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 26 Jan 2024 09:46:00 +0100 Subject: [PATCH 044/102] rtl_direct: Move the time estimation calculation into a separate helper class --- src/lib/CMakeLists.txt | 1 + src/lib/rtl/CMakeLists.txt | 34 ++++ src/lib/rtl/rtl_time_estimator.cpp | 267 +++++++++++++++++++++++++++ src/lib/rtl/rtl_time_estimator.h | 146 +++++++++++++++ src/modules/navigator/CMakeLists.txt | 1 + src/modules/navigator/rtl_direct.cpp | 193 +++---------------- src/modules/navigator/rtl_direct.h | 56 +----- 7 files changed, 481 insertions(+), 217 deletions(-) create mode 100644 src/lib/rtl/CMakeLists.txt create mode 100644 src/lib/rtl/rtl_time_estimator.cpp create mode 100644 src/lib/rtl/rtl_time_estimator.h diff --git a/src/lib/CMakeLists.txt b/src/lib/CMakeLists.txt index 1d88b3b02256..4e20ce106ba8 100644 --- a/src/lib/CMakeLists.txt +++ b/src/lib/CMakeLists.txt @@ -67,6 +67,7 @@ add_subdirectory(pid_design EXCLUDE_FROM_ALL) add_subdirectory(rate_control EXCLUDE_FROM_ALL) add_subdirectory(rc EXCLUDE_FROM_ALL) add_subdirectory(ringbuffer EXCLUDE_FROM_ALL) +add_subdirectory(rtl EXCLUDE_FROM_ALL) add_subdirectory(sensor_calibration EXCLUDE_FROM_ALL) add_subdirectory(slew_rate EXCLUDE_FROM_ALL) add_subdirectory(systemlib EXCLUDE_FROM_ALL) diff --git a/src/lib/rtl/CMakeLists.txt b/src/lib/rtl/CMakeLists.txt new file mode 100644 index 000000000000..4f3e7a3c5331 --- /dev/null +++ b/src/lib/rtl/CMakeLists.txt @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2024 PX4 Development Team. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +px4_add_library(rtl_time_estimator rtl_time_estimator.cpp) diff --git a/src/lib/rtl/rtl_time_estimator.cpp b/src/lib/rtl/rtl_time_estimator.cpp new file mode 100644 index 000000000000..055b62ccabca --- /dev/null +++ b/src/lib/rtl/rtl_time_estimator.cpp @@ -0,0 +1,267 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rtl_time_estimator.cpp + * + * Helper class to calculate the remaining time estimate to go to RTL landing point. + * + */ + +#include "rtl_time_estimator.h" + +#include +#include + +#include +#include +#include + +RtlTimeEstimator::RtlTimeEstimator() : ModuleParams(nullptr) +{ + _param_mpc_z_v_auto_up = param_find("MPC_Z_V_AUTO_UP"); + _param_mpc_z_v_auto_dn = param_find("MPC_Z_V_AUTO_DN"); + _param_mpc_land_speed = param_find("MPC_LAND_SPEED"); + _param_fw_climb_rate = param_find("FW_T_CLMB_R_SP"); + _param_fw_sink_rate = param_find("FW_T_SINK_R_SP"); + _param_fw_airspeed_trim = param_find("FW_AIRSPD_TRIM"); + _param_mpc_xy_cruise = param_find("MPC_XY_CRUISE"); + _param_rover_cruise_speed = param_find("GND_SPEED_THR_SC"); +}; + +rtl_time_estimate_s RtlTimeEstimator::getEstimate() const +{ + rtl_time_estimate_s time_estimate{}; + + if (_is_valid && PX4_ISFINITE(_time_estimate)) { + time_estimate.valid = true; + time_estimate.time_estimate = _time_estimate; + // Use actual time estimate to compute the safer time estimate with additional scale factor and a margin + time_estimate.safe_time_estimate = _param_rtl_time_factor.get() * _time_estimate + _param_rtl_time_margin.get(); + + } else { + time_estimate.valid = false; + } + + time_estimate.timestamp = hrt_absolute_time(); + return time_estimate; +} + +void RtlTimeEstimator::update() +{ + _vehicle_status_sub.update(); + _wind_sub.update(); + + if (_parameter_update_sub.updated()) { + parameter_update_s param_update; + _parameter_update_sub.copy(¶m_update); + + // If any parameter updated, call updateParams() to check if + // this class attributes need updating (and do so). + updateParams(); + } +} + +void RtlTimeEstimator::addVertDistance(float alt) +{ + if (PX4_ISFINITE(alt)) { + _is_valid = true; + + _time_estimate += calcVertTimeEstimate(alt); + } +} + +void RtlTimeEstimator::addDistance(float hor_dist, const matrix::Vector2f &direction, float vert_dist) +{ + if (PX4_ISFINITE(hor_dist) && PX4_ISFINITE(vert_dist)) { + _is_valid = true; + + float hor_time_estimate{0.f}; + + if (hor_dist > FLT_EPSILON && PX4_ISFINITE(hor_dist)) { + hor_time_estimate = hor_dist / getCruiseGroundSpeed(direction.normalized()); + } + + float ver_time_estimate{calcVertTimeEstimate(vert_dist)}; + + _time_estimate += math::max(hor_time_estimate, ver_time_estimate); + + } +} + +void RtlTimeEstimator::addWait(float time_s) +{ + if (PX4_ISFINITE(time_s)) { + _is_valid = true; + + if (time_s > FLT_EPSILON) { + _time_estimate += time_s; + } + } +} + +void RtlTimeEstimator::addDescendMCLand(float alt) +{ + if (PX4_ISFINITE(alt)) { + _is_valid = true; + + if (alt < -FLT_EPSILON && PX4_ISFINITE(alt)) { + _time_estimate += -alt / getHoverLandSpeed(); + } + } +} + +float RtlTimeEstimator::getCruiseGroundSpeed(const matrix::Vector2f &direction_norm) +{ + float cruise_speed = getCruiseSpeed(); + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + matrix::Vector2f wind = get_wind(); + + const float wind_along_dir = wind.dot(direction_norm); + const float wind_across_dir = matrix::Vector2f(wind - direction_norm * wind_along_dir).norm(); + + // Note: use fminf so that we don't _rely_ on tailwind towards direction to make RTL more efficient + const float ground_speed = sqrtf(cruise_speed * cruise_speed - wind_across_dir * wind_across_dir) + fminf( + 0.f, wind_along_dir); + + cruise_speed = ground_speed; + } + + return cruise_speed; +} + +float RtlTimeEstimator::calcVertTimeEstimate(float alt) +{ + float vertical_rate{0.1f}; + float time_estimate{0.f}; + + if (alt > FLT_EPSILON) { + vertical_rate = getClimbRate(); + + } else { + vertical_rate = getDescendRate(); + } + + float abs_alt = fabsf(alt); + + if (abs_alt > FLT_EPSILON) { + time_estimate = abs_alt / vertical_rate; + } + + return time_estimate; +} + +float RtlTimeEstimator::getCruiseSpeed() +{ + float ret = 1e6f; + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (_param_mpc_xy_cruise == PARAM_INVALID || param_get(_param_mpc_xy_cruise, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + if (_param_fw_airspeed_trim == PARAM_INVALID || param_get(_param_fw_airspeed_trim, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) { + if (_param_rover_cruise_speed == PARAM_INVALID || param_get(_param_rover_cruise_speed, &ret) != PX4_OK) { + ret = 1e6f; + } + } + + return ret; +} + +float RtlTimeEstimator::getHoverLandSpeed() +{ + float ret = 1e6f; + + if (_param_mpc_land_speed == PARAM_INVALID || param_get(_param_mpc_land_speed, &ret) != PX4_OK) { + ret = 1e6f; + } + + return ret; +} + +matrix::Vector2f RtlTimeEstimator::get_wind() +{ + _wind_sub.update(); + matrix::Vector2f wind{}; + + if (hrt_absolute_time() - _wind_sub.get().timestamp < 1_s) { + wind(0) = _wind_sub.get().windspeed_north; + wind(1) = _wind_sub.get().windspeed_east; + } + + return wind; +} + +float RtlTimeEstimator::getClimbRate() +{ + float ret = 1e6f; + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (_param_mpc_z_v_auto_up == PARAM_INVALID || param_get(_param_mpc_z_v_auto_up, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + + if (_param_fw_climb_rate == PARAM_INVALID || param_get(_param_fw_climb_rate, &ret) != PX4_OK) { + ret = 1e6f; + } + } + + return ret; +} + +float RtlTimeEstimator::getDescendRate() +{ + float ret = 1e6f; + + if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { + if (_param_mpc_z_v_auto_dn == PARAM_INVALID || param_get(_param_mpc_z_v_auto_dn, &ret) != PX4_OK) { + ret = 1e6f; + } + + } else if (_vehicle_status_sub.get().vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { + if (_param_fw_sink_rate == PARAM_INVALID || param_get(_param_fw_sink_rate, &ret) != PX4_OK) { + ret = 1e6f; + } + } + + return ret; +} diff --git a/src/lib/rtl/rtl_time_estimator.h b/src/lib/rtl/rtl_time_estimator.h new file mode 100644 index 000000000000..db0f8c234ea3 --- /dev/null +++ b/src/lib/rtl/rtl_time_estimator.h @@ -0,0 +1,146 @@ +/**************************************************************************** + * + * Copyright (C) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file rtl_time_estimator.h + * + * Helper class to calculate the remaining time estimate to go to RTL landing point. + * + */ + +#ifndef RTL_TIME_ESTIMATOR_H_ +#define RTL_TIME_ESTIMATOR_H_ + +#include + +#include +#include +#include +#include +#include +#include + +#include + +using namespace time_literals; + +class Navigator; + +class RtlTimeEstimator : public ModuleParams +{ +public: + RtlTimeEstimator(); + ~RtlTimeEstimator() = default; + + void update(); + void reset() { _time_estimate = 0.f; _is_valid = false;}; + rtl_time_estimate_s getEstimate() const; + void addDistance(float hor_dist, const matrix::Vector2f &hor_direction, float vert_dist); + void addVertDistance(float alt); + void addWait(float time_s); + void addDescendMCLand(float alt); + +private: + /** + * @brief Get the Cruise Ground Speed + * + * @param direction_norm normalized direction in which to fly + * @return Ground speed in cruise mode [m/s]. + */ + float getCruiseGroundSpeed(const matrix::Vector2f &direction_norm); + + /** + * @brief Get time estimate of vertical distance + * + */ + float calcVertTimeEstimate(float alt); + + /** + * @brief Get the climb rate + * + * @return Climb rate [m/s] + */ + float getClimbRate(); + + /** + * @brief Get the descend rate + * + * @return descend rate [m/s] + */ + float getDescendRate(); + + /** + * @brief Get the cruise speed + * + * @return cruise speed [m/s] + */ + float getCruiseSpeed(); + + /** + * @brief Get the Hover Land Speed + * + * @return Hover land speed [m/s] + */ + float getHoverLandSpeed(); + + /** + * @brief Get the horizontal wind velocity + * + * @return horizontal wind velocity. + */ + matrix::Vector2f get_wind(); + + float _time_estimate; /**< Accumulated time estimate [s] */ + bool _is_valid{false}; /**< Checks if time estimate is valid */ + + DEFINE_PARAMETERS( + (ParamFloat) _param_rtl_time_factor, /**< Safety factory for safe time estimate */ + (ParamInt) _param_rtl_time_margin /**< Safety margin for safe time estimate */ + ) + + param_t _param_mpc_z_v_auto_up{PARAM_INVALID}; /**< MC climb velocity parameter */ + param_t _param_mpc_z_v_auto_dn{PARAM_INVALID}; /**< MC descend velocity parameter */ + param_t _param_mpc_land_speed{PARAM_INVALID}; /**< MC land descend speed parameter */ + param_t _param_fw_climb_rate{PARAM_INVALID}; /**< FW climb speed parameter */ + param_t _param_fw_sink_rate{PARAM_INVALID}; /**< FW descend speed parameter */ + + param_t _param_fw_airspeed_trim{PARAM_INVALID}; /**< FW cruise airspeed parameter */ + param_t _param_mpc_xy_cruise{PARAM_INVALID}; /**< MC horizontal cruise speed parameter */ + param_t _param_rover_cruise_speed{PARAM_INVALID}; /**< Rover cruise speed parameter */ + + uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; /**< Parameter update topic */ + uORB::SubscriptionData _vehicle_status_sub{ORB_ID(vehicle_status)}; /**< vehicle status subscription */ + uORB::SubscriptionData _wind_sub{ORB_ID(wind)}; /**< wind topic */ +}; + +#endif /* RTL_TIME_ESTIMATOR_H_ */ diff --git a/src/modules/navigator/CMakeLists.txt b/src/modules/navigator/CMakeLists.txt index b996566defc2..c55cae3f07b9 100644 --- a/src/modules/navigator/CMakeLists.txt +++ b/src/modules/navigator/CMakeLists.txt @@ -69,4 +69,5 @@ px4_add_module( geofence_breach_avoidance motion_planning mission_feasibility_checker + rtl_time_estimator ) diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp index 275cf011e231..8db9447bfecf 100644 --- a/src/modules/navigator/rtl_direct.cpp +++ b/src/modules/navigator/rtl_direct.cpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2013-2020 PX4 Development Team. All rights reserved. + * Copyright (c) 2013-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -59,15 +59,6 @@ RtlDirect::RtlDirect(Navigator *navigator) : _land_approach.lat = static_cast(NAN); _land_approach.lon = static_cast(NAN); _land_approach.height_m = NAN; - - _param_mpc_z_v_auto_up = param_find("MPC_Z_V_AUTO_UP"); - _param_mpc_z_v_auto_dn = param_find("MPC_Z_V_AUTO_DN"); - _param_mpc_land_speed = param_find("MPC_LAND_SPEED"); - _param_fw_climb_rate = param_find("FW_T_CLMB_R_SP"); - _param_fw_sink_rate = param_find("FW_T_SINK_R_SP"); - _param_fw_airspeed_trim = param_find("FW_AIRSPD_TRIM"); - _param_mpc_xy_cruise = param_find("MPC_XY_CRUISE"); - _param_rover_cruise_speed = param_find("GND_SPEED_THR_SC"); } void RtlDirect::on_inactivation() @@ -379,8 +370,9 @@ RtlDirect::RTLState RtlDirect::getActivationLandState() rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() { _global_pos_sub.update(); + _rtl_time_estimator.update(); - rtl_time_estimate_s rtl_time_estimate{}; + _rtl_time_estimator.reset(); RTLState start_state_for_estimate; @@ -393,12 +385,7 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() // Calculate RTL time estimate only when there is a valid home position // TODO: Also check if vehicle position is valid - if (!_navigator->home_global_position_valid()) { - rtl_time_estimate.valid = false; - - } else { - rtl_time_estimate.valid = true; - rtl_time_estimate.time_estimate = 0.f; + if (_navigator->home_global_position_valid()) { const float loiter_altitude = min(_land_approach.height_m, _rtl_alt); @@ -406,19 +393,19 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() switch (start_state_for_estimate) { case RTLState::CLIMBING: { // Climb segment is only relevant if the drone is below return altitude - const float climb_dist = _global_pos_sub.get().alt < _rtl_alt ? (_rtl_alt - _global_pos_sub.get().alt) : 0; - - if (climb_dist > FLT_EPSILON) { - rtl_time_estimate.time_estimate += climb_dist / getClimbRate(); + if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) { + _rtl_time_estimator.addVertDistance(_rtl_alt - _global_pos_sub.get().alt); } } // FALLTHROUGH - case RTLState::MOVE_TO_LOITER: - - // Add cruise segment to home - rtl_time_estimate.time_estimate += get_distance_to_next_waypoint( - _land_approach.lat, _land_approach.lon, _global_pos_sub.get().lat, _global_pos_sub.get().lon) / getCruiseGroundSpeed(); + case RTLState::MOVE_TO_LOITER: { + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, _land_approach.lat, + _land_approach.lon, &direction(0), &direction(1)); + _rtl_time_estimator.addDistance(get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, + _land_approach.lat, _land_approach.lon), direction, 0.f); + } // FALLTHROUGH case RTLState::LOITER_DOWN: { @@ -434,15 +421,18 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() initial_altitude = _rtl_alt; // CLIMB and RETURN } - // Add descend segment (first landing phase: return alt to loiter alt) - rtl_time_estimate.time_estimate += fabsf(initial_altitude - loiter_altitude) / getDescendRate(); + _rtl_time_estimator.addVertDistance(loiter_altitude - initial_altitude); } // FALLTHROUGH case RTLState::LOITER_HOLD: // Add land delay (the short pause for deploying landing gear) - // TODO: Check if landing gear is deployed or not - rtl_time_estimate.time_estimate += _param_rtl_land_delay.get(); + _rtl_time_estimator.addWait(_param_rtl_land_delay.get()); + + if (_param_rtl_land_delay.get() < -FLT_EPSILON) { // Set to loiter infinitely and not land. Stop calculation here + break; + } + // FALLTHROUGH case RTLState::MOVE_TO_LAND: @@ -450,19 +440,22 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() case RTLState::MOVE_TO_LAND_HOVER: { // Add cruise segment to home float move_to_land_dist{0.f}; + matrix::Vector2f direction{}; if (start_state_for_estimate >= RTLState::MOVE_TO_LAND) { move_to_land_dist = get_distance_to_next_waypoint( - _destination.lat, _destination.lon, _global_pos_sub.get().lat, _global_pos_sub.get().lon); + _global_pos_sub.get().lat, _global_pos_sub.get().lon, _destination.lat, _destination.lon); + get_vector_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, _destination.lat, _destination.lon, + &direction(0), &direction(1)); } else { move_to_land_dist = get_distance_to_next_waypoint( - _destination.lat, _destination.lon, _land_approach.lat, _land_approach.lon); + _land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon); + get_vector_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon, &direction(0), + &direction(1)); } - if (move_to_land_dist > FLT_EPSILON) { - rtl_time_estimate.time_estimate += move_to_land_dist / getCruiseGroundSpeed(); - } + _rtl_time_estimator.addDistance(move_to_land_dist, direction, 0.f); } // FALLTHROUGH @@ -482,10 +475,7 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() initial_altitude = loiter_altitude; } - // Prevent negative times when close to the ground - if (initial_altitude > _destination.alt) { - rtl_time_estimate.time_estimate += (initial_altitude - _destination.alt) / getHoverLandSpeed(); - } + _rtl_time_estimator.addDescendMCLand(_destination.alt - initial_altitude); } break; @@ -494,132 +484,9 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() // Remaining time is 0 break; } - - // Prevent negative durations as phyiscally they make no sense. These can - // occur during the last phase of landing when close to the ground. - rtl_time_estimate.time_estimate = math::max(0.f, rtl_time_estimate.time_estimate); - - // Use actual time estimate to compute the safer time estimate with additional scale factor and a margin - rtl_time_estimate.safe_time_estimate = _param_rtl_time_factor.get() * rtl_time_estimate.time_estimate - + _param_rtl_time_margin.get(); - } - - // return message - rtl_time_estimate.timestamp = hrt_absolute_time(); - - return rtl_time_estimate; -} - -float RtlDirect::getCruiseSpeed() -{ - float ret = 1e6f; - - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_param_mpc_xy_cruise == PARAM_INVALID || param_get(_param_mpc_xy_cruise, &ret) != PX4_OK) { - ret = 1e6f; - } - - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - if (_param_fw_airspeed_trim == PARAM_INVALID || param_get(_param_fw_airspeed_trim, &ret) != PX4_OK) { - ret = 1e6f; - } - - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROVER) { - if (_param_rover_cruise_speed == PARAM_INVALID || param_get(_param_rover_cruise_speed, &ret) != PX4_OK) { - ret = 1e6f; - } - } - - return ret; -} - -float RtlDirect::getHoverLandSpeed() -{ - float ret = 1e6f; - - if (_param_mpc_land_speed == PARAM_INVALID || param_get(_param_mpc_land_speed, &ret) != PX4_OK) { - ret = 1e6f; - } - - return ret; -} - -matrix::Vector2f RtlDirect::get_wind() -{ - _wind_sub.update(); - matrix::Vector2f wind; - - if (hrt_absolute_time() - _wind_sub.get().timestamp < 1_s) { - wind(0) = _wind_sub.get().windspeed_north; - wind(1) = _wind_sub.get().windspeed_east; - } - - return wind; -} - -float RtlDirect::getClimbRate() -{ - float ret = 1e6f; - - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_param_mpc_z_v_auto_up == PARAM_INVALID || param_get(_param_mpc_z_v_auto_up, &ret) != PX4_OK) { - ret = 1e6f; - } - - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - - if (_param_fw_climb_rate == PARAM_INVALID || param_get(_param_fw_climb_rate, &ret) != PX4_OK) { - ret = 1e6f; - } - } - - return ret; -} - -float RtlDirect::getDescendRate() -{ - float ret = 1e6f; - - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) { - if (_param_mpc_z_v_auto_dn == PARAM_INVALID || param_get(_param_mpc_z_v_auto_dn, &ret) != PX4_OK) { - ret = 1e6f; - } - - } else if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - if (_param_fw_sink_rate == PARAM_INVALID || param_get(_param_fw_sink_rate, &ret) != PX4_OK) { - ret = 1e6f; - } - } - - return ret; -} - -float RtlDirect::getCruiseGroundSpeed() -{ - float cruise_speed = getCruiseSpeed(); - - if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING) { - const vehicle_global_position_s &global_position = *_navigator->get_global_position(); - matrix::Vector2f wind = get_wind(); - - matrix::Vector2f to_destination_vec; - get_vector_to_next_waypoint(global_position.lat, global_position.lon, _destination.lat, _destination.lon, - &to_destination_vec(0), &to_destination_vec(1)); - - const matrix::Vector2f to_home_dir = to_destination_vec.unit_or_zero(); - - const float wind_towards_home = wind.dot(to_home_dir); - const float wind_across_home = matrix::Vector2f(wind - to_home_dir * wind_towards_home).norm(); - - - // Note: use fminf so that we don't _rely_ on wind towards home to make RTL more efficient - const float ground_speed = sqrtf(cruise_speed * cruise_speed - wind_across_home * wind_across_home) + fminf( - 0.f, wind_towards_home); - - cruise_speed = ground_speed; } - return cruise_speed; + return _rtl_time_estimator.getEstimate(); } void RtlDirect::parameters_update() diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h index 9dc89e42fcdc..c71a5f57367a 100644 --- a/src/modules/navigator/rtl_direct.h +++ b/src/modules/navigator/rtl_direct.h @@ -54,6 +54,7 @@ #include #include +#include #include "mission_block.h" #include "navigation.h" #include "safe_point_land.hpp" @@ -119,54 +120,12 @@ class RtlDirect : public MissionBlock, public ModuleParams } _rtl_state{RTLState::IDLE}; /*< Current state in the state machine.*/ private: - /** - * @brief Get the horizontal wind velocity - * - * @return horizontal wind velocity. - */ - matrix::Vector2f get_wind(); - /** * @brief Set the return to launch control setpoint. * */ void set_rtl_item(); - /** - * @brief Get the Cruise Ground Speed - * - * @return Ground speed in cruise mode [m/s]. - */ - float getCruiseGroundSpeed(); - - /** - * @brief Get the climb rate - * - * @return Climb rate [m/s] - */ - float getClimbRate(); - - /** - * @brief Get the descend rate - * - * @return descend rate [m/s] - */ - float getDescendRate(); - - /** - * @brief Get the cruise speed - * - * @return cruise speed [m/s] - */ - float getCruiseSpeed(); - - /** - * @brief Get the Hover Land Speed - * - * @return Hover land speed [m/s] - */ - float getHoverLandSpeed(); - /** * Check for parameter changes and update them if needed. */ @@ -178,6 +137,7 @@ class RtlDirect : public MissionBlock, public ModuleParams bool _enforce_rtl_alt{false}; bool _force_heading{false}; + RtlTimeEstimator _rtl_time_estimator; PositionYawSetpoint _destination; ///< the RTL position to fly to loiter_point_s _land_approach; @@ -190,23 +150,11 @@ class RtlDirect : public MissionBlock, public ModuleParams (ParamFloat) _param_rtl_min_dist, (ParamInt) _param_rtl_pld_md, (ParamFloat) _param_rtl_loiter_rad, - (ParamFloat) _param_rtl_time_factor, - (ParamInt) _param_rtl_time_margin, // external params (ParamBool) _param_wv_en ) - param_t _param_mpc_z_v_auto_up{PARAM_INVALID}; - param_t _param_mpc_z_v_auto_dn{PARAM_INVALID}; - param_t _param_mpc_land_speed{PARAM_INVALID}; - param_t _param_fw_climb_rate{PARAM_INVALID}; - param_t _param_fw_sink_rate{PARAM_INVALID}; - - param_t _param_fw_airspeed_trim{PARAM_INVALID}; - param_t _param_mpc_xy_cruise{PARAM_INVALID}; - param_t _param_rover_cruise_speed{PARAM_INVALID}; - uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s}; uORB::SubscriptionData _global_pos_sub{ORB_ID(vehicle_global_position)}; /**< global position subscription */ uORB::SubscriptionData _home_pos_sub{ORB_ID(home_position)}; /**< home position subscription */ From fde71cd15ebb0511b682251826471fe1391e6e0a Mon Sep 17 00:00:00 2001 From: Konrad Date: Mon, 29 Jan 2024 12:47:57 +0100 Subject: [PATCH 045/102] rtl_direct_mission_land: add time estimation for RTL mission land --- src/modules/navigator/mission_base.h | 8 +- .../navigator/rtl_direct_mission_land.cpp | 186 ++++++++++++++++-- .../navigator/rtl_direct_mission_land.h | 7 + 3 files changed, 186 insertions(+), 15 deletions(-) diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index 6fa0f100b492..117e811a0ff4 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -315,6 +315,9 @@ class MissionBase : public MissionBlock, public ModuleParams float _mission_init_climb_altitude_amsl{NAN}; /**< altitude AMSL the vehicle will climb to when mission starts */ int _inactivation_index{-1}; // index of mission item at which the mission was paused. Used to resume survey missions at previous waypoint to not lose images. + int32_t _load_mission_index{-1}; /**< Mission inted of loaded mission items in dataman cache*/ + int32_t _dataman_cache_size_signed; /**< Size of the dataman cache. A negativ value indicates that previous mission items should be loaded, a positiv value the next mission items*/ + DatamanCache _dataman_cache{"mission_dm_cache_miss", 10}; /**< Dataman cache of mission items*/ DatamanClient &_dataman_client = _dataman_cache.client(); /**< Dataman client*/ @@ -334,7 +337,7 @@ class MissionBase : public MissionBlock, public ModuleParams * @brief Update Dataman cache * */ - void updateDatamanCache(); + virtual void updateDatamanCache(); /** * @brief Update mission subscription * @@ -447,9 +450,6 @@ class MissionBase : public MissionBlock, public ModuleParams bool canRunMissionFeasibility(); - int32_t _load_mission_index{-1}; /**< Mission inted of loaded mission items in dataman cache*/ - int32_t _dataman_cache_size_signed; /**< Size of the dataman cache. A negativ value indicates that previous mission items should be loaded, a positiv value the next mission items*/ - bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment. mission_item_s _last_gimbal_configure_item {}; diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp index a8620f2bb78d..40b91dee0acb 100644 --- a/src/modules/navigator/rtl_direct_mission_land.cpp +++ b/src/modules/navigator/rtl_direct_mission_land.cpp @@ -52,6 +52,42 @@ RtlDirectMissionLand::RtlDirectMissionLand(Navigator *navigator) : } +void +RtlDirectMissionLand::updateDatamanCache() +{ + int32_t start_index; + + start_index = math::min(_mission.land_start_index, static_cast(_mission.count)); + + if ((start_index >= 0) && (_mission.count > 0) && hasMissionLandStart() && (start_index != _load_mission_index)) { + + int32_t end_index = static_cast(_mission.count); + + // Check that we load all data into the cache + if (end_index - start_index > _dataman_cache_size_signed) { + _dataman_cache.invalidate(); + _dataman_cache_size_signed = end_index - start_index; + _dataman_cache.resize(_dataman_cache_size_signed); + } + + for (int32_t index = start_index; index != end_index; index += math::signNoZero(_dataman_cache_size_signed)) { + + _dataman_cache.load(static_cast(_mission.mission_dataman_id), index); + } + + _load_mission_index = start_index; + } + + _dataman_cache.update(); +} + +void RtlDirectMissionLand::on_inactive() +{ + MissionBase::on_active(); + + updateDatamanCache(); +} + void RtlDirectMissionLand::on_activation() { _land_detected_sub.update(); @@ -62,13 +98,7 @@ void RtlDirectMissionLand::on_activation() if (hasMissionLandStart()) { _is_current_planned_mission_item_valid = (goToItem(_mission.land_start_index, false) == PX4_OK); - if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) { - - // If lower than return altitude, climb up first. - // If enforce_rtl_alt is true then forcing altitude change even if above. - _needs_climbing = true; - - } + _needs_climbing = checkNeedsToClimb(); } else { _is_current_planned_mission_item_valid = false; @@ -202,9 +232,143 @@ void RtlDirectMissionLand::setActiveMissionItems() rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() { - rtl_time_estimate_s time_estimate; - time_estimate.valid = false; - time_estimate.timestamp = hrt_absolute_time(); + _rtl_time_estimator.update(); + _rtl_time_estimator.reset(); + + if (_mission.count > 0 && hasMissionLandStart()) { + int32_t start_item_index{-1}; + bool is_in_climbing_submode{false}; + + if (isActive()) { + start_item_index = math::max(_mission.current_seq, _mission.land_start_index); + is_in_climbing_submode = _needs_climbing; + + } else { + start_item_index = _mission.land_start_index; + is_in_climbing_submode = checkNeedsToClimb(); + } + + if (start_item_index >= 0 && start_item_index < static_cast(_mission.count)) { + float altitude_at_calculation_point; + matrix::Vector2d hor_position_at_calculation_point{_global_pos_sub.get().lat, _global_pos_sub.get().lon}; + + if (is_in_climbing_submode) { + if (_enforce_rtl_alt) { + _rtl_time_estimator.addVertDistance(_rtl_alt - _global_pos_sub.get().alt); + altitude_at_calculation_point = _rtl_alt; + + } else { + if (_global_pos_sub.get().alt < _rtl_alt) { + _rtl_time_estimator.addVertDistance(_rtl_alt - _global_pos_sub.get().alt); + } + + altitude_at_calculation_point = math::max(_rtl_alt, _global_pos_sub.get().alt); + } + + } else { + altitude_at_calculation_point = _global_pos_sub.get().alt; + } + + while (start_item_index < _mission.count && start_item_index >= 0) { + int32_t next_mission_item_index; + size_t num_found_items{0U}; + getNextPositionItems(start_item_index, &next_mission_item_index, num_found_items, 1U); + + if (num_found_items > 0U) { + mission_item_s next_position_mission_item; + const dm_item_t dataman_id = static_cast(_mission.mission_dataman_id); + bool success = _dataman_cache.loadWait(dataman_id, next_mission_item_index, + reinterpret_cast(&next_position_mission_item), sizeof(next_position_mission_item), MAX_DATAMAN_LOAD_WAIT); + + if (!success) { + // Could not load the mission item, mark time estimate as invalid. + _rtl_time_estimator.reset(); + break; + } + + switch (next_position_mission_item.nav_cmd) { + case NAV_CMD_LOITER_UNLIMITED: { + _rtl_time_estimator.reset(); + break; + } + + case NAV_CMD_LOITER_TIME_LIMIT: { + // Go to loiter + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); + + // add time + _rtl_time_estimator.addWait(next_position_mission_item.time_inside); + break; + } + + case NAV_CMD_LAND: // Fallthrough + case NAV_CMD_VTOL_LAND: // Fallthrough + case NAV_CMD_LOITER_TO_ALT: { + // Go to point horizontally + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); + + // Add the vertical loiter + _rtl_time_estimator.addVertDistance(next_position_mission_item.altitude - altitude_at_calculation_point); + + break; + } + + default: { + // Default assume can go to the location directly + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + _rtl_time_estimator.addDistance(hor_dist, direction, + next_position_mission_item.altitude - altitude_at_calculation_point); + break; + } + } + + start_item_index = next_mission_item_index + 1; + hor_position_at_calculation_point(0) = next_position_mission_item.lat; + hor_position_at_calculation_point(1) = next_position_mission_item.lon; + altitude_at_calculation_point = next_position_mission_item.altitude; + + + } else { + start_item_index = -1; + } + } + } + } + + return _rtl_time_estimator.getEstimate(); +} + +bool RtlDirectMissionLand::checkNeedsToClimb() +{ + bool needs_climbing{false}; + + if ((_global_pos_sub.get().alt < _rtl_alt) || _enforce_rtl_alt) { + + // If lower than return altitude, climb up first. + // If enforce_rtl_alt is true then forcing altitude change even if above. + needs_climbing = true; + + } - return time_estimate; + return needs_climbing; } diff --git a/src/modules/navigator/rtl_direct_mission_land.h b/src/modules/navigator/rtl_direct_mission_land.h index 5edeafc71e5d..9bfdd620c4a4 100644 --- a/src/modules/navigator/rtl_direct_mission_land.h +++ b/src/modules/navigator/rtl_direct_mission_land.h @@ -43,6 +43,8 @@ #include "rtl_base.h" +#include + #include #include #include @@ -56,6 +58,7 @@ class RtlDirectMissionLand : public RtlBase ~RtlDirectMissionLand() = default; void on_activation() override; + void on_inactive() override; rtl_time_estimate_s calc_rtl_time_estimate() override; @@ -65,8 +68,12 @@ class RtlDirectMissionLand : public RtlBase private: bool setNextMissionItem() override; void setActiveMissionItems() override; + void updateDatamanCache() override; + bool checkNeedsToClimb(); bool _needs_climbing{false}; //< Flag if climbing is required at the start bool _enforce_rtl_alt{false}; float _rtl_alt{0.0f}; ///< AMSL altitude at which the vehicle should return to the land position + + RtlTimeEstimator _rtl_time_estimator; }; From 89844625b4eab6f2be232a952cbf4c079e6125ab Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 8 Mar 2024 14:41:12 +0100 Subject: [PATCH 046/102] rtl: reduce time estimate calculations --- src/modules/navigator/rtl.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index f039c428324c..a81896cb3866 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -202,10 +202,10 @@ void RTL::on_inactive() break; } - // Limit inactive calculation to 1Hz + // Limit inactive calculation to 0.5Hz hrt_abstime now{hrt_absolute_time()}; - if ((now - _destination_check_time) > 1_s) { + if ((now - _destination_check_time) > 2_s) { _destination_check_time = now; setRtlTypeAndDestination(); From 91d1342f20a7cfb957666ebbaf1bd71a0238bcab Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 8 Mar 2024 17:01:53 +0100 Subject: [PATCH 047/102] rtl_direct_mission: rtl_estimate for fixedwing land is diagonal --- .../navigator/rtl_direct_mission_land.cpp | 30 +++++++++++++++++-- 1 file changed, 28 insertions(+), 2 deletions(-) diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp index 40b91dee0acb..99e96e3141ad 100644 --- a/src/modules/navigator/rtl_direct_mission_land.cpp +++ b/src/modules/navigator/rtl_direct_mission_land.cpp @@ -308,8 +308,6 @@ rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() break; } - case NAV_CMD_LAND: // Fallthrough - case NAV_CMD_VTOL_LAND: // Fallthrough case NAV_CMD_LOITER_TO_ALT: { // Go to point horizontally matrix::Vector2f direction{}; @@ -327,6 +325,34 @@ rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() break; } + case NAV_CMD_LAND: // Fallthrough + case NAV_CMD_VTOL_LAND: { + + matrix::Vector2f direction{}; + get_vector_to_next_waypoint(hor_position_at_calculation_point(0), hor_position_at_calculation_point(1), + next_position_mission_item.lat, next_position_mission_item.lon, &direction(0), &direction(1)); + + float hor_dist = get_distance_to_next_waypoint(hor_position_at_calculation_point(0), + hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); + + // For fixed wing, add diagonal line + if ((_vehicle_status_sub.get().vehicle_type != vehicle_status_s::VEHICLE_TYPE_FIXED_WING) + && (!_vehicle_status_sub.get().is_vtol)) { + + + _rtl_time_estimator.addDistance(hor_dist, direction, + next_position_mission_item.altitude - altitude_at_calculation_point); + + } else { + // For VTOL, Rotary, go there horizontally first, then land + _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); + + _rtl_time_estimator.addDescendMCLand(next_position_mission_item.altitude - altitude_at_calculation_point); + } + + break; + } + default: { // Default assume can go to the location directly matrix::Vector2f direction{}; From e9fda548fa14524f1205031923f4be797687e473 Mon Sep 17 00:00:00 2001 From: Konrad Date: Fri, 8 Mar 2024 17:22:44 +0100 Subject: [PATCH 048/102] rtl_direct: Rtl estimate only needs valid destination, not home position --- src/modules/navigator/rtl_direct.cpp | 60 ++++++++++++++++------------ src/modules/navigator/rtl_direct.h | 6 +++ 2 files changed, 41 insertions(+), 25 deletions(-) diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp index 8db9447bfecf..4906f6d994df 100644 --- a/src/modules/navigator/rtl_direct.cpp +++ b/src/modules/navigator/rtl_direct.cpp @@ -121,7 +121,6 @@ void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s // Only allow to set a new approach if the mode is not activated yet. if (!isActive()) { - _land_approach = loiter_pos; _destination = rtl_position; _force_heading = false; @@ -139,24 +138,12 @@ void RtlDirect::setRtlPosition(PositionYawSetpoint rtl_position, loiter_point_s _destination.alt = _home_pos_sub.get().alt; } - if (!PX4_ISFINITE(_land_approach.lat) || !PX4_ISFINITE(_land_approach.lon)) { - _land_approach.lat = _destination.lat; - _land_approach.lon = _destination.lon; + _land_approach = sanitizeLandApproach(loiter_pos); - } else { - const float dist_to_destination{get_distance_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon)}; + const float dist_to_destination{get_distance_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon)}; - if (dist_to_destination > _navigator->get_acceptance_radius()) { - _force_heading = true; - } - } - - if (!PX4_ISFINITE(_land_approach.height_m)) { - _land_approach.height_m = _destination.alt + _param_rtl_descend_alt.get(); - } - - if (!PX4_ISFINITE(_land_approach.loiter_radius_m) || fabsf(_land_approach.loiter_radius_m) <= FLT_EPSILON) { - _land_approach.loiter_radius_m = _param_rtl_loiter_rad.get(); + if (dist_to_destination > _navigator->get_acceptance_radius()) { + _force_heading = true; } } } @@ -383,11 +370,13 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() start_state_for_estimate = getActivationLandState(); } - // Calculate RTL time estimate only when there is a valid home position + // Calculate RTL time estimate only when there is a valid destination // TODO: Also check if vehicle position is valid - if (_navigator->home_global_position_valid()) { + if (PX4_ISFINITE(_destination.lat) && PX4_ISFINITE(_destination.lon) && PX4_ISFINITE(_destination.alt)) { - const float loiter_altitude = min(_land_approach.height_m, _rtl_alt); + loiter_point_s land_approach = sanitizeLandApproach(_land_approach); + + const float loiter_altitude = min(land_approach.height_m, _rtl_alt); // Sum up time estimate for various segments of the landing procedure switch (start_state_for_estimate) { @@ -401,10 +390,10 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() // FALLTHROUGH case RTLState::MOVE_TO_LOITER: { matrix::Vector2f direction{}; - get_vector_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, _land_approach.lat, - _land_approach.lon, &direction(0), &direction(1)); + get_vector_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, land_approach.lat, + land_approach.lon, &direction(0), &direction(1)); _rtl_time_estimator.addDistance(get_distance_to_next_waypoint(_global_pos_sub.get().lat, _global_pos_sub.get().lon, - _land_approach.lat, _land_approach.lon), direction, 0.f); + land_approach.lat, land_approach.lon), direction, 0.f); } // FALLTHROUGH @@ -450,8 +439,8 @@ rtl_time_estimate_s RtlDirect::calc_rtl_time_estimate() } else { move_to_land_dist = get_distance_to_next_waypoint( - _land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon); - get_vector_to_next_waypoint(_land_approach.lat, _land_approach.lon, _destination.lat, _destination.lon, &direction(0), + land_approach.lat, land_approach.lon, _destination.lat, _destination.lon); + get_vector_to_next_waypoint(land_approach.lat, land_approach.lon, _destination.lat, _destination.lon, &direction(0), &direction(1)); } @@ -500,3 +489,24 @@ void RtlDirect::parameters_update() updateParams(); } } + +loiter_point_s RtlDirect::sanitizeLandApproach(loiter_point_s land_approach) const +{ + loiter_point_s sanitized_land_approach{land_approach}; + + if (!PX4_ISFINITE(land_approach.lat) || !PX4_ISFINITE(land_approach.lon)) { + sanitized_land_approach.lat = _destination.lat; + sanitized_land_approach.lon = _destination.lon; + + } + + if (!PX4_ISFINITE(land_approach.height_m)) { + sanitized_land_approach.height_m = _destination.alt + _param_rtl_descend_alt.get(); + } + + if (!PX4_ISFINITE(land_approach.loiter_radius_m) || fabsf(land_approach.loiter_radius_m) <= FLT_EPSILON) { + sanitized_land_approach.loiter_radius_m = _param_rtl_loiter_rad.get(); + } + + return sanitized_land_approach; +} diff --git a/src/modules/navigator/rtl_direct.h b/src/modules/navigator/rtl_direct.h index c71a5f57367a..211b2779eae0 100644 --- a/src/modules/navigator/rtl_direct.h +++ b/src/modules/navigator/rtl_direct.h @@ -126,6 +126,12 @@ class RtlDirect : public MissionBlock, public ModuleParams */ void set_rtl_item(); + /** + * @brief sanitize land_approach + * + */ + loiter_point_s sanitizeLandApproach(loiter_point_s land_approach) const; + /** * Check for parameter changes and update them if needed. */ From 86c074378f533335c59af9d83c521bcc1acb7172 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 17:51:36 +0100 Subject: [PATCH 049/102] rtl_direct_mission_land: fix abs/rel usage of item.altitude Signed-off-by: Silvan Fuhrer --- src/modules/navigator/rtl_direct_mission_land.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp index 99e96e3141ad..6935bc35e856 100644 --- a/src/modules/navigator/rtl_direct_mission_land.cpp +++ b/src/modules/navigator/rtl_direct_mission_land.cpp @@ -320,7 +320,8 @@ rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); // Add the vertical loiter - _rtl_time_estimator.addVertDistance(next_position_mission_item.altitude - altitude_at_calculation_point); + _rtl_time_estimator.addVertDistance(get_absolute_altitude_for_item(next_position_mission_item) - + altitude_at_calculation_point); break; } @@ -341,13 +342,14 @@ rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() _rtl_time_estimator.addDistance(hor_dist, direction, - next_position_mission_item.altitude - altitude_at_calculation_point); + get_absolute_altitude_for_item(next_position_mission_item) - altitude_at_calculation_point); } else { // For VTOL, Rotary, go there horizontally first, then land _rtl_time_estimator.addDistance(hor_dist, direction, 0.f); - _rtl_time_estimator.addDescendMCLand(next_position_mission_item.altitude - altitude_at_calculation_point); + _rtl_time_estimator.addDescendMCLand(get_absolute_altitude_for_item(next_position_mission_item) - + altitude_at_calculation_point); } break; @@ -363,7 +365,7 @@ rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() hor_position_at_calculation_point(1), next_position_mission_item.lat, next_position_mission_item.lon); _rtl_time_estimator.addDistance(hor_dist, direction, - next_position_mission_item.altitude - altitude_at_calculation_point); + get_absolute_altitude_for_item(next_position_mission_item) - altitude_at_calculation_point); break; } } @@ -371,7 +373,7 @@ rtl_time_estimate_s RtlDirectMissionLand::calc_rtl_time_estimate() start_item_index = next_mission_item_index + 1; hor_position_at_calculation_point(0) = next_position_mission_item.lat; hor_position_at_calculation_point(1) = next_position_mission_item.lon; - altitude_at_calculation_point = next_position_mission_item.altitude; + altitude_at_calculation_point = get_absolute_altitude_for_item(next_position_mission_item); } else { From cb8520427c0d2a84f6be1081bc83b940ed558262 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 8 Mar 2024 17:54:45 +0100 Subject: [PATCH 050/102] rtl direct: fix setting of previous altitude (abs vs rel) Signed-off-by: Silvan Fuhrer --- src/modules/navigator/rtl_direct.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/rtl_direct.cpp b/src/modules/navigator/rtl_direct.cpp index 4906f6d994df..d2936986db9a 100644 --- a/src/modules/navigator/rtl_direct.cpp +++ b/src/modules/navigator/rtl_direct.cpp @@ -265,7 +265,7 @@ void RtlDirect::set_rtl_item() // location and land location after exiting the loiter circle pos_sp_triplet->previous.lat = _land_approach.lat; pos_sp_triplet->previous.lon = _land_approach.lon; - pos_sp_triplet->previous.alt = _mission_item.altitude; + pos_sp_triplet->previous.alt = get_absolute_altitude_for_item(_mission_item); pos_sp_triplet->previous.valid = true; _rtl_state = RTLState::TRANSITION_TO_MC; From c5fde63440b5c90413c94a2b084b253b876246b7 Mon Sep 17 00:00:00 2001 From: Konrad Date: Mon, 11 Mar 2024 14:56:50 +0100 Subject: [PATCH 051/102] mission: The mission check on activation should only be performed for a mission, not RTL. We need to make sure that when the RTL is triggered, it should not reevaluate it, as when it was valid but evaluated to false on activation, it can't do a RTL. --- src/modules/navigator/mission.cpp | 2 ++ src/modules/navigator/mission_base.cpp | 2 -- src/modules/navigator/mission_base.h | 12 ++++++------ 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp index 9899d751f25b..06b4151bdb9b 100644 --- a/src/modules/navigator/mission.cpp +++ b/src/modules/navigator/mission.cpp @@ -86,6 +86,8 @@ Mission::on_activation() { _need_mission_save = true; + check_mission_valid(true); + MissionBase::on_activation(); } diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 495639ba33a1..4a376995a098 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -207,8 +207,6 @@ MissionBase::on_activation() _mission_has_been_activated = true; _system_disarmed_while_inactive = false; - check_mission_valid(true); - update_mission(); // reset the cache and fill it with the items up to the previous item. The cache contains diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index 117e811a0ff4..7f234bb7d277 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -215,6 +215,12 @@ class MissionBase : public MissionBlock, public ModuleParams */ bool isMissionValid() const; + /** + * @brief Check whether a mission is ready to go + * @param[in] forced flag if the check has to be run irregardles of any updates. + */ + void check_mission_valid(bool forced = false); + /** * On mission update * Change behaviour after external mission update. @@ -344,12 +350,6 @@ class MissionBase : public MissionBlock, public ModuleParams */ void updateMavlinkMission(); - /** - * @brief Check whether a mission is ready to go - * @param[in] forced flag if the check has to be run irregardles of any updates. - */ - void check_mission_valid(bool forced = false); - /** * Reset mission */ From f4ebfa6130b158e431bc77d4de67fab67b58f9ed Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Mon, 11 Mar 2024 10:52:22 -0700 Subject: [PATCH 052/102] parameters: support for an optional remote parameter database (#22836) The voxl2 has a split architecture. PX4 runs on a posix platform and a Qurt platform. The two communicate uorb topics back and forth with the muorb module. But each has it's own parameters database and they need to stay in sync with each other. This PR adds support to keep the 2 parameter databases in sync. The main parameters database running on Linux has file system support while the Qurt one does not. The Linux side is considered the primary and the Qurt side is considered the remote. --- boards/modalai/voxl2-slpi/default.px4board | 1 + boards/modalai/voxl2/default.px4board | 1 + msg/CMakeLists.txt | 4 + msg/ParameterResetRequest.msg | 8 + msg/ParameterSetUsedRequest.msg | 6 + msg/ParameterSetValueRequest.msg | 11 + msg/ParameterSetValueResponse.msg | 9 + platforms/common/uORB/uORBManager.cpp | 2 +- src/lib/Kconfig | 1 + src/lib/parameters/CMakeLists.txt | 18 +- src/lib/parameters/Kconfig | 11 + src/lib/parameters/param.h | 12 + src/lib/parameters/parameters.cpp | 101 ++++++- src/lib/parameters/parameters_primary.cpp | 314 +++++++++++++++++++++ src/lib/parameters/parameters_primary.h | 52 ++++ src/lib/parameters/parameters_remote.cpp | 310 ++++++++++++++++++++ src/lib/parameters/parameters_remote.h | 50 ++++ 17 files changed, 907 insertions(+), 4 deletions(-) create mode 100644 msg/ParameterResetRequest.msg create mode 100644 msg/ParameterSetUsedRequest.msg create mode 100644 msg/ParameterSetValueRequest.msg create mode 100644 msg/ParameterSetValueResponse.msg create mode 100644 src/lib/Kconfig create mode 100644 src/lib/parameters/Kconfig create mode 100644 src/lib/parameters/parameters_primary.cpp create mode 100644 src/lib/parameters/parameters_primary.h create mode 100644 src/lib/parameters/parameters_remote.cpp create mode 100644 src/lib/parameters/parameters_remote.h diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board index 0182f68babc4..73e75dd7bcb0 100644 --- a/boards/modalai/voxl2-slpi/default.px4board +++ b/boards/modalai/voxl2-slpi/default.px4board @@ -30,3 +30,4 @@ CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_ORB_COMMUNICATOR=y +CONFIG_PARAM_REMOTE=y diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board index bf42bff4c977..da04429b9841 100644 --- a/boards/modalai/voxl2/default.px4board +++ b/boards/modalai/voxl2/default.px4board @@ -26,3 +26,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y CONFIG_SYSTEMCMDS_UORB=y CONFIG_SYSTEMCMDS_VER=y CONFIG_ORB_COMMUNICATOR=y +CONFIG_PARAM_PRIMARY=y diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 2f8bb98c80e0..0f31ffca2a63 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -154,6 +154,10 @@ set(msg_files OrbTest.msg OrbTestLarge.msg OrbTestMedium.msg + ParameterResetRequest.msg + ParameterSetUsedRequest.msg + ParameterSetValueRequest.msg + ParameterSetValueResponse.msg ParameterUpdate.msg Ping.msg PositionControllerLandingStatus.msg diff --git a/msg/ParameterResetRequest.msg b/msg/ParameterResetRequest.msg new file mode 100644 index 000000000000..db08edb37961 --- /dev/null +++ b/msg/ParameterResetRequest.msg @@ -0,0 +1,8 @@ +# ParameterResetRequest : Used by the primary to reset one or all parameter value(s) on the remote + +uint64 timestamp +uint16 parameter_index + +bool reset_all # If this is true then ignore parameter_index + +uint8 ORB_QUEUE_LENGTH = 4 diff --git a/msg/ParameterSetUsedRequest.msg b/msg/ParameterSetUsedRequest.msg new file mode 100644 index 000000000000..ca97f9e9e7ff --- /dev/null +++ b/msg/ParameterSetUsedRequest.msg @@ -0,0 +1,6 @@ +# ParameterSetUsedRequest : Used by a remote to update the used flag for a parameter on the primary + +uint64 timestamp +uint16 parameter_index + +uint8 ORB_QUEUE_LENGTH = 64 diff --git a/msg/ParameterSetValueRequest.msg b/msg/ParameterSetValueRequest.msg new file mode 100644 index 000000000000..eaf650f24324 --- /dev/null +++ b/msg/ParameterSetValueRequest.msg @@ -0,0 +1,11 @@ +# ParameterSetValueRequest : Used by a remote or primary to update the value for a parameter at the other end + +uint64 timestamp +uint16 parameter_index + +int32 int_value # Optional value for an integer parameter +float32 float_value # Optional value for a float parameter + +uint8 ORB_QUEUE_LENGTH = 32 + +# TOPICS parameter_set_value_request parameter_remote_set_value_request parameter_primary_set_value_request diff --git a/msg/ParameterSetValueResponse.msg b/msg/ParameterSetValueResponse.msg new file mode 100644 index 000000000000..09f8e3084a80 --- /dev/null +++ b/msg/ParameterSetValueResponse.msg @@ -0,0 +1,9 @@ +# ParameterSetValueResponse : Response to a set value request by either primary or secondary + +uint64 timestamp +uint64 request_timestamp +uint16 parameter_index + +uint8 ORB_QUEUE_LENGTH = 4 + +# TOPICS parameter_set_value_response parameter_remote_set_value_response parameter_primary_set_value_response \ No newline at end of file diff --git a/platforms/common/uORB/uORBManager.cpp b/platforms/common/uORB/uORBManager.cpp index 7e2fe4461a63..3fa75a345458 100644 --- a/platforms/common/uORB/uORBManager.cpp +++ b/platforms/common/uORB/uORBManager.cpp @@ -630,7 +630,7 @@ int16_t uORB::Manager::process_remote_topic(const char *topic_name) // We didn't find a node so we need to create it via an advertisement PX4_DEBUG("Advertising remote topic %s", topic_name); _remote_topics.insert(topic_name); - orb_advertise(topic_ptr, nullptr, topic_ptr->o_queue); + orb_advertise(topic_ptr, nullptr); return 0; } diff --git a/src/lib/Kconfig b/src/lib/Kconfig new file mode 100644 index 000000000000..6353836988b2 --- /dev/null +++ b/src/lib/Kconfig @@ -0,0 +1 @@ +rsource "*/Kconfig" diff --git a/src/lib/parameters/CMakeLists.txt b/src/lib/parameters/CMakeLists.txt index a68a6e38adfb..b87e652cad4f 100644 --- a/src/lib/parameters/CMakeLists.txt +++ b/src/lib/parameters/CMakeLists.txt @@ -156,7 +156,23 @@ add_custom_target(parameters_header DEPENDS px4_parameters.hpp) set(SRCS) -list(APPEND SRCS parameters.cpp atomic_transaction.cpp autosave.cpp) +list(APPEND SRCS + parameters.cpp + atomic_transaction.cpp + autosave.cpp +) + +if(CONFIG_PARAM_PRIMARY) +list(APPEND SRCS + parameters_primary.cpp +) +endif() + +if(CONFIG_PARAM_REMOTE) +list(APPEND SRCS + parameters_remote.cpp +) +endif() if(BUILD_TESTING) list(APPEND SRCS param_translation_unit_tests.cpp) diff --git a/src/lib/parameters/Kconfig b/src/lib/parameters/Kconfig new file mode 100644 index 000000000000..f296180d996f --- /dev/null +++ b/src/lib/parameters/Kconfig @@ -0,0 +1,11 @@ +menuconfig PARAM_PRIMARY + bool "parameter primary" + default n + ---help--- + Enable support for the parameter primary in distributed board architectures + +menuconfig PARAM_REMOTE + bool "parameter remote" + default n + ---help--- + Enable support for the parameter remote in distributed board architectures diff --git a/src/lib/parameters/param.h b/src/lib/parameters/param.h index dca29d4f212f..c8b8dbd79df9 100644 --- a/src/lib/parameters/param.h +++ b/src/lib/parameters/param.h @@ -267,6 +267,18 @@ __EXPORT void param_set_used(param_t param); */ __EXPORT int param_set_no_notification(param_t param, const void *val); +/** + * Set the value of a parameter, but do not update the remote system. This avoids + * a set loop between primary and remote. + * + * @param param A handle returned by param_find or passed by param_foreach. + * @param val The value to set; assumed to point to a variable of the parameter type. + * For structures, the pointer is assumed to point to a structure to be copied. + * @param notify Set this to true for the primary (to send out a param update) and false on client + * @return Zero if the parameter's value could be set from a scalar, nonzero otherwise. + */ +__EXPORT int param_set_no_remote_update(param_t param, const void *val, bool notify); + /** * Notify the system about parameter changes. Can be used for example after several calls to * param_set_no_notification() to avoid unnecessary system notifications. diff --git a/src/lib/parameters/parameters.cpp b/src/lib/parameters/parameters.cpp index 0b20bd0fe7c5..f8cd3d6fa3ea 100644 --- a/src/lib/parameters/parameters.cpp +++ b/src/lib/parameters/parameters.cpp @@ -105,8 +105,10 @@ static DynamicSparseLayer runtime_defaults{&firmware_defaults}; DynamicSparseLayer user_config{&runtime_defaults}; /** parameter update topic handle */ +#if not defined(CONFIG_PARAM_REMOTE) static orb_advert_t param_topic = nullptr; static unsigned int param_instance = 0; +#endif static perf_counter_t param_export_perf; static perf_counter_t param_find_perf; @@ -116,6 +118,14 @@ static perf_counter_t param_set_perf; static pthread_mutex_t file_mutex = PTHREAD_MUTEX_INITIALIZER; ///< this protects against concurrent param saves (file or flash access). +// Support for remote parameter node +#if defined(CONFIG_PARAM_PRIMARY) +# include "parameters_primary.h" +#endif // CONFIG_PARAM_PRIMARY +#if defined(CONFIG_PARAM_REMOTE) +# include "parameters_remote.h" +#endif // CONFIG_PARAM_REMOTE + void param_init() { @@ -128,14 +138,27 @@ param_init() px4_register_boardct_ioctl(_PARAMIOCBASE, param_ioctl); #endif +#if defined(CONFIG_PARAM_PRIMARY) + param_primary_init(); +#endif // CONFIG_PARAM_PRIMARY + +#if defined(CONFIG_PARAM_REMOTE) + param_remote_init(); +#endif // CONFIG_PARAM_REMOTE + +#if not defined(CONFIG_PARAM_REMOTE) autosave_instance = new ParamAutosave(); +#endif } void param_notify_changes() { - parameter_update_s pup{}; +// Don't send if this is a remote node. Only the primary +// sends out update notices +#if not defined(CONFIG_PARAM_REMOTE) + parameter_update_s pup {}; pup.instance = param_instance++; pup.get_count = perf_event_count(param_get_perf); pup.set_count = perf_event_count(param_set_perf); @@ -152,6 +175,8 @@ param_notify_changes() } else { orb_publish(ORB_ID(parameter_update), param_topic, &pup); } + +#endif } static param_t param_find_internal(const char *name, bool notification) @@ -372,7 +397,7 @@ param_control_autosave(bool enable) } static int -param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes) +param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes, bool update_remote = true) { if (!handle_in_range(param)) { PX4_ERR("set invalid param %d", param); @@ -421,6 +446,24 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_ param_autosave(); } + // If this is the parameter server, make sure that the remote is updated +#if defined(CONFIG_PARAM_PRIMARY) + + if (param_changed && update_remote) { + param_primary_set_value(param, val); + } + +#endif + + // If this is the parameter remote, make sure that the primary is updated +#if defined(CONFIG_PARAM_REMOTE) + + if (param_changed && update_remote) { + param_remote_set_value(param, val); + } + +#endif + perf_end(param_set_perf); /* @@ -456,6 +499,11 @@ int param_set_no_notification(param_t param, const void *val) return param_set_internal(param, val, false, false); } +int param_set_no_remote_update(param_t param, const void *val, bool notify) +{ + return param_set_internal(param, val, false, notify, false); +} + bool param_used(param_t param) { if (handle_in_range(param)) { @@ -468,6 +516,14 @@ bool param_used(param_t param) void param_set_used(param_t param) { if (handle_in_range(param)) { +#if defined(CONFIG_PARAM_REMOTE) + + if (!param_used(param)) { + param_remote_set_used(param); + } + +#endif + params_active.set(param, true); } } @@ -544,6 +600,11 @@ int param_set_default_value(param_t param, const void *val) static int param_reset_internal(param_t param, bool notify = true, bool autosave = true) { +#if defined(CONFIG_PARAM_REMOTE) + // Remote doesn't support reset + return false; +#endif + bool param_found = user_config.contains(param); if (handle_in_range(param)) { @@ -558,6 +619,10 @@ static int param_reset_internal(param_t param, bool notify = true, bool autosave param_notify_changes(); } +#if defined(CONFIG_PARAM_PRIMARY) + param_primary_reset(param); +#endif + return param_found; } @@ -567,6 +632,11 @@ int param_reset_no_notification(param_t param) { return param_reset_internal(par static void param_reset_all_internal(bool auto_save) { +#if defined(CONFIG_PARAM_REMOTE) + // Remote doesn't support reset + return; +#endif + for (param_t param = 0; handle_in_range(param); param++) { param_reset_internal(param, false, false); } @@ -575,6 +645,10 @@ param_reset_all_internal(bool auto_save) param_autosave(); } +#if defined(CONFIG_PARAM_PRIMARY) + param_primary_reset_all(); +#endif + param_notify_changes(); } @@ -1280,4 +1354,27 @@ void param_print_status() perf_print_counter(param_find_perf); perf_print_counter(param_get_perf); perf_print_counter(param_set_perf); + +#if defined(CONFIG_PARAM_PRIMARY) + struct param_primary_counters counts; + param_primary_get_counters(&counts); + PX4_INFO("set value requests received: %" PRIu32 ", set value responses sent: %" PRIu32, + counts.set_value_request_received, counts.set_value_response_sent); + PX4_INFO("set value requests sent: %" PRIu32 ", set value responses received: %" PRIu32, + counts.set_value_request_sent, counts.set_value_response_received); + PX4_INFO("resets sent: %" PRIu32 ", set used requests received: %" PRIu32, + counts.reset_sent, counts.set_used_received); +#endif + +#if defined(CONFIG_PARAM_REMOTE) + struct param_remote_counters counts; + param_remote_get_counters(&counts); + PX4_INFO("set value requests received: %" PRIu32 ", set value responses sent: %" PRIu32, + counts.set_value_request_received, counts.set_value_response_sent); + PX4_INFO("set value requests sent: %" PRIu32 ", set value responses received: %" PRIu32, + counts.set_value_request_sent, counts.set_value_response_received); + PX4_INFO("resets received: %" PRIu32 ", set used requests sent: %" PRIu32, + counts.reset_received, counts.set_used_sent); +#endif + } diff --git a/src/lib/parameters/parameters_primary.cpp b/src/lib/parameters/parameters_primary.cpp new file mode 100644 index 000000000000..02de11e608d0 --- /dev/null +++ b/src/lib/parameters/parameters_primary.cpp @@ -0,0 +1,314 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "parameters_primary.h" + +#include "uORB/uORBManager.hpp" + +#include +#include + +// uORB topics needed to keep parameter server and client in sync +#include +#include +#include +#include + +// Debug flag +static bool debug = false; + +static struct param_primary_counters param_primary_counters; + +#define TIMEOUT_WAIT 1000 +#define TIMEOUT_COUNT 50 + +static px4_task_t sync_thread_tid; +static const char *sync_thread_name = "param_primary_sync"; + +static orb_advert_t param_set_value_req_h = nullptr; +static orb_advert_t param_reset_req_h = nullptr; + +static int param_set_rsp_fd = PX4_ERROR; + +static int primary_sync_thread(int argc, char *argv[]) +{ + // Need to wait until the uORB and muORB are ready + // Check for uORB initialization with get_instance + while (uORB::Manager::get_instance() == nullptr) { px4_usleep(100); } + + // Check for muORB initialization with get_uorb_communicator + while (uORB::Manager::get_instance()->get_uorb_communicator() == nullptr) { px4_usleep(100); } + + orb_advert_t _set_value_rsp_h = nullptr; + + int _set_used_req_fd = orb_subscribe(ORB_ID(parameter_set_used_request)); + int _set_value_req_fd = orb_subscribe(ORB_ID(parameter_primary_set_value_request)); + + struct parameter_set_used_request_s _set_used_request; + struct parameter_set_value_request_s _set_value_request; + struct parameter_set_value_response_s _set_value_response; + + px4_pollfd_struct_t fds[2] = { { .fd = _set_used_req_fd, .events = POLLIN }, + { .fd = _set_value_req_fd, .events = POLLIN } + }; + + PX4_INFO("Starting parameter primary sync thread"); + + while (true) { + px4_poll(fds, 2, 1000); + + if (fds[0].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_set_used_request), _set_used_req_fd, &_set_used_request); + + if (debug) { + PX4_INFO("Got parameter_set_used_request for %s", param_name(_set_used_request.parameter_index)); + } + + param_primary_counters.set_used_received++; + + param_find(param_name(_set_used_request.parameter_index)); + + (void) orb_check(_set_used_req_fd, &updated); + } + + } + + if (fds[1].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_primary_set_value_request), _set_value_req_fd, &_set_value_request); + + if (debug) { + PX4_INFO("Got parameter_primary_set_value_request for %s", param_name(_set_value_request.parameter_index)); + } + + param_primary_counters.set_value_request_received++; + + param_t param = _set_value_request.parameter_index; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + param_set_no_remote_update(param, (const void *) &_set_value_request.int_value, true); + break; + + case PARAM_TYPE_FLOAT: + param_set_no_remote_update(param, (const void *) &_set_value_request.float_value, true); + break; + + default: + PX4_ERR("Parameter must be either int or float"); + break; + } + + _set_value_response.timestamp = hrt_absolute_time(); + _set_value_response.request_timestamp = _set_value_request.timestamp; + _set_value_response.parameter_index = _set_value_request.parameter_index; + + if (_set_value_rsp_h == nullptr) { + _set_value_rsp_h = orb_advertise(ORB_ID(parameter_primary_set_value_response), &_set_value_response); + + } else { + orb_publish(ORB_ID(parameter_primary_set_value_response), _set_value_rsp_h, &_set_value_response); + } + + param_primary_counters.set_value_response_sent++; + + (void) orb_check(_set_value_req_fd, &updated); + } + } + } + + return 0; +} + +void param_primary_init() +{ + + sync_thread_tid = px4_task_spawn_cmd(sync_thread_name, + SCHED_DEFAULT, + SCHED_PRIORITY_PARAMS, + (1024 * 4), + primary_sync_thread, + NULL); + +} + +// void param_primary_set_value(param_t param, const void *val, bool from_file) +void param_primary_set_value(param_t param, const void *val) +{ + bool send_request = true; + struct parameter_set_value_request_s req; + req.timestamp = hrt_absolute_time(); + req.parameter_index = param; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + req.int_value = *(int32_t *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %d ***", param_name(req.parameter_index), req.int_value); + } + + break; + + case PARAM_TYPE_FLOAT: + req.float_value = *(float *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %f ***", param_name(req.parameter_index), (double) req.float_value); + } + + break; + + default: + PX4_ERR("Parameter must be either int or float"); + send_request = false; + break; + } + + if (param_set_rsp_fd == PX4_ERROR) { + if (debug) { + PX4_INFO("Subscribing to parameter_client_set_value_response"); + } + + param_set_rsp_fd = orb_subscribe(ORB_ID(parameter_remote_set_value_response)); + + if (param_set_rsp_fd == PX4_ERROR) { + PX4_ERR("Subscription to parameter_remote_set_value_response failed"); + + } else { + if (debug) { + PX4_INFO("Subscription to parameter_client_set_value_response succeeded"); + } + } + } + + if (send_request) { + if (debug) { + PX4_INFO("Sending param set request to remote for %s", param_name(req.parameter_index)); + } + + if (param_set_value_req_h == nullptr) { + param_set_value_req_h = orb_advertise(ORB_ID(parameter_remote_set_value_request), nullptr); + } + + orb_publish(ORB_ID(parameter_remote_set_value_request), param_set_value_req_h, &req); + + param_primary_counters.set_value_request_sent++; + + // Wait for response + bool updated = false; + + if (debug) { + PX4_INFO("Waiting for parameter_client_set_value_response for %s", param_name(req.parameter_index)); + } + + px4_usleep(TIMEOUT_WAIT); + int count = TIMEOUT_COUNT; + + while (--count) { + (void) orb_check(param_set_rsp_fd, &updated); + + struct parameter_set_value_response_s rsp; + + while (updated) { + + orb_copy(ORB_ID(parameter_remote_set_value_response), param_set_rsp_fd, &rsp); + + if ((rsp.request_timestamp == req.timestamp) && (rsp.parameter_index == req.parameter_index)) { + if (debug) { + PX4_INFO("Got parameter_remote_set_value_response for %s", param_name(req.parameter_index)); + } + + param_primary_counters.set_value_response_received++; + return; + } + + (void) orb_check(param_set_rsp_fd, &updated); + } + + px4_usleep(TIMEOUT_WAIT); + } + + PX4_ERR("Timeout waiting for parameter_client_set_value_response for %s", param_name(req.parameter_index)); + } +} + +static void param_primary_reset_internal(param_t param, bool reset_all) +{ + if (debug) { + PX4_INFO("Param reset at primary"); + } + + struct parameter_reset_request_s req; + + req.timestamp = hrt_absolute_time(); + + req.reset_all = reset_all; + + if (reset_all == false) { + req.parameter_index = param; + } + + if (debug) { + PX4_INFO("Sending param reset request to remote"); + } + + if (param_reset_req_h == nullptr) { + param_reset_req_h = orb_advertise(ORB_ID(parameter_reset_request), &req); + + } else { + orb_publish(ORB_ID(parameter_reset_request), param_reset_req_h, &req); + } + + param_primary_counters.reset_sent++; +} + +void param_primary_reset(param_t param) +{ + param_primary_reset_internal(param, false); +} + +void param_primary_reset_all() +{ + param_primary_reset_internal(0, true); +} + +void param_primary_get_counters(struct param_primary_counters *cnt) +{ + *cnt = param_primary_counters; +} \ No newline at end of file diff --git a/src/lib/parameters/parameters_primary.h b/src/lib/parameters/parameters_primary.h new file mode 100644 index 000000000000..7994822d4c05 --- /dev/null +++ b/src/lib/parameters/parameters_primary.h @@ -0,0 +1,52 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "param.h" + +struct param_primary_counters { + uint32_t set_value_request_received; + uint32_t set_value_response_sent; + uint32_t reset_sent; + uint32_t set_value_request_sent; + uint32_t set_value_response_received; + uint32_t set_used_received; +}; + +void param_primary_init(); +void param_primary_set_value(param_t param, const void *val); +void param_primary_reset(param_t param); +void param_primary_reset_all(); +void param_primary_get_counters(struct param_primary_counters *cnt); + diff --git a/src/lib/parameters/parameters_remote.cpp b/src/lib/parameters/parameters_remote.cpp new file mode 100644 index 000000000000..78b7ee153cf1 --- /dev/null +++ b/src/lib/parameters/parameters_remote.cpp @@ -0,0 +1,310 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include "parameters_remote.h" + +#include "uORB/uORBManager.hpp" + +#include + +#include +#include + +// uORB topics needed to keep parameter server and client in sync +#include +#include +#include +#include + +// Debug flag +static bool debug = false; + +static struct param_remote_counters param_remote_counters; + +#define TIMEOUT_WAIT 1000 +#define TIMEOUT_COUNT 50 + +static orb_advert_t parameter_set_used_h = nullptr; +static orb_advert_t param_set_value_req_h = nullptr; + +static int param_set_rsp_fd = PX4_ERROR; + +static px4_task_t sync_thread_tid; +static const char *sync_thread_name = "param_remote_sync"; + +static int remote_sync_thread(int argc, char *argv[]) +{ + // This thread gets started by the remote side during PX4 initialization. + // We cannot send out the subscribe request immediately because the other + // side will not be ready to receive it on the muorb yet and it will get dropped. + // So, sleep a little bit to give other side a chance to finish initialization + // of the muorb. But don't wait too long otherwise a set request from the server + // side could be missed. + usleep(200000); + + orb_advert_t _set_value_rsp_h = nullptr; + + int _reset_req_fd = orb_subscribe(ORB_ID(parameter_reset_request)); + int _set_value_req_fd = orb_subscribe(ORB_ID(parameter_remote_set_value_request)); + + struct parameter_reset_request_s _reset_request; + struct parameter_set_value_request_s _set_value_request; + struct parameter_set_value_response_s _set_value_response; + + px4_pollfd_struct_t fds[2] = { { .fd = _reset_req_fd, .events = POLLIN }, + { .fd = _set_value_req_fd, .events = POLLIN } + }; + + PX4_INFO("Starting parameter remote sync thread"); + + while (true) { + px4_poll(fds, 2, 1000); + + if (fds[0].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_reset_request), _reset_req_fd, &_reset_request); + + if (debug) { + PX4_INFO("Got parameter_reset_request for %s", param_name(_reset_request.parameter_index)); + } + + param_remote_counters.reset_received++; + + if (_reset_request.reset_all) { + param_reset_all(); + + } else { + param_reset_no_notification(_reset_request.parameter_index); + + } + + (void) orb_check(_reset_req_fd, &updated); + } + } + + if (fds[1].revents & POLLIN) { + bool updated = true; + + while (updated) { + orb_copy(ORB_ID(parameter_primary_set_value_request), _set_value_req_fd, &_set_value_request); + + if (debug) { + PX4_INFO("Got parameter_remote_set_value_request for %s", param_name(_set_value_request.parameter_index)); + } + + param_remote_counters.set_value_request_received++; + + switch (param_type(_set_value_request.parameter_index)) { + case PARAM_TYPE_INT32: + param_set_no_remote_update(_set_value_request.parameter_index, + (const void *) &_set_value_request.int_value, + false); + break; + + case PARAM_TYPE_FLOAT: + param_set_no_remote_update(_set_value_request.parameter_index, + (const void *) &_set_value_request.float_value, + false); + break; + + default: + PX4_ERR("Parameter must be either int or float"); + break; + } + + _set_value_response.timestamp = hrt_absolute_time(); + _set_value_response.request_timestamp = _set_value_request.timestamp; + _set_value_response.parameter_index = _set_value_request.parameter_index; + + if (_set_value_rsp_h == nullptr) { + _set_value_rsp_h = orb_advertise(ORB_ID(parameter_remote_set_value_response), &_set_value_response); + + } else { + if (debug) { + PX4_INFO("Sending set value response for %s", param_name(_set_value_request.parameter_index)); + } + + orb_publish(ORB_ID(parameter_remote_set_value_response), _set_value_rsp_h, &_set_value_response); + } + + param_remote_counters.set_value_response_sent++; + + (void) orb_check(_set_value_req_fd, &updated); + } + } + } + + return 0; +} + +void param_remote_init() +{ + + sync_thread_tid = px4_task_spawn_cmd(sync_thread_name, + SCHED_DEFAULT, + SCHED_PRIORITY_PARAMS, + (1024 * 4), + remote_sync_thread, + NULL); + +} + +void param_remote_set_used(param_t param) +{ + // Notify the parameter server that this parameter has been marked as used + if (debug) { + PX4_INFO("Requesting server to mark %s as used", param_name(param)); + } + + struct parameter_set_used_request_s req; + + req.timestamp = hrt_absolute_time(); + + req.parameter_index = param; + + if (parameter_set_used_h == nullptr) { + parameter_set_used_h = orb_advertise(ORB_ID(parameter_set_used_request), &req); + + } else { + orb_publish(ORB_ID(parameter_set_used_request), parameter_set_used_h, &req); + } + + param_remote_counters.set_used_sent++; +} + +void param_remote_set_value(param_t param, const void *val) +{ + bool send_request = true; + struct parameter_set_value_request_s req; + req.timestamp = hrt_absolute_time(); + req.parameter_index = param; + + switch (param_type(param)) { + case PARAM_TYPE_INT32: + req.int_value = *(int32_t *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %" PRIi32 " ***", param_name(req.parameter_index), req.int_value); + } + + break; + + case PARAM_TYPE_FLOAT: + req.float_value = *(float *)val; + + if (debug) { + PX4_INFO("*** Setting %s to %f ***", param_name(req.parameter_index), (double) req.float_value); + } + + break; + + default: + PX4_ERR("Parameter must be either int or float"); + send_request = false; + break; + } + + if (param_set_rsp_fd == PX4_ERROR) { + if (debug) { + PX4_INFO("Subscribing to parameter_primary_set_value_response"); + } + + param_set_rsp_fd = orb_subscribe(ORB_ID(parameter_primary_set_value_response)); + + if (param_set_rsp_fd == PX4_ERROR) { + PX4_ERR("Subscription to parameter_primary_set_value_response failed"); + + } else { + if (debug) { + PX4_INFO("Subscription to parameter_primary_set_value_response succeeded"); + } + } + } + + if (send_request) { + if (debug) { + PX4_INFO("Sending param set value request to primary for %s", param_name(req.parameter_index)); + } + + if (param_set_value_req_h == nullptr) { + param_set_value_req_h = orb_advertise(ORB_ID(parameter_primary_set_value_request), nullptr); + } + + orb_publish(ORB_ID(parameter_primary_set_value_request), param_set_value_req_h, &req); + + param_remote_counters.set_value_request_sent++; + + // Wait for response + bool updated = false; + + if (debug) { + PX4_INFO("Waiting for parameter_client_set_value_response for %s", param_name(req.parameter_index)); + } + + px4_usleep(TIMEOUT_WAIT); + int count = TIMEOUT_COUNT; + + while (--count) { + (void) orb_check(param_set_rsp_fd, &updated); + + struct parameter_set_value_response_s rsp; + + while (updated) { + + orb_copy(ORB_ID(parameter_primary_set_value_response), param_set_rsp_fd, &rsp); + + if ((rsp.request_timestamp == req.timestamp) && (rsp.parameter_index == req.parameter_index)) { + if (debug) { + PX4_INFO("Got parameter_primary_set_value_response for %s", param_name(req.parameter_index)); + } + + param_remote_counters.set_value_response_received++; + return; + } + + (void) orb_check(param_set_rsp_fd, &updated); + } + + px4_usleep(TIMEOUT_WAIT); + } + + PX4_ERR("Timeout waiting for parameter_primary_set_value_response for %s", param_name(req.parameter_index)); + } +} + +void param_remote_get_counters(struct param_remote_counters *cnt) +{ + *cnt = param_remote_counters; +} diff --git a/src/lib/parameters/parameters_remote.h b/src/lib/parameters/parameters_remote.h new file mode 100644 index 000000000000..7eba416643cf --- /dev/null +++ b/src/lib/parameters/parameters_remote.h @@ -0,0 +1,50 @@ +/**************************************************************************** + * + * Copyright (c) 2024 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include "param.h" + +struct param_remote_counters { + uint32_t set_value_request_received; + uint32_t set_value_response_sent; + uint32_t reset_received; + uint32_t set_value_request_sent; + uint32_t set_value_response_received; + uint32_t set_used_sent; +}; + +void param_remote_init(); +void param_remote_set_used(param_t param); +void param_remote_set_value(param_t param, const void *val); +void param_remote_get_counters(struct param_remote_counters *cnt); From 18d53c3bfd0662037acf8e19cd3d1f287b7a9be7 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Mon, 11 Mar 2024 16:47:15 -0700 Subject: [PATCH 053/102] boards/modalai/voxl2: Add new capabilities to Qurt platform HITL driver * Added new sensor control options and test capability in dsp_hitl * HITL working in VIO mode only * Fixed units on GPS HIL input --- .../src/drivers/dsp_hitl/dsp_hitl.cpp | 559 +++++++++++++----- .../modalai/voxl2/target/voxl-px4-hitl-start | 2 + 2 files changed, 421 insertions(+), 140 deletions(-) diff --git a/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp index 37abacd66672..b26f56508216 100644 --- a/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp +++ b/boards/modalai/voxl2-slpi/src/drivers/dsp_hitl/dsp_hitl.cpp @@ -62,6 +62,8 @@ #include #include #include +#include +#include #include #include @@ -88,21 +90,22 @@ static bool _is_running = false; volatile bool _task_should_exit = false; static px4_task_t _task_handle = -1; int _uart_fd = -1; -bool debug = false; +bool _debug = false; std::string port = "2"; int baudrate = 921600; const unsigned mode_flag_custom = 1; const unsigned mode_flag_armed = 128; -bool _send_gps = false; bool _send_mag = false; +bool _send_distance = false; uORB::Publication _battery_pub{ORB_ID(battery_status)}; uORB::PublicationMulti _sensor_gps_pub{ORB_ID(sensor_gps)}; -uORB::Publication _differential_pressure_pub{ORB_ID(differential_pressure)}; uORB::Publication _visual_odometry_pub{ORB_ID(vehicle_visual_odometry)}; uORB::Publication _mocap_odometry_pub{ORB_ID(vehicle_mocap_odometry)}; uORB::PublicationMulti _sensor_baro_pub{ORB_ID(sensor_baro)}; uORB::Publication _esc_status_pub{ORB_ID(esc_status)}; +uORB::Publication _distance_sensor_pub{ORB_ID(distance_sensor)}; +uORB::Publication _sensor_optical_flow_pub{ORB_ID(sensor_optical_flow)}; uORB::Subscription _battery_status_sub{ORB_ID(battery_status)}; int32_t _output_functions[actuator_outputs_s::NUM_ACTUATOR_OUTPUTS] {}; @@ -128,13 +131,42 @@ float x_gyro = 0; float y_gyro = 0; float z_gyro = 0; uint64_t gyro_accel_time = 0; -bool _use_software_mav_throttling{false}; -int heartbeat_counter = 0; -int imu_counter = 0; -int hil_sensor_counter = 0; -int vision_msg_counter = 0; -int gps_counter = 0; +// Status counters +uint32_t heartbeat_received_counter = 0; +uint32_t heartbeat_sent_counter = 0; +uint32_t imu_counter = 0; +uint32_t hil_sensor_counter = 0; +uint32_t mag_counter = 0; +uint32_t baro_counter = 0; +uint32_t actuator_sent_counter = 0; +uint32_t odometry_received_counter = 0; +uint32_t odometry_sent_counter = 0; +uint32_t gps_received_counter = 0; +uint32_t gps_sent_counter = 0; +uint32_t distance_received_counter = 0; +uint32_t distance_sent_counter = 0; +uint32_t flow_received_counter = 0; +uint32_t flow_sent_counter = 0; +uint32_t unknown_msg_received_counter = 0; + +enum class position_source {GPS, VIO, FLOW, NUM_POSITION_SOURCES}; + +struct position_source_data_s { + char label[8]; + bool send; + bool fail; + uint32_t failure_duration; + uint64_t failure_duration_start; +} position_source_data[(int) position_source::NUM_POSITION_SOURCES] = { + {"GPS", false, false, 0, 0}, + {"VIO", false, false, 0, 0}, + {"FLOW", false, false, 0, 0} +}; + +uint64_t first_sensor_msg_timestamp = 0; +uint64_t first_sensor_report_timestamp = 0; +uint64_t last_sensor_report_timestamp = 0; vehicle_status_s _vehicle_status{}; vehicle_control_mode_s _control_mode{}; @@ -144,7 +176,6 @@ battery_status_s _battery_status{}; sensor_accel_fifo_s accel_fifo{}; sensor_gyro_fifo_s gyro_fifo{}; - int openPort(const char *dev, speed_t speed); int closePort(); @@ -153,7 +184,8 @@ int writeResponse(void *buf, size_t len); int start(int argc, char *argv[]); int stop(); -int get_status(); +void print_status(); +void clear_status_counters(); bool isOpen() { return _uart_fd >= 0; }; void usage(); @@ -163,50 +195,65 @@ void *send_actuator(void *); void send_actuator_data(); void handle_message_hil_sensor_dsp(mavlink_message_t *msg); +void handle_message_hil_optical_flow(mavlink_message_t *msg); +void handle_message_distance_sensor(mavlink_message_t *msg); void handle_message_hil_gps_dsp(mavlink_message_t *msg); void handle_message_odometry_dsp(mavlink_message_t *msg); -void handle_message_vision_position_estimate_dsp(mavlink_message_t *msg); void handle_message_command_long_dsp(mavlink_message_t *msg); void handle_message_dsp(mavlink_message_t *msg); void actuator_controls_from_outputs_dsp(mavlink_hil_actuator_controls_t *msg); -void send_esc_telemetry_dsp(mavlink_hil_actuator_controls_t hil_act_control); +void send_esc_status(mavlink_hil_actuator_controls_t hil_act_control); void handle_message_dsp(mavlink_message_t *msg) { switch (msg->msgid) { case MAVLINK_MSG_ID_HIL_SENSOR: + hil_sensor_counter++; handle_message_hil_sensor_dsp(msg); break; case MAVLINK_MSG_ID_HIL_GPS: - if (_send_gps) { handle_message_hil_gps_dsp(msg); } + gps_received_counter++; - break; + if (position_source_data[(int) position_source::GPS].send) { handle_message_hil_gps_dsp(msg); } - case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE: - handle_message_vision_position_estimate_dsp(msg); break; case MAVLINK_MSG_ID_ODOMETRY: - handle_message_odometry_dsp(msg); - break; + odometry_received_counter++; + + if (position_source_data[(int) position_source::VIO].send) { handle_message_odometry_dsp(msg); } - case MAVLINK_MSG_ID_COMMAND_LONG: - handle_message_command_long_dsp(msg); break; case MAVLINK_MSG_ID_HEARTBEAT: - PX4_DEBUG("Heartbeat msg received"); + heartbeat_received_counter++; + + if (_debug) { PX4_INFO("Heartbeat msg received"); } + break; - case MAVLINK_MSG_ID_SYSTEM_TIME: - PX4_DEBUG("MAVLINK SYSTEM TIME"); + case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW: + flow_received_counter++; + + if (position_source_data[(int) position_source::FLOW].send) { handle_message_hil_optical_flow(msg); } + + break; + + case MAVLINK_MSG_ID_DISTANCE_SENSOR: + distance_received_counter++; + + if (_send_distance) { handle_message_distance_sensor(msg); } + break; default: - PX4_DEBUG("Unknown msg ID: %d", msg->msgid); + unknown_msg_received_counter++; + + if (_debug) { PX4_INFO("Unknown msg ID: %d", msg->msgid); } + break; } } @@ -228,7 +275,6 @@ void send_actuator_data() bool first_sent = false; while (true) { - bool controls_updated = false; (void) orb_check(_vehicle_control_mode_sub_, &controls_updated); @@ -239,45 +285,50 @@ void send_actuator_data() bool actuator_updated = false; (void) orb_check(_actuator_outputs_sub, &actuator_updated); + uint8_t newBuf[512]; + uint16_t newBufLen = 0; + + mavlink_hil_actuator_controls_t hil_act_control; + actuator_controls_from_outputs_dsp(&hil_act_control); + + mavlink_message_t message{}; + mavlink_msg_hil_actuator_controls_encode(1, 1, &message, &hil_act_control); + if (actuator_updated) { orb_copy(ORB_ID(actuator_outputs), _actuator_outputs_sub, &_actuator_outputs); - px4_lockstep_wait_for_components(); if (_actuator_outputs.timestamp > 0) { - mavlink_hil_actuator_controls_t hil_act_control; - actuator_controls_from_outputs_dsp(&hil_act_control); - - mavlink_message_t message{}; - mavlink_msg_hil_actuator_controls_encode(1, 1, &message, &hil_act_control); previous_timestamp = _actuator_outputs.timestamp; previous_uorb_timestamp = _actuator_outputs.timestamp; - uint8_t newBuf[512]; - uint16_t newBufLen = 0; + newBufLen = mavlink_msg_to_send_buffer(newBuf, &message); int writeRetval = writeResponse(&newBuf, newBufLen); - PX4_DEBUG("Succesful write of actuator back to jMAVSim: %d at %llu", writeRetval, hrt_absolute_time()); + + actuator_sent_counter++; + + if (_debug) { PX4_INFO("Succesful write of actuator back to jMAVSim: %d at %llu", writeRetval, hrt_absolute_time()); } + first_sent = true; - send_esc_telemetry_dsp(hil_act_control); + + send_esc_status(hil_act_control); } - } else if (!actuator_updated && first_sent && differential > 4000) { - mavlink_hil_actuator_controls_t hil_act_control; - actuator_controls_from_outputs_dsp(&hil_act_control); + } else if (! actuator_updated && first_sent && differential > 4000) { previous_timestamp = hrt_absolute_time(); - mavlink_message_t message{}; - mavlink_msg_hil_actuator_controls_encode(1, 1, &message, &hil_act_control); - uint8_t newBuf[512]; - uint16_t newBufLen = 0; newBufLen = mavlink_msg_to_send_buffer(newBuf, &message); int writeRetval = writeResponse(&newBuf, newBufLen); - //PX4_INFO("Sending from NOT UPDTE AND TIMEOUT: %i", differential); - PX4_DEBUG("Succesful write of actuator back to jMAVSim: %d at %llu", writeRetval, hrt_absolute_time()); - send_esc_telemetry_dsp(hil_act_control); + actuator_sent_counter++; + + if (_debug) { PX4_INFO("Succesful write of actuator back to jMAVSim: %d at %llu", writeRetval, hrt_absolute_time()); } + + send_esc_status(hil_act_control); } differential = hrt_absolute_time() - previous_timestamp; + + px4_usleep(1000); } } @@ -287,14 +338,10 @@ void task_main(int argc, char *argv[]) int myoptind = 1; const char *myoptarg = nullptr; - while ((ch = px4_getopt(argc, argv, "vsdcmgp:b:", &myoptind, &myoptarg)) != EOF) { + while ((ch = px4_getopt(argc, argv, "odmghfp:b:", &myoptind, &myoptarg)) != EOF) { switch (ch) { - case 's': - _use_software_mav_throttling = true; - break; - case 'd': - debug = true; + _debug = true; break; case 'p': @@ -310,7 +357,19 @@ void task_main(int argc, char *argv[]) break; case 'g': - _send_gps = true; + position_source_data[(int) position_source::GPS].send = true; + break; + + case 'o': + position_source_data[(int) position_source::VIO].send = true; + break; + + case 'h': + _send_distance = true; + break; + + case 'f': + position_source_data[(int) position_source::FLOW].send = true; break; default: @@ -319,11 +378,13 @@ void task_main(int argc, char *argv[]) } const char *charport = port.c_str(); - int openRetval = openPort(charport, (speed_t) baudrate); - int open = isOpen(); + (void) openPort(charport, (speed_t) baudrate); - if (open) { - PX4_ERR("Port is open: %d", openRetval); + if ((_debug) && (isOpen())) { PX4_INFO("DSP HITL serial port initialized. Baudrate: %d", baudrate); } + + if (! isOpen()) { + PX4_ERR("DSP HITL failed to open serial port"); + return; } uint64_t last_heartbeat_timestamp = hrt_absolute_time(); @@ -342,14 +403,11 @@ void task_main(int argc, char *argv[]) pthread_attr_destroy(&sender_thread_attr); int _vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status)); - PX4_INFO("Got %d from orb_subscribe", _vehicle_status_sub); _is_running = true; while (!_task_should_exit) { - uint8_t rx_buf[1024]; - //rx_buf[511] = '\0'; uint64_t timestamp = hrt_absolute_time(); @@ -357,8 +415,8 @@ void task_main(int argc, char *argv[]) if (got_first_sensor_msg) { uint64_t delta_time = timestamp - last_imu_update_timestamp; - if (delta_time > 15000) { - PX4_ERR("Sending updates at %llu, delta %llu", timestamp, delta_time); + if ((imu_counter) && (delta_time > 15000)) { + PX4_WARN("Sending updates at %llu, delta %llu", timestamp, delta_time); } uint64_t _px4_gyro_accel_timestamp = hrt_absolute_time(); @@ -396,7 +454,7 @@ void task_main(int argc, char *argv[]) hb_newBufLen = mavlink_msg_to_send_buffer(hb_newBuf, &hb_message); (void) writeResponse(&hb_newBuf, hb_newBufLen); last_heartbeat_timestamp = timestamp; - heartbeat_counter++; + heartbeat_sent_counter++; } bool vehicle_updated = false; @@ -416,7 +474,7 @@ void task_main(int argc, char *argv[]) _is_running = false; } -void send_esc_telemetry_dsp(mavlink_hil_actuator_controls_t hil_act_control) +void send_esc_status(mavlink_hil_actuator_controls_t hil_act_control) { esc_status_s esc_status{}; esc_status.timestamp = hrt_absolute_time(); @@ -448,17 +506,13 @@ void send_esc_telemetry_dsp(mavlink_hil_actuator_controls_t hil_act_control) _esc_status_pub.publish(esc_status); } - void handle_message_command_long_dsp(mavlink_message_t *msg) { - /* command */ mavlink_command_long_t cmd_mavlink; mavlink_msg_command_long_decode(msg, &cmd_mavlink); - if (debug) { - PX4_INFO("Value of command_long.command: %d", cmd_mavlink.command); - } + if (_debug) { PX4_INFO("Value of command_long.command: %d", cmd_mavlink.command); } mavlink_command_ack_t ack = {}; ack.result = MAV_RESULT_UNSUPPORTED; @@ -470,46 +524,140 @@ handle_message_command_long_dsp(mavlink_message_t *msg) uint16_t acknewBufLen = 0; acknewBufLen = mavlink_msg_to_send_buffer(acknewBuf, &ack_message); int writeRetval = writeResponse(&acknewBuf, acknewBufLen); - PX4_INFO("Succesful write of ACK back over UART: %d at %llu", writeRetval, hrt_absolute_time()); + + if (_debug) { PX4_INFO("Succesful write of ACK back over UART: %d at %llu", writeRetval, hrt_absolute_time()); } } +int flow_debug_counter = 0; + void -handle_message_vision_position_estimate_dsp(mavlink_message_t *msg) +handle_message_hil_optical_flow(mavlink_message_t *msg) { - mavlink_vision_position_estimate_t vpe; - mavlink_msg_vision_position_estimate_decode(msg, &vpe); + mavlink_hil_optical_flow_t flow; + mavlink_msg_hil_optical_flow_decode(msg, &flow); - // fill vehicle_odometry from Mavlink VISION_POSITION_ESTIMATE - vehicle_odometry_s odom{}; - uint64_t timestamp = hrt_absolute_time(); - odom.timestamp_sample = timestamp; + if ((_debug) && (!(flow_debug_counter % 10))) { + PX4_INFO("optflow: time: %llu, quality %d", flow.time_usec, (int) flow.quality); + PX4_INFO("optflow: x: %.2f y: %.2f", (double) flow.integrated_x, (double) flow.integrated_y); + } + + flow_debug_counter++; - odom.pose_frame = vehicle_odometry_s::POSE_FRAME_NED; - odom.position[0] = vpe.x; - odom.position[1] = vpe.y; - odom.position[2] = vpe.z; + device::Device::DeviceId device_id; + device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; + device_id.devid_s.bus = 1; + device_id.devid_s.address = msg->sysid; + device_id.devid_s.devtype = DRV_FLOW_DEVTYPE_SIM; - const matrix::Quatf q(matrix::Eulerf(vpe.roll, vpe.pitch, vpe.yaw)); - q.copyTo(odom.q); + sensor_optical_flow_s sensor_optical_flow{}; - // VISION_POSITION_ESTIMATE covariance - // Row-major representation of pose 6x6 cross-covariance matrix upper right triangle - // (states: x, y, z, roll, pitch, yaw; first six entries are the first ROW, next five entries are the second ROW, etc.). - // If unknown, assign NaN value to first element in the array. - odom.position_variance[0] = vpe.covariance[0]; // X row 0, col 0 - odom.position_variance[1] = vpe.covariance[6]; // Y row 1, col 1 - odom.position_variance[2] = vpe.covariance[11]; // Z row 2, col 2 + sensor_optical_flow.timestamp_sample = hrt_absolute_time(); + sensor_optical_flow.device_id = device_id.devid; - odom.orientation_variance[0] = vpe.covariance[15]; // R row 3, col 3 - odom.orientation_variance[1] = vpe.covariance[18]; // P row 4, col 4 - odom.orientation_variance[2] = vpe.covariance[20]; // Y row 5, col 5 + sensor_optical_flow.pixel_flow[0] = flow.integrated_x; + sensor_optical_flow.pixel_flow[1] = flow.integrated_y; - odom.reset_counter = vpe.reset_counter; + sensor_optical_flow.integration_timespan_us = flow.integration_time_us; + sensor_optical_flow.quality = flow.quality; - odom.timestamp = hrt_absolute_time(); + int index = (int) position_source::FLOW; - _visual_odometry_pub.publish(odom); - vision_msg_counter++; + if (position_source_data[index].fail) { + uint32_t duration = position_source_data[index].failure_duration; + hrt_abstime start = position_source_data[index].failure_duration_start; + + if (duration) { + if (hrt_elapsed_time(&start) > (duration * 1000000)) { + PX4_INFO("Optical flow failure ending"); + position_source_data[index].fail = false; + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + sensor_optical_flow.quality = 0; + } + + } else { + sensor_optical_flow.quality = 0; + } + } + + const matrix::Vector3f integrated_gyro(flow.integrated_xgyro, flow.integrated_ygyro, flow.integrated_zgyro); + + if (integrated_gyro.isAllFinite()) { + integrated_gyro.copyTo(sensor_optical_flow.delta_angle); + sensor_optical_flow.delta_angle_available = true; + } + + sensor_optical_flow.max_flow_rate = NAN; + sensor_optical_flow.min_ground_distance = NAN; + sensor_optical_flow.max_ground_distance = NAN; + + // Use distance value for distance sensor topic + // if (PX4_ISFINITE(flow.distance) && (flow.distance >= 0.f)) { + // // Positive value (including zero): distance known. Negative value: Unknown distance. + // sensor_optical_flow.distance_m = flow.distance; + // sensor_optical_flow.distance_available = true; + // } + + // Emulate voxl-flow-server where distance comes in a separate + // distance sensor topic message + sensor_optical_flow.distance_m = 0.0f; + sensor_optical_flow.distance_available = false; + + sensor_optical_flow.timestamp = hrt_absolute_time(); + + _sensor_optical_flow_pub.publish(sensor_optical_flow); + + flow_sent_counter++; +} + +int distance_debug_counter = 0; + +void handle_message_distance_sensor(mavlink_message_t *msg) +{ + mavlink_distance_sensor_t dist_sensor; + mavlink_msg_distance_sensor_decode(msg, &dist_sensor); + + if ((_debug) && (!(distance_debug_counter % 10))) { + PX4_INFO("distance: time: %u, quality: %u, height: %u", + dist_sensor.time_boot_ms, dist_sensor.signal_quality, + dist_sensor.current_distance); + } + + distance_debug_counter++; + + distance_sensor_s ds{}; + + device::Device::DeviceId device_id; + device_id.devid_s.bus_type = device::Device::DeviceBusType::DeviceBusType_MAVLINK; + device_id.devid_s.bus = 1; + device_id.devid_s.address = msg->sysid; + device_id.devid_s.devtype = DRV_DIST_DEVTYPE_MAVLINK; + + ds.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */ + ds.min_distance = static_cast(dist_sensor.min_distance) * 1e-2f; /* cm to m */ + ds.max_distance = static_cast(dist_sensor.max_distance) * 1e-2f; /* cm to m */ + ds.current_distance = static_cast(dist_sensor.current_distance) * 1e-2f; /* cm to m */ + ds.variance = dist_sensor.covariance * 1e-4f; /* cm^2 to m^2 */ + ds.h_fov = dist_sensor.horizontal_fov; + ds.v_fov = dist_sensor.vertical_fov; + ds.q[0] = dist_sensor.quaternion[0]; + ds.q[1] = dist_sensor.quaternion[1]; + ds.q[2] = dist_sensor.quaternion[2]; + ds.q[3] = dist_sensor.quaternion[3]; + ds.type = dist_sensor.type; + ds.device_id = device_id.devid; + ds.orientation = dist_sensor.orientation; + + // MAVLink DISTANCE_SENSOR signal_quality value of 0 means unset/unknown + // quality value. Also it comes normalised between 1 and 100 while the uORB + // signal quality is normalised between 0 and 100. + ds.signal_quality = dist_sensor.signal_quality == 0 ? -1 : 100 * (dist_sensor.signal_quality - 1) / 99; + + _distance_sensor_pub.publish(ds); + + distance_sent_counter++; } void @@ -518,6 +666,8 @@ handle_message_odometry_dsp(mavlink_message_t *msg) mavlink_odometry_t odom_in; mavlink_msg_odometry_decode(msg, &odom_in); + odometry_sent_counter++; + // fill vehicle_odometry from Mavlink ODOMETRY vehicle_odometry_s odom{}; uint64_t timestamp = hrt_absolute_time(); @@ -699,6 +849,28 @@ handle_message_odometry_dsp(mavlink_message_t *msg) odom.reset_counter = odom_in.reset_counter; odom.quality = odom_in.quality; + int index = (int) position_source::VIO; + + if (position_source_data[index].fail) { + uint32_t duration = position_source_data[index].failure_duration; + hrt_abstime start = position_source_data[index].failure_duration_start; + + if (duration) { + if (hrt_elapsed_time(&start) > (duration * 1000000)) { + PX4_INFO("VIO failure ending"); + position_source_data[index].fail = false; + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + odom.quality = 0; + } + + } else { + odom.quality = 0; + } + } + switch (odom_in.estimator_type) { case MAV_ESTIMATOR_TYPE_UNKNOWN: // accept MAV_ESTIMATOR_TYPE_UNKNOWN for legacy support case MAV_ESTIMATOR_TYPE_NAIVE: @@ -745,10 +917,6 @@ void actuator_controls_from_outputs_dsp(mavlink_hil_actuator_controls_t *msg) msg->mode = mode_flag_custom; msg->mode |= (armed) ? mode_flag_armed : 0; msg->flags = 0; - -#if defined(ENABLE_LOCKSTEP_SCHEDULER) - msg->flags |= 1; -#endif } int openPort(const char *dev, speed_t speed) @@ -759,7 +927,8 @@ int openPort(const char *dev, speed_t speed) } _uart_fd = qurt_uart_open(dev, speed); - PX4_DEBUG("qurt_uart_opened"); + + if (_debug) { PX4_INFO("qurt_uart_opened"); } if (_uart_fd < 0) { PX4_ERR("Error opening port: %s (%i)", dev, errno); @@ -840,25 +1009,50 @@ int stop() void usage() { - PX4_INFO("Usage: dsp_hitl {start|info|status|stop}"); + PX4_INFO("Usage: dsp_hitl {start|status|clear|failure|stop}"); + PX4_INFO(" failure "); + PX4_INFO(" source: gps, vio, flow"); + PX4_INFO(" duration: 0 (toggle state), else seconds"); } -int get_status() +void print_status() { PX4_INFO("Running: %s", _is_running ? "yes" : "no"); - PX4_INFO("Status of IMU_Data counter: %i", imu_counter); - PX4_INFO("Value of current accel x, y, z data: %f, %f, %f", double(x_accel), double(y_accel), double(z_accel)); - PX4_INFO("Value of current gyro x, y, z data: %f, %f, %f", double(x_gyro), double(y_gyro), double(z_gyro)); - PX4_INFO("Value of HIL_Sensor counter: %i", hil_sensor_counter); - PX4_INFO("Value of Heartbeat counter: %i", heartbeat_counter); - PX4_INFO("Value of Vision data counter: %i", vision_msg_counter); - PX4_INFO("Value of GPS Data counter: %i", gps_counter); - return 0; + PX4_INFO("HIL Sensor received: %i", hil_sensor_counter); + PX4_INFO("IMU updates: %i", imu_counter); + PX4_INFO("\tCurrent accel x, y, z: %f, %f, %f", double(x_accel), double(y_accel), double(z_accel)); + PX4_INFO("\tCurrent gyro x, y, z: %f, %f, %f", double(x_gyro), double(y_gyro), double(z_gyro)); + PX4_INFO("Magnetometer sent: %i", mag_counter); + PX4_INFO("Barometer sent: %i", baro_counter); + PX4_INFO("Heartbeat received: %i, sent: %i", heartbeat_received_counter, heartbeat_sent_counter); + PX4_INFO("Odometry received: %i, sent: %i", odometry_received_counter, odometry_sent_counter); + PX4_INFO("GPS received: %i, sent: %i", gps_received_counter, gps_sent_counter); + PX4_INFO("Distance sensor received: %i, sent: %i", distance_received_counter, distance_sent_counter); + PX4_INFO("Optical flow received: %i, sent: %i", flow_received_counter, flow_sent_counter); + PX4_INFO("Actuator updates sent: %i", actuator_sent_counter); + PX4_INFO("Unknown messages received: %i", unknown_msg_received_counter); } -uint64_t first_sensor_msg_timestamp = 0; -uint64_t first_sensor_report_timestamp = 0; -uint64_t last_sensor_report_timestamp = 0; +void +clear_status_counters() +{ + heartbeat_received_counter = 0; + heartbeat_sent_counter = 0; + imu_counter = 0; + hil_sensor_counter = 0; + mag_counter = 0; + baro_counter = 0; + actuator_sent_counter = 0; + odometry_received_counter = 0; + odometry_sent_counter = 0; + gps_received_counter = 0; + gps_sent_counter = 0; + distance_received_counter = 0; + distance_sent_counter = 0; + flow_received_counter = 0; + flow_sent_counter = 0; + unknown_msg_received_counter = 0; +} void handle_message_hil_sensor_dsp(mavlink_message_t *msg) @@ -928,6 +1122,8 @@ handle_message_hil_sensor_dsp(mavlink_message_t *msg) } _px4_mag->update(gyro_accel_time, hil_sensor.xmag, hil_sensor.ymag, hil_sensor.zmag); + + mag_counter++; } } @@ -942,17 +1138,8 @@ handle_message_hil_sensor_dsp(mavlink_message_t *msg) sensor_baro.error_count = 0; sensor_baro.timestamp = hrt_absolute_time(); _sensor_baro_pub.publish(sensor_baro); - } - // differential pressure - if ((hil_sensor.fields_updated & SensorSource::DIFF_PRESS) == SensorSource::DIFF_PRESS) { - differential_pressure_s report{}; - report.timestamp_sample = gyro_accel_time; - report.device_id = 1377548; // 1377548: DRV_DIFF_PRESS_DEVTYPE_SIM, BUS: 1, ADDR: 5, TYPE: SIMULATION - report.temperature = hil_sensor.temperature; - report.differential_pressure_pa = hil_sensor.diff_pressure * 100.0f; // hPa to Pa - report.timestamp = hrt_absolute_time(); - _differential_pressure_pub.publish(report); + baro_counter++; } // battery status @@ -970,7 +1157,6 @@ handle_message_hil_sensor_dsp(mavlink_message_t *msg) _battery_pub.publish(hil_battery_status); } - hil_sensor_counter++; } void @@ -989,15 +1175,41 @@ handle_message_hil_gps_dsp(mavlink_message_t *msg) gps.device_id = device_id.devid; - gps.latitude_deg = hil_gps.lat; - gps.longitude_deg = hil_gps.lon; - gps.altitude_msl_m = hil_gps.alt; - gps.altitude_ellipsoid_m = hil_gps.alt; + gps.latitude_deg = hil_gps.lat * 1e-7; + gps.longitude_deg = hil_gps.lon * 1e-7; + gps.altitude_msl_m = hil_gps.alt * 1e-3; + gps.altitude_ellipsoid_m = hil_gps.alt * 1e-3; gps.s_variance_m_s = 0.25f; gps.c_variance_rad = 0.5f; + + gps.satellites_used = hil_gps.satellites_visible; gps.fix_type = hil_gps.fix_type; + int index = (int) position_source::GPS; + + if (position_source_data[index].fail) { + uint32_t duration = position_source_data[index].failure_duration; + hrt_abstime start = position_source_data[index].failure_duration_start; + + if (duration) { + if (hrt_elapsed_time(&start) > (duration * 1000000)) { + PX4_INFO("GPS failure ending"); + position_source_data[index].fail = false; + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + gps.satellites_used = 1; + gps.fix_type = 0; + } + + } else { + gps.satellites_used = 1; + gps.fix_type = 0; + } + } + gps.eph = (float)hil_gps.eph * 1e-2f; // cm -> m gps.epv = (float)hil_gps.epv * 1e-2f; // cm -> m @@ -1021,7 +1233,6 @@ handle_message_hil_gps_dsp(mavlink_message_t *msg) gps.timestamp_time_relative = 0; gps.time_utc_usec = hil_gps.time_usec; - gps.satellites_used = hil_gps.satellites_visible; gps.heading = NAN; gps.heading_offset = NAN; @@ -1029,10 +1240,51 @@ handle_message_hil_gps_dsp(mavlink_message_t *msg) gps.timestamp = hrt_absolute_time(); _sensor_gps_pub.publish(gps); - gps_counter++; + + gps_sent_counter++; } +int +process_failure(dsp_hitl::position_source src, int duration) +{ + if (src >= position_source::NUM_POSITION_SOURCES) { + return 1; + } + + int index = (int) src; + + if (position_source_data[index].send) { + if (duration <= 0) { + // Toggle state + if (position_source_data[index].fail) { + PX4_INFO("Ending indefinite %s failure", position_source_data[index].label); + position_source_data[index].fail = false; + + } else { + PX4_INFO("Starting indefinite %s failure", position_source_data[index].label); + position_source_data[index].fail = true; + } + + position_source_data[index].failure_duration = 0; + position_source_data[index].failure_duration_start = 0; + + } else { + PX4_INFO("%s failure for %d seconds", position_source_data[index].label, duration); + position_source_data[index].fail = true; + position_source_data[index].failure_duration = duration; + position_source_data[index].failure_duration_start = hrt_absolute_time(); + } + + } else { + PX4_ERR("%s not active, cannot create failure", position_source_data[index].label); + return 1; + } + + return 0; } + +} // End dsp_hitl namespace + int dsp_hitl_main(int argc, char *argv[]) { int myoptind = 1; @@ -1044,20 +1296,47 @@ int dsp_hitl_main(int argc, char *argv[]) const char *verb = argv[myoptind]; - if (!strcmp(verb, "start")) { return dsp_hitl::start(argc - 1, argv + 1); - } - else if (!strcmp(verb, "stop")) { + } else if (!strcmp(verb, "stop")) { return dsp_hitl::stop(); - } - else if (!strcmp(verb, "status")) { - return dsp_hitl::get_status(); - } + } else if (!strcmp(verb, "status")) { + dsp_hitl::print_status(); + return 0; + + } else if (!strcmp(verb, "clear")) { + dsp_hitl::clear_status_counters(); + return 0; + + } else if (!strcmp(verb, "failure")) { + if (argc != 4) { + dsp_hitl::usage(); + return 1; + } + + const char *source = argv[myoptind + 1]; + int duration = atoi(argv[myoptind + 2]); + + if (!strcmp(source, "gps")) { + return dsp_hitl::process_failure(dsp_hitl::position_source::GPS, duration); + + } else if (!strcmp(source, "vio")) { + return dsp_hitl::process_failure(dsp_hitl::position_source::VIO, duration); + + } else if (!strcmp(source, "flow")) { + return dsp_hitl::process_failure(dsp_hitl::position_source::FLOW, duration); + + } else { + PX4_ERR("Unknown failure source %s, duration %d", source, duration); + dsp_hitl::usage(); + return 1; + } + + return 0; - else { + } else { dsp_hitl::usage(); return 1; } diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl-start b/boards/modalai/voxl2/target/voxl-px4-hitl-start index d56f489e29de..eff2059ce71d 100755 --- a/boards/modalai/voxl2/target/voxl-px4-hitl-start +++ b/boards/modalai/voxl2/target/voxl-px4-hitl-start @@ -82,6 +82,8 @@ load_mon start microdds_client start -t udp -h 127.0.0.1 -p 8888 qshell pwm_out_sim start -m hil +# g = gps, m = mag, o = odometry (vio), h = distance sensor, f = optic flow +# qshell dsp_hitl start -g -m -o -h -f qshell dsp_hitl start -g -m # start the onboard fast link to connect to voxl-mavlink-server From 1ad83a80025c6ec719eb5c2ab2025619c7eff497 Mon Sep 17 00:00:00 2001 From: Thomas Stauber <48206725+ThomasRigi@users.noreply.github.com> Date: Tue, 12 Mar 2024 00:49:11 +0100 Subject: [PATCH 054/102] mavlink: OPEN_DRONE_ID_SYSTEM stream publish operator altitude in geodetic frame (#22866) --- src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp b/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp index bcc7e0f1452e..9467df81e955 100644 --- a/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp +++ b/src/modules/mavlink/streams/OPEN_DRONE_ID_SYSTEM.hpp @@ -86,7 +86,8 @@ class MavlinkStreamOpenDroneIdSystem : public MavlinkStream msg.area_floor = -1000; msg.category_eu = MAV_ODID_CATEGORY_EU_UNDECLARED; msg.class_eu = MAV_ODID_CLASS_EU_UNDECLARED; - msg.operator_altitude_geo = home_position.alt; + float wgs84_amsl_offset = vehicle_gps_position.altitude_ellipsoid_m - vehicle_gps_position.altitude_msl_m; + msg.operator_altitude_geo = home_position.alt + wgs84_amsl_offset; // timestamp: 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019. static uint64_t utc_offset_s = 1'546'300'800; // UTC seconds since 00:00:00 01/01/2019 From 7f370ac6dfd49aaaa4802892fc1de096347fff54 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 30 Jan 2024 11:34:11 +0100 Subject: [PATCH 055/102] Tiltrotor: disable MC yaw fade out during front transition blending Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/tiltrotor.cpp | 7 ++----- 1 file changed, 2 insertions(+), 5 deletions(-) diff --git a/src/modules/vtol_att_control/tiltrotor.cpp b/src/modules/vtol_att_control/tiltrotor.cpp index 6e023da689e3..0956e1003698 100644 --- a/src/modules/vtol_att_control/tiltrotor.cpp +++ b/src/modules/vtol_att_control/tiltrotor.cpp @@ -245,10 +245,8 @@ void Tiltrotor::update_transition_state() if (_param_fw_use_airspd.get() && PX4_ISFINITE(_airspeed_validated->calibrated_airspeed_m_s) && _airspeed_validated->calibrated_airspeed_m_s >= getBlendAirspeed()) { - const float weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) / - (getTransitionAirspeed() - getBlendAirspeed()); - _mc_roll_weight = weight; - _mc_yaw_weight = weight; + _mc_roll_weight = 1.0f - (_airspeed_validated->calibrated_airspeed_m_s - getBlendAirspeed()) / + (getTransitionAirspeed() - getBlendAirspeed()); } // without airspeed do timed weight changes @@ -256,7 +254,6 @@ void Tiltrotor::update_transition_state() _time_since_trans_start > getMinimumFrontTransitionTime()) { _mc_roll_weight = 1.0f - (_time_since_trans_start - getMinimumFrontTransitionTime()) / (getOpenLoopFrontTransitionTime() - getMinimumFrontTransitionTime()); - _mc_yaw_weight = _mc_roll_weight; } // add minimum throttle for front transition From 7fe5ee64fee4428cbac0ae3bbb6edda8710d62bd Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 12 Mar 2024 10:32:00 +0100 Subject: [PATCH 056/102] rtl_direct: fix on_inactive() Signed-off-by: Silvan Fuhrer --- src/modules/navigator/rtl_direct_mission_land.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/navigator/rtl_direct_mission_land.cpp b/src/modules/navigator/rtl_direct_mission_land.cpp index 6935bc35e856..df6674e34ad8 100644 --- a/src/modules/navigator/rtl_direct_mission_land.cpp +++ b/src/modules/navigator/rtl_direct_mission_land.cpp @@ -83,7 +83,7 @@ RtlDirectMissionLand::updateDatamanCache() void RtlDirectMissionLand::on_inactive() { - MissionBase::on_active(); + MissionBase::on_inactive(); updateDatamanCache(); } From 00cc68baa1884b099c687734ed2487fbae7ef511 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 12 Mar 2024 12:56:01 +0100 Subject: [PATCH 057/102] Commander: make low remaining flight time configurable and fix clearing condition (#22863) * Commander: make low remaining flight time configurable and do not clear - add _ACT param to disable/warning/RTL this feature - publish rtl flight time estimate also in RTL, and thus fix re-validation - make failure message clearer, distinguish from battery low * battery check: add hysteresis for declaring battery_low_remaining_time false again --------- Signed-off-by: Silvan Fuhrer Co-authored-by: KonradRudin <98741601+KonradRudin@users.noreply.github.com> --- src/lib/events/enums.json | 4 ++ .../checks/batteryCheck.cpp | 8 ++- src/modules/commander/commander_params.c | 14 +++++ src/modules/commander/failsafe/failsafe.cpp | 36 ++++++++++++- src/modules/commander/failsafe/failsafe.h | 10 +++- src/modules/commander/failsafe/framework.cpp | 5 ++ src/modules/commander/failsafe/framework.h | 1 + src/modules/navigator/rtl.cpp | 51 ++++++++++++------- src/modules/navigator/rtl.h | 6 +++ 9 files changed, 111 insertions(+), 24 deletions(-) diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index fafe8c6e9bd4..1b23bcfab4c5 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -381,6 +381,10 @@ "5": { "name": "emergency_battery_level", "description": "emergency battery level" + }, + "6": { + "name": "low_remaining_flight_time", + "description": "low remaining flight time" } } }, diff --git a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp index 460ed302ed7d..f13977199e7a 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/batteryCheck.cpp @@ -285,12 +285,16 @@ void BatteryChecks::rtlEstimateCheck(const Context &context, Report &reporter, f rtl_time_estimate_s rtl_time_estimate; // Compare estimate of RTL time to estimate of remaining flight time + // add hysterisis: if already in the condition, only get out of it if the remaining flight time is significantly higher again + const float hysteresis_factor = reporter.failsafeFlags().battery_low_remaining_time ? 1.1f : 1.0f; + reporter.failsafeFlags().battery_low_remaining_time = _rtl_time_estimate_sub.copy(&rtl_time_estimate) - && (hrt_absolute_time() - rtl_time_estimate.timestamp) < 2_s + && (hrt_absolute_time() - rtl_time_estimate.timestamp) < 3_s && rtl_time_estimate.valid && context.isArmed() && PX4_ISFINITE(worst_battery_time_s) - && rtl_time_estimate.safe_time_estimate >= worst_battery_time_s; + && rtl_time_estimate.safe_time_estimate * hysteresis_factor >= worst_battery_time_s; + if (reporter.failsafeFlags().battery_low_remaining_time) { /* EVENT diff --git a/src/modules/commander/commander_params.c b/src/modules/commander/commander_params.c index e01b45276d5b..8f2c3d51ced0 100644 --- a/src/modules/commander/commander_params.c +++ b/src/modules/commander/commander_params.c @@ -1030,3 +1030,17 @@ PARAM_DEFINE_INT32(COM_THROW_EN, 0); * @unit m/s */ PARAM_DEFINE_FLOAT(COM_THROW_SPEED, 5); + +/** + * Remaining flight time low failsafe + * + * Action the system takes when the remaining flight time is below + * the estimated time it takes to reach the RTL destination. + * + * @group Commander + * @value 0 None + * @value 1 Warning + * @value 3 Return + * @increment 1 + */ +PARAM_DEFINE_INT32(COM_FLTT_LOW_ACT, 3); diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index 61cbff2beb39..cbdb37ab8e67 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -365,6 +365,36 @@ FailsafeBase::ActionOptions Failsafe::fromHighWindLimitActParam(int param_value) return options; } +FailsafeBase::ActionOptions Failsafe::fromRemainingFlightTimeLowActParam(int param_value) +{ + ActionOptions options{}; + + options.allow_user_takeover = UserTakeoverAllowed::Always; + options.cause = Cause::RemainingFlightTimeLow; + + switch (command_after_remaining_flight_time_low(param_value)) { + case command_after_remaining_flight_time_low::None: + options.action = Action::None; + break; + + case command_after_remaining_flight_time_low::Warning: + options.action = Action::Warn; + break; + + case command_after_remaining_flight_time_low::Return_mode: + options.action = Action::RTL; + options.clear_condition = ClearCondition::OnModeChangeOrDisarm; + break; + + default: + options.action = Action::None; + break; + + } + + return options; +} + void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, const failsafe_flags_s &status_flags) { @@ -444,9 +474,10 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, CHECK_FAILSAFE(status_flags, geofence_breached, fromGfActParam(_param_gf_action.get()).cannotBeDeferred()); - // Battery + // Battery flight time remaining failsafe + CHECK_FAILSAFE(status_flags, battery_low_remaining_time, - ActionOptions(Action::RTL).causedBy(Cause::BatteryLow).clearOn(ClearCondition::OnModeChangeOrDisarm)); + ActionOptions(fromRemainingFlightTimeLowActParam(_param_com_fltt_low_act.get()))); if ((_armed_time != 0) && (time_us < _armed_time + static_cast(_param_com_spoolup_time.get() * 1_s)) @@ -457,6 +488,7 @@ void Failsafe::checkStateAndMode(const hrt_abstime &time_us, const State &state, CHECK_FAILSAFE(status_flags, battery_unhealthy, Action::Warn); } + // Battery low failsafe switch (status_flags.battery_warning) { case battery_status_s::BATTERY_WARNING_LOW: _last_state_battery_warning_low = checkFailsafe(_caller_id_battery_warning_low, _last_state_battery_warning_low, diff --git a/src/modules/commander/failsafe/failsafe.h b/src/modules/commander/failsafe/failsafe.h index 26981eb75499..bb81dd02baeb 100644 --- a/src/modules/commander/failsafe/failsafe.h +++ b/src/modules/commander/failsafe/failsafe.h @@ -141,6 +141,12 @@ class Failsafe : public FailsafeBase Land_mode = 5 }; + enum class command_after_remaining_flight_time_low : int32_t { + None = 0, + Warning = 1, + Return_mode = 3 + }; + static ActionOptions fromNavDllOrRclActParam(int param_value); static ActionOptions fromGfActParam(int param_value); @@ -150,6 +156,7 @@ class Failsafe : public FailsafeBase static ActionOptions fromQuadchuteActParam(int param_value); static Action fromOffboardLossActParam(int param_value, uint8_t &user_intended_mode); static ActionOptions fromHighWindLimitActParam(int param_value); + static ActionOptions fromRemainingFlightTimeLowActParam(int param_value); const int _caller_id_mode_fallback{genCallerId()}; bool _last_state_mode_fallback{false}; @@ -182,7 +189,8 @@ class Failsafe : public FailsafeBase (ParamInt) _param_com_low_bat_act, (ParamInt) _param_com_obl_rc_act, (ParamInt) _param_com_qc_act, - (ParamInt) _param_com_wind_max_act + (ParamInt) _param_com_wind_max_act, + (ParamInt) _param_com_fltt_low_act ); }; diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index 88123548a76d..4c85ee5c7214 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -250,6 +250,11 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send(events::ID("commander_failsafe_enter_crit_low_bat_warn"), {events::Log::Emergency, events::LogInternal::Info}, "Emergency battery level, land immediately"); + } else if (cause == Cause::RemainingFlightTimeLow) { + events::send(events::ID("commander_failsafe_enter_low_flight_time_warn"), + {events::Log::Warning, events::LogInternal::Info}, + "Low remaining flight time, return advised"); + } else { /* EVENT * @description No action is triggered. diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h index 2d7b36ee7a59..07d46cbabfd6 100644 --- a/src/modules/commander/failsafe/framework.h +++ b/src/modules/commander/failsafe/framework.h @@ -83,6 +83,7 @@ class FailsafeBase: public ModuleParams BatteryLow, BatteryCritical, BatteryEmergency, + RemainingFlightTimeLow, Count }; diff --git a/src/modules/navigator/rtl.cpp b/src/modules/navigator/rtl.cpp index a81896cb3866..bfa5d486be45 100644 --- a/src/modules/navigator/rtl.cpp +++ b/src/modules/navigator/rtl.cpp @@ -208,32 +208,37 @@ void RTL::on_inactive() if ((now - _destination_check_time) > 2_s) { _destination_check_time = now; setRtlTypeAndDestination(); + publishRemainingTimeEstimate(); + } - const bool global_position_recently_updated = _global_pos_sub.get().timestamp > 0 - && hrt_elapsed_time(&_global_pos_sub.get().timestamp) < 10_s; +} - rtl_time_estimate_s estimated_time{}; - estimated_time.valid = false; +void RTL::publishRemainingTimeEstimate() +{ + const bool global_position_recently_updated = _global_pos_sub.get().timestamp > 0 + && hrt_elapsed_time(&_global_pos_sub.get().timestamp) < 10_s; - if (_navigator->home_global_position_valid() && global_position_recently_updated) { - switch (_rtl_type) { - case RtlType::RTL_DIRECT: - estimated_time = _rtl_direct.calc_rtl_time_estimate(); - break; + rtl_time_estimate_s estimated_time{}; + estimated_time.valid = false; - case RtlType::RTL_DIRECT_MISSION_LAND: - case RtlType::RTL_MISSION_FAST: - case RtlType::RTL_MISSION_FAST_REVERSE: - estimated_time = _rtl_mission_type_handle->calc_rtl_time_estimate(); - break; + if (_navigator->home_global_position_valid() && global_position_recently_updated) { + switch (_rtl_type) { + case RtlType::RTL_DIRECT: + estimated_time = _rtl_direct.calc_rtl_time_estimate(); + break; - default: - break; - } - } + case RtlType::RTL_DIRECT_MISSION_LAND: + case RtlType::RTL_MISSION_FAST: + case RtlType::RTL_MISSION_FAST_REVERSE: + estimated_time = _rtl_mission_type_handle->calc_rtl_time_estimate(); + break; - _rtl_time_estimate_pub.publish(estimated_time); + default: + break; + } } + + _rtl_time_estimate_pub.publish(estimated_time); } void RTL::on_activation() @@ -287,6 +292,14 @@ void RTL::on_active() default: break; } + + // Keep publishing remaining time estimates every 2 seconds + hrt_abstime now{hrt_absolute_time()}; + + if ((now - _destination_check_time) > 2_s) { + _destination_check_time = now; + publishRemainingTimeEstimate(); + } } void RTL::setRtlTypeAndDestination() diff --git a/src/modules/navigator/rtl.h b/src/modules/navigator/rtl.h index ab61aebe2931..ac6a5a75d774 100644 --- a/src/modules/navigator/rtl.h +++ b/src/modules/navigator/rtl.h @@ -106,6 +106,12 @@ class RTL : public NavigatorMode, public ModuleParams void setRtlTypeAndDestination(); + /** + * @brief Publish the remaining time estimate to go to the RTL landing point. + * + */ + void publishRemainingTimeEstimate(); + /** * @brief Find RTL destination. * From 9f4ae0a85d48c6c5f189d6c2ffe99173d8171a8f Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Tue, 12 Mar 2024 13:27:13 +0100 Subject: [PATCH 058/102] vtol: only publish generic warning through mavlink to safe flash (#22870) Signed-off-by: Silvan Fuhrer --- src/modules/vtol_att_control/vtol_att_control_main.cpp | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp index eccdf783058c..b464793c99ce 100644 --- a/src/modules/vtol_att_control/vtol_att_control_main.cpp +++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp @@ -206,45 +206,41 @@ void VtolAttitudeControl::quadchute(QuadchuteReason reason) { if (!_vtol_vehicle_status.fixed_wing_system_failure) { + // only publish generic warning through mavlink to safe flash + mavlink_log_critical(&_mavlink_log_pub, "Quad-chute triggered\t"); + switch (reason) { case QuadchuteReason::TransitionTimeout: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: transition timeout\t"); events::send(events::ID("vtol_att_ctrl_quadchute_tout"), events::Log::Critical, "Quad-chute triggered due to transition timeout"); break; case QuadchuteReason::ExternalCommand: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: external command\t"); events::send(events::ID("vtol_att_ctrl_quadchute_ext_cmd"), events::Log::Critical, "Quad-chute triggered due to external command"); break; case QuadchuteReason::MinimumAltBreached: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: minimum altitude breached\t"); events::send(events::ID("vtol_att_ctrl_quadchute_min_alt"), events::Log::Critical, "Quad-chute triggered due to minimum altitude breach"); break; case QuadchuteReason::UncommandedDescent: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: Uncommanded descent detected\t"); events::send(events::ID("vtol_att_ctrl_quadchute_alt_loss"), events::Log::Critical, "Quad-chute triggered due to uncommanded descent detection"); break; case QuadchuteReason::TransitionAltitudeLoss: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: loss of altitude during transition\t"); events::send(events::ID("vtol_att_ctrl_quadchute_trans_alt_err"), events::Log::Critical, "Quad-chute triggered due to loss of altitude during transition"); break; case QuadchuteReason::MaximumPitchExceeded: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: maximum pitch exceeded\t"); events::send(events::ID("vtol_att_ctrl_quadchute_max_pitch"), events::Log::Critical, "Quad-chute triggered due to maximum pitch angle exceeded"); break; case QuadchuteReason::MaximumRollExceeded: - mavlink_log_critical(&_mavlink_log_pub, "Quadchute: maximum roll exceeded\t"); events::send(events::ID("vtol_att_ctrl_quadchute_max_roll"), events::Log::Critical, "Quad-chute triggered due to maximum roll angle exceeded"); break; From b115d3cd447fcc09d1efd78e786a7a7b74574254 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 13 Dec 2023 15:49:51 -0500 Subject: [PATCH 059/102] uxrce_dds_client: refactor init to retry indefinitely - move init from UxrceddsClient to init() method so that retry is possible for both serial and UDP init --- .../uxrce_dds_client/uxrce_dds_client.cpp | 159 ++++++++++++------ .../uxrce_dds_client/uxrce_dds_client.h | 28 ++- 2 files changed, 128 insertions(+), 59 deletions(-) diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp index 43a391de1131..afa06f9d5d00 100644 --- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp @@ -49,10 +49,6 @@ #include #include -#if defined(CONFIG_NET) || defined(__PX4_POSIX) -# define UXRCE_DDS_CLIENT_UDP 1 -#endif - #define STREAM_HISTORY 4 #define BUFFER_SIZE (UXR_CONFIG_SERIAL_TRANSPORT_MTU * STREAM_HISTORY) // MTU==512 by default @@ -110,66 +106,115 @@ void on_request( UxrceddsClient::UxrceddsClient(Transport transport, const char *device, int baudrate, const char *agent_ip, const char *port, const char *client_namespace) : ModuleParams(nullptr), + _transport(transport), + _baudrate(baudrate), _client_namespace(client_namespace) { - if (transport == Transport::Serial) { + if (device) { + // store serial port name */ + strncpy(_device, device, sizeof(_device) - 1); + } - int fd = -1; +#if defined(UXRCE_DDS_CLIENT_UDP) - for (int attempt = 0; attempt < 3; attempt++) { - fd = open(device, O_RDWR | O_NOCTTY | O_NONBLOCK); + if (agent_ip) { + strncpy(_agent_ip, agent_ip, sizeof(_agent_ip) - 1); + } - if (fd < 0) { - PX4_ERR("open %s failed (%i)", device, errno); - // sleep before trying again - px4_usleep(1_s); + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + } - } else { - break; - } +#endif // UXRCE_DDS_CLIENT_UDP +} + +bool UxrceddsClient::init() +{ + deinit(); + + if (_transport == Transport::Serial) { + int fd = open(_device, O_RDWR | O_NOCTTY | O_NONBLOCK); + + if (fd < 0) { + PX4_ERR("open %s failed (%i)", _device, errno); + return false; } _transport_serial = new uxrSerialTransport(); - if (fd >= 0 && setBaudrate(fd, baudrate) == 0 && _transport_serial) { - // TODO: - uint8_t remote_addr = 0; // Identifier of the Agent in the connection - uint8_t local_addr = 1; // Identifier of the Client in the serial connection + // TODO: + uint8_t remote_addr = 0; // Identifier of the Agent in the connection + uint8_t local_addr = 1; // Identifier of the Client in the serial connection - if (uxr_init_serial_transport(_transport_serial, fd, remote_addr, local_addr)) { - _comm = &_transport_serial->comm; - _fd = fd; + if (_transport_serial + && setBaudrate(fd, _baudrate) + && uxr_init_serial_transport(_transport_serial, fd, remote_addr, local_addr) + ) { + PX4_INFO("init serial %s @ %d baud", _device, _baudrate); - } else { - PX4_ERR("uxr_init_serial_transport failed"); - } + _comm = &_transport_serial->comm; + _fd = fd; + + return true; } - } else if (transport == Transport::Udp) { + PX4_ERR("init serial %s @ %d baud failed", _device, _baudrate); + close(fd); + + delete _transport_serial; + _transport_serial = nullptr; + + return false; + } #if defined(UXRCE_DDS_CLIENT_UDP) + + if (_transport == Transport::Udp) { _transport_udp = new uxrUDPTransport(); - strncpy(_port, port, PORT_MAX_LENGTH - 1); - strncpy(_agent_ip, agent_ip, AGENT_IP_MAX_LENGTH - 1); - if (_transport_udp) { - if (uxr_init_udp_transport(_transport_udp, UXR_IPv4, _agent_ip, _port)) { - _comm = &_transport_udp->comm; - _fd = _transport_udp->platform.poll_fd.fd; + if (_transport_udp && uxr_init_udp_transport(_transport_udp, UXR_IPv4, _agent_ip, _port)) { - } else { - PX4_ERR("uxr_init_udp_transport failed"); - } + PX4_INFO("init UDP agent IP:%s, port:%s", _agent_ip, _port); + + _comm = &_transport_udp->comm; + _fd = _transport_udp->platform.poll_fd.fd; + + return true; + + } else { + PX4_ERR("init UDP agent IP:%s, port:%s failed", _agent_ip, _port); } + } +#endif // UXRCE_DDS_CLIENT_UDP -#else - PX4_ERR("UDP not supported"); -#endif + return false; +} + +void UxrceddsClient::deinit() +{ + if (_fd >= 0) { + close(_fd); + _fd = -1; + } + + if (_transport_serial) { + uxr_close_serial_transport(_transport_serial); + delete _transport_serial; + _transport_serial = nullptr; + } + +#if defined(UXRCE_DDS_CLIENT_UDP) + + if (_transport_udp) { + uxr_close_udp_transport(_transport_udp); + delete _transport_udp; + _transport_udp = nullptr; } - _participant_config = static_cast(_param_uxrce_dds_ptcfg.get()); - _synchronize_timestamps = _param_uxrce_dds_synct.get() > 0; +#endif // UXRCE_DDS_CLIENT_UDP + + _comm = nullptr; } UxrceddsClient::~UxrceddsClient() @@ -184,10 +229,14 @@ UxrceddsClient::~UxrceddsClient() delete _transport_serial; } +#if defined(UXRCE_DDS_CLIENT_UDP) + if (_transport_udp) { uxr_close_udp_transport(_transport_udp); delete _transport_udp; } + +#endif // UXRCE_DDS_CLIENT_UDP } static void fillMessageFormatResponse(const message_format_request_s &message_format_request, @@ -286,11 +335,6 @@ void UxrceddsClient::syncSystemClock(uxrSession *session) void UxrceddsClient::run() { - if (!_comm) { - PX4_ERR("init failed"); - return; - } - _subs = new SendTopicsSubs(); _pubs = new RcvTopicsPubs(); @@ -300,6 +344,17 @@ void UxrceddsClient::run() } while (!should_exit()) { + + while (!should_exit() && !_comm) { + if (!init()) { + // sleep before trying again + px4_usleep(1'000'000); + } + } + + _participant_config = static_cast(_param_uxrce_dds_ptcfg.get()); + _synchronize_timestamps = (_param_uxrce_dds_synct.get() > 0); + bool got_response = false; while (!should_exit() && !got_response) { @@ -451,7 +506,7 @@ void UxrceddsClient::run() break; } - px4_usleep(10_ms); + px4_usleep(10'000); } hrt_abstime last_sync_session = 0; @@ -567,7 +622,7 @@ void UxrceddsClient::run() } } -int UxrceddsClient::setBaudrate(int fd, unsigned baud) +bool UxrceddsClient::setBaudrate(int fd, unsigned baud) { int speed; @@ -640,7 +695,7 @@ int UxrceddsClient::setBaudrate(int fd, unsigned baud) default: PX4_ERR("ERR: unknown baudrate: %d", baud); - return -EINVAL; + return false; } struct termios uart_config; @@ -688,20 +743,20 @@ int UxrceddsClient::setBaudrate(int fd, unsigned baud) /* set baud rate */ if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { PX4_ERR("ERR: %d (cfsetispeed)", termios_state); - return -1; + return false; } if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { PX4_ERR("ERR: %d (cfsetospeed)", termios_state); - return -1; + return false; } if ((termios_state = tcsetattr(fd, TCSANOW, &uart_config)) < 0) { PX4_ERR("ERR: %d (tcsetattr)", termios_state); - return -1; + return false; } - return 0; + return true; } bool UxrceddsClient::add_replier(SrvBase *replier) diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.h b/src/modules/uxrce_dds_client/uxrce_dds_client.h index b8f38ee76c66..1b8e9c948089 100644 --- a/src/modules/uxrce_dds_client/uxrce_dds_client.h +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.h @@ -44,6 +44,10 @@ #include +#if defined(CONFIG_NET) || defined(__PX4_POSIX) +# define UXRCE_DDS_CLIENT_UDP 1 +#endif + #include "srv_base.h" #define MAX_NUM_REPLIERS 5 @@ -108,7 +112,11 @@ class UxrceddsClient : public ModuleBase, public ModuleParams void delete_repliers(); private: - int setBaudrate(int fd, unsigned baud); + + bool init(); + void deinit(); + + bool setBaudrate(int fd, unsigned baud); void handleMessageFormatRequest(); @@ -118,6 +126,12 @@ class UxrceddsClient : public ModuleBase, public ModuleParams /** Synchronizes the system clock if the time is off by more than 5 seconds */ void syncSystemClock(uxrSession *session); + Transport _transport{}; + + uxrSerialTransport *_transport_serial{nullptr}; + char _device[32] {}; + int _baudrate{}; + const char *_client_namespace; enum class ParticipantConfig { @@ -130,13 +144,15 @@ class UxrceddsClient : public ModuleBase, public ModuleParams // max port characters (5+'\0') static const uint8_t PORT_MAX_LENGTH = 6; + // max agent ip characters (15+'\0') static const uint8_t AGENT_IP_MAX_LENGTH = 16; -#if defined(CONFIG_NET) || defined(__PX4_POSIX) - char _port[PORT_MAX_LENGTH]; - char _agent_ip[AGENT_IP_MAX_LENGTH]; -#endif +#if defined(UXRCE_DDS_CLIENT_UDP) + char _port[PORT_MAX_LENGTH] {}; + char _agent_ip[AGENT_IP_MAX_LENGTH] {}; + uxrUDPTransport *_transport_udp{nullptr}; +#endif // UXRCE_DDS_CLIENT_UDP SendTopicsSubs *_subs{nullptr}; RcvTopicsPubs *_pubs{nullptr}; @@ -144,8 +160,6 @@ class UxrceddsClient : public ModuleBase, public ModuleParams SrvBase *repliers_[MAX_NUM_REPLIERS]; uint8_t num_of_repliers{0}; - uxrSerialTransport *_transport_serial{nullptr}; - uxrUDPTransport *_transport_udp{nullptr}; uxrCommunication *_comm{nullptr}; int _fd{-1}; From a1cce7e961df7f14ab67e7b902c3132242584c20 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Tue, 19 Dec 2023 09:41:19 -0500 Subject: [PATCH 060/102] uxrce_dds_client: optimizations and instrumentation - skip ping session if data flowing bidirectionally - add perf counters for loop time and interval - skip blocking poll if there's input data to read --- .../uxrce_dds_client/uxrce_dds_client.cpp | 163 ++++++++++-------- .../uxrce_dds_client/uxrce_dds_client.h | 11 +- 2 files changed, 104 insertions(+), 70 deletions(-) diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp index afa06f9d5d00..1412414b6300 100644 --- a/src/modules/uxrce_dds_client/uxrce_dds_client.cpp +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.cpp @@ -56,8 +56,8 @@ using namespace time_literals; -void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp, - int64_t originate_timestamp, void *args) +static void on_time(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp, + int64_t originate_timestamp, void *args) { // latest round trip time (RTT) int64_t rtt = current_time - originate_timestamp; @@ -76,21 +76,15 @@ void on_time(uxrSession *session, int64_t current_time, int64_t received_timesta } } -void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t received_timestamp, int64_t transmit_timestamp, - int64_t originate_timestamp, void *args) +static void on_time_no_sync(uxrSession *session, int64_t current_time, int64_t received_timestamp, + int64_t transmit_timestamp, + int64_t originate_timestamp, void *args) { session->time_offset = 0; } - -void on_request( - uxrSession *session, - uxrObjectId object_id, - uint16_t request_id, - SampleIdentity *sample_id, - ucdrBuffer *ub, - uint16_t length, - void *args) +static void on_request(uxrSession *session, uxrObjectId object_id, uint16_t request_id, SampleIdentity *sample_id, + ucdrBuffer *ub, uint16_t length, void *args) { (void) request_id; (void) length; @@ -229,6 +223,9 @@ UxrceddsClient::~UxrceddsClient() delete _transport_serial; } + perf_free(_loop_perf); + perf_free(_loop_interval_perf); + #if defined(UXRCE_DDS_CLIENT_UDP) if (_transport_udp) { @@ -474,9 +471,9 @@ void UxrceddsClient::run() } // create VehicleCommand replier - if (num_of_repliers < MAX_NUM_REPLIERS) { + if (_num_of_repliers < MAX_NUM_REPLIERS) { if (add_replier(new VehicleCommandSrv(&session, reliable_out, reliable_in, participant_id, _client_namespace, - num_of_repliers))) { + _num_of_repliers))) { PX4_ERR("replier init failed"); return; } @@ -522,45 +519,48 @@ void UxrceddsClient::run() while (!should_exit() && _connected) { - /* Wait for topic updates for max 1000 ms (1sec) */ - int poll = px4_poll(&_subs->fds[0], (sizeof(_subs->fds) / sizeof(_subs->fds[0])), 1000); + perf_begin(_loop_perf); + perf_count(_loop_interval_perf); - /* Handle the poll results */ - if (poll == 0) { - /* Timeout, no updates in selected uorbs */ - continue; - - } else if (poll < 0) { - /* Error */ - if (poll_error_counter < 10 || poll_error_counter % 50 == 0) { - /* Prevent flooding */ - PX4_ERR("ERROR while polling uorbs: %d", poll); - } + int orb_poll_timeout_ms = 10; - poll_error_counter++; - continue; + int bytes_available = 0; + + if (ioctl(_fd, FIONREAD, (unsigned long)&bytes_available) == OK) { + if (bytes_available > 10) { + orb_poll_timeout_ms = 0; + } } - _subs->update(&session, reliable_out, best_effort_out, participant_id, _client_namespace); + /* Wait for topic updates for max 10 ms */ + int poll = px4_poll(_subs->fds, (sizeof(_subs->fds) / sizeof(_subs->fds[0])), orb_poll_timeout_ms); - // check if there are available replies - process_replies(); + /* Handle the poll results */ + if (poll > 0) { + _subs->update(&session, reliable_out, best_effort_out, participant_id, _client_namespace); - // Run the session until we receive no more data or up to a maximum number of iterations. - // The maximum observed number of iterations was 6 (SITL). If we were to run only once, data starts to get - // delayed, causing registered flight modes to time out. - for (int i = 0; i < 10; ++i) { - const uint32_t prev_num_payload_received = _pubs->num_payload_received; - uxr_run_session_timeout(&session, 0); + } else { + if (poll < 0) { + // poll error + if (poll_error_counter < 10 || poll_error_counter % 50 == 0) { + // prevent flooding + PX4_ERR("ERROR while polling uorbs: %d", poll); + } - if (_pubs->num_payload_received == prev_num_payload_received) { - break; + poll_error_counter++; } } + // run session with 0 timeout (non-blocking) + uxr_run_session_timeout(&session, 0); + + // check if there are available replies + process_replies(); + // time sync session if (_synchronize_timestamps && hrt_elapsed_time(&last_sync_session) > 1_s) { - if (uxr_sync_session(&session, 100) && _timesync.sync_converged()) { + + if (uxr_sync_session(&session, 10) && _timesync.sync_converged()) { //PX4_INFO("synchronized with time offset %-5" PRId64 "ns", session.time_offset); last_sync_session = hrt_absolute_time(); @@ -568,6 +568,15 @@ void UxrceddsClient::run() syncSystemClock(&session); } } + + if (!_timesync_converged && _timesync.sync_converged()) { + PX4_INFO("time sync converged"); + + } else if (_timesync_converged && !_timesync.sync_converged()) { + PX4_WARN("time sync no longer converged"); + } + + _timesync_converged = _timesync.sync_converged(); } handleMessageFormatRequest(); @@ -589,27 +598,38 @@ void UxrceddsClient::run() last_status_update = now; } - // Handle ping - if (now - last_ping > 500_ms) { + // Handle ping, unless we're actively sending & receiving payloads successfully + if ((_last_payload_tx_rate > 0) && (_last_payload_rx_rate > 0)) { + _connected = true; + num_pings_missed = 0; last_ping = now; - if (had_ping_reply) { - num_pings_missed = 0; + } else { + if (hrt_elapsed_time(&last_ping) > 1_s) { + last_ping = now; + + if (had_ping_reply) { + num_pings_missed = 0; - } else { - ++num_pings_missed; - } + } else { + ++num_pings_missed; + } - uxr_ping_agent_session(&session, 0, 1); + int timeout_ms = 1'000; // 1 second + uint8_t attempts = 1; + uxr_ping_agent_session(&session, timeout_ms, attempts); - had_ping_reply = false; - } + had_ping_reply = false; + } - if (num_pings_missed > 2) { - PX4_INFO("No ping response, disconnecting"); - _connected = false; + if (num_pings_missed >= 3) { + PX4_INFO("No ping response, disconnecting"); + _connected = false; + } } + perf_end(_loop_perf); + } delete_repliers(); @@ -761,10 +781,10 @@ bool UxrceddsClient::setBaudrate(int fd, unsigned baud) bool UxrceddsClient::add_replier(SrvBase *replier) { - if (num_of_repliers < MAX_NUM_REPLIERS) { - repliers_[num_of_repliers] = replier; + if (_num_of_repliers < MAX_NUM_REPLIERS) { + _repliers[_num_of_repliers] = replier; - num_of_repliers++; + _num_of_repliers++; } return false; @@ -773,11 +793,12 @@ bool UxrceddsClient::add_replier(SrvBase *replier) void UxrceddsClient::process_requests(uxrObjectId object_id, SampleIdentity *sample_id, ucdrBuffer *ub, const int64_t time_offset_us) { - for (uint8_t i = 0; i < num_of_repliers; i++) { - if (object_id.id == repliers_[i]->replier_id_.id - && object_id.type == repliers_[i]->replier_id_.type) { - repliers_[i]->process_request(ub, time_offset_us); - memcpy(&(repliers_[i]->sample_id_), sample_id, sizeof(repliers_[i]->sample_id_)); + for (uint8_t i = 0; i < _num_of_repliers; i++) { + if (object_id.id == _repliers[i]->replier_id_.id + && object_id.type == _repliers[i]->replier_id_.type) { + + _repliers[i]->process_request(ub, time_offset_us); + memcpy(&(_repliers[i]->sample_id_), sample_id, sizeof(_repliers[i]->sample_id_)); break; } } @@ -785,18 +806,19 @@ void UxrceddsClient::process_requests(uxrObjectId object_id, SampleIdentity *sam void UxrceddsClient::process_replies() { - for (uint8_t i = 0; i < num_of_repliers; i++) { - repliers_[i]->process_reply(); + for (uint8_t i = 0; i < _num_of_repliers; i++) { + _repliers[i]->process_reply(); } } void UxrceddsClient::delete_repliers() { - for (uint8_t i = 0; i < num_of_repliers; i++) { - delete (repliers_[i]); + for (uint8_t i = 0; i < _num_of_repliers; i++) { + delete (_repliers[i]); + _repliers[i] = nullptr; } - num_of_repliers = 0; + _num_of_repliers = 0; } int UxrceddsClient::custom_command(int argc, char *argv[]) @@ -845,6 +867,11 @@ int UxrceddsClient::print_status() PX4_INFO("Payload rx: %i B/s", _last_payload_rx_rate); } + PX4_INFO("timesync converged: %s", _timesync.sync_converged() ? "true" : "false"); + + perf_print_counter(_loop_perf); + perf_print_counter(_loop_interval_perf); + return 0; } diff --git a/src/modules/uxrce_dds_client/uxrce_dds_client.h b/src/modules/uxrce_dds_client/uxrce_dds_client.h index 1b8e9c948089..a0c563b27963 100644 --- a/src/modules/uxrce_dds_client/uxrce_dds_client.h +++ b/src/modules/uxrce_dds_client/uxrce_dds_client.h @@ -44,6 +44,8 @@ #include +#include + #if defined(CONFIG_NET) || defined(__PX4_POSIX) # define UXRCE_DDS_CLIENT_UDP 1 #endif @@ -157,8 +159,8 @@ class UxrceddsClient : public ModuleBase, public ModuleParams SendTopicsSubs *_subs{nullptr}; RcvTopicsPubs *_pubs{nullptr}; - SrvBase *repliers_[MAX_NUM_REPLIERS]; - uint8_t num_of_repliers{0}; + SrvBase *_repliers[MAX_NUM_REPLIERS]; + uint8_t _num_of_repliers{0}; uxrCommunication *_comm{nullptr}; int _fd{-1}; @@ -167,8 +169,13 @@ class UxrceddsClient : public ModuleBase, public ModuleParams int _last_payload_rx_rate{}; ///< in B/s bool _connected{false}; + bool _timesync_converged{false}; + Timesync _timesync{timesync_status_s::SOURCE_PROTOCOL_DDS}; + perf_counter_t _loop_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")}; + perf_counter_t _loop_interval_perf{perf_alloc(PC_INTERVAL, MODULE_NAME": cycle interval")}; + DEFINE_PARAMETERS( (ParamInt) _param_uxrce_dds_dom_id, (ParamInt) _param_uxrce_key, From 23c5c0b12df54f7e428ff642a06925f7da87928d Mon Sep 17 00:00:00 2001 From: Niklas Hauser Date: Thu, 7 Mar 2024 10:33:36 +0100 Subject: [PATCH 061/102] dataman: Add client sync perf counter and increase default timeout to 5s --- src/lib/dataman_client/DatamanClient.cpp | 7 +++++++ src/lib/dataman_client/DatamanClient.hpp | 10 ++++++---- 2 files changed, 13 insertions(+), 4 deletions(-) diff --git a/src/lib/dataman_client/DatamanClient.cpp b/src/lib/dataman_client/DatamanClient.cpp index a6b37defa931..c2c0ec995fcd 100644 --- a/src/lib/dataman_client/DatamanClient.cpp +++ b/src/lib/dataman_client/DatamanClient.cpp @@ -39,6 +39,8 @@ DatamanClient::DatamanClient() { + _sync_perf = perf_alloc(PC_ELAPSED, "DatamanClient: sync"); + _dataman_request_pub.advertise(); _dataman_response_sub = orb_subscribe(ORB_ID(dataman_response)); @@ -74,6 +76,8 @@ DatamanClient::DatamanClient() DatamanClient::~DatamanClient() { + perf_free(_sync_perf); + if (_dataman_response_sub >= 0) { orb_unsubscribe(_dataman_response_sub); } @@ -85,6 +89,7 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon bool response_received = false; int32_t ret = 0; hrt_abstime time_elapsed = hrt_elapsed_time(&start_time); + perf_begin(_sync_perf); _dataman_request_pub.publish(request); while (!response_received && (time_elapsed < timeout)) { @@ -132,6 +137,8 @@ bool DatamanClient::syncHandler(const dataman_request_s &request, dataman_respon time_elapsed = hrt_elapsed_time(&start_time); } + perf_end(_sync_perf); + if (!response_received && ret >= 0) { PX4_ERR("timeout after %" PRIu32 " ms!", static_cast(timeout / 1000)); } diff --git a/src/lib/dataman_client/DatamanClient.hpp b/src/lib/dataman_client/DatamanClient.hpp index 636b41d142af..9d1b71fd2cc4 100644 --- a/src/lib/dataman_client/DatamanClient.hpp +++ b/src/lib/dataman_client/DatamanClient.hpp @@ -62,7 +62,7 @@ class DatamanClient * * @return true if data was read successfully within the timeout, false otherwise. */ - bool readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms); + bool readSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms); /** * @brief Write data to the dataman synchronously. @@ -75,7 +75,7 @@ class DatamanClient * * @return True if the write operation succeeded, false otherwise. */ - bool writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms); + bool writeSync(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms); /** * @brief Clears the data in the specified dataman item. @@ -85,7 +85,7 @@ class DatamanClient * * @return True if the operation was successful, false otherwise. */ - bool clearSync(dm_item_t item, hrt_abstime timeout = 1000_ms); + bool clearSync(dm_item_t item, hrt_abstime timeout = 5000_ms); /** * @brief Initiates an asynchronous request to read the data from dataman for a specific item and index. @@ -185,6 +185,8 @@ class DatamanClient uint8_t _client_id{0}; + perf_counter_t _sync_perf{nullptr}; + static constexpr uint8_t CLIENT_ID_NOT_SET{0}; }; @@ -246,7 +248,7 @@ class DatamanCache * * @return True if the write operation succeeded, false otherwise. */ - bool writeWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 1000_ms); + bool writeWait(dm_item_t item, uint32_t index, uint8_t *buffer, uint32_t length, hrt_abstime timeout = 5000_ms); /** * @brief Updates the dataman cache by checking for responses from the DatamanClient and processing them. From ad50afda1062b2e32de309c0e44f8389c009835c Mon Sep 17 00:00:00 2001 From: Alexander Lampalzer Date: Wed, 13 Mar 2024 09:34:47 +0100 Subject: [PATCH 062/102] update msg_files to PARENT_SCOPE (#22800) --- msg/CMakeLists.txt | 3 +++ 1 file changed, 3 insertions(+) diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 0f31ffca2a63..3b1e2647e3c5 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -289,6 +289,9 @@ foreach(msg_file ${msg_files}) list(APPEND uorb_json_files ${msg_source_out_path}/${msg}.json) endforeach() +# set parent scope msg_files for ROS +set(msg_files ${msg_files} PARENT_SCOPE) + # Generate uORB headers add_custom_command( OUTPUT From ae947513d7b3f53a04a3ac990825d4b47493b865 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Wed, 13 Mar 2024 18:33:58 -0700 Subject: [PATCH 063/102] add load_mon support for Qurt platform (#22883) - Added check in commander to see if CPU load monitoring has been disabled before signalling overload --- boards/modalai/voxl2/default.px4board | 1 - boards/modalai/voxl2/target/voxl-px4-hitl-start | 1 - boards/modalai/voxl2/target/voxl-px4-start | 1 - src/modules/commander/Commander.cpp | 9 ++++++++- src/modules/load_mon/LoadMon.cpp | 3 +++ 5 files changed, 11 insertions(+), 4 deletions(-) diff --git a/boards/modalai/voxl2/default.px4board b/boards/modalai/voxl2/default.px4board index da04429b9841..8ac31695723f 100644 --- a/boards/modalai/voxl2/default.px4board +++ b/boards/modalai/voxl2/default.px4board @@ -11,7 +11,6 @@ CONFIG_DRIVERS_VOXL2_IO=y CONFIG_MODULES_COMMANDER=y CONFIG_MODULES_CONTROL_ALLOCATOR=y CONFIG_MODULES_DATAMAN=y -CONFIG_MODULES_LOAD_MON=y CONFIG_MODULES_LOGGER=y CONFIG_MODULES_MAVLINK=y CONFIG_MODULES_MUORB_APPS=y diff --git a/boards/modalai/voxl2/target/voxl-px4-hitl-start b/boards/modalai/voxl2/target/voxl-px4-hitl-start index eff2059ce71d..45ef0b2ddf53 100755 --- a/boards/modalai/voxl2/target/voxl-px4-hitl-start +++ b/boards/modalai/voxl2/target/voxl-px4-hitl-start @@ -76,7 +76,6 @@ qshell flight_mode_manager start # Start all of the processing modules on the applications processor dataman start navigator start -load_mon start # Start microdds_client for ros2 offboard messages from agent over localhost microdds_client start -t udp -h 127.0.0.1 -p 8888 diff --git a/boards/modalai/voxl2/target/voxl-px4-start b/boards/modalai/voxl2/target/voxl-px4-start index e6bfc8b7b4ff..5a9149f225a2 100755 --- a/boards/modalai/voxl2/target/voxl-px4-start +++ b/boards/modalai/voxl2/target/voxl-px4-start @@ -207,7 +207,6 @@ qshell flight_mode_manager start # Start all of the processing modules on the applications processor dataman start navigator start -load_mon start # This bridge allows raw data packets to be sent over UART to the ESC voxl2_io_bridge start diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index f9fa07c257fe..bca8ef3f68d3 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -2419,7 +2419,14 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning) if (_cpuload_sub.copy(&cpuload)) { const float cpuload_percent = cpuload.load * 100.f; - bool overload = (cpuload_percent > _param_com_cpu_max.get()) || (cpuload.ram_usage > 0.99f); + bool overload = false; + + // Only check CPU load if it hasn't been disabled + if (!(_param_com_cpu_max.get() < FLT_EPSILON)) { + overload = (cpuload_percent > _param_com_cpu_max.get()); + } + + overload = overload || (cpuload.ram_usage > 0.99f); if (_overload_start == 0 && overload) { _overload_start = time_now_us; diff --git a/src/modules/load_mon/LoadMon.cpp b/src/modules/load_mon/LoadMon.cpp index 80c54f482694..aa400391dc52 100644 --- a/src/modules/load_mon/LoadMon.cpp +++ b/src/modules/load_mon/LoadMon.cpp @@ -229,6 +229,9 @@ void LoadMon::cpuload() struct mallinfo mem = mallinfo(); cpuload.ram_usage = (float)mem.uordblks / mem.arena; cpuload.load = 1.f - interval_idletime / interval; +#elif defined(__PX4_QURT) + cpuload.ram_usage = 0.0f; + cpuload.load = px4muorb_get_cpu_load() / 100.0f; #endif cpuload.timestamp = hrt_absolute_time(); From 68fcfc43ef89c60dc2b4f62c789ec8412a749cdb Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 14:20:51 +0100 Subject: [PATCH 064/102] mro-zero classic: remove gyro fft module to save flash (#22878) Signed-off-by: Silvan Fuhrer --- boards/mro/ctrl-zero-classic/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/mro/ctrl-zero-classic/default.px4board b/boards/mro/ctrl-zero-classic/default.px4board index c16095b6a096..d07a7c1fc9d4 100644 --- a/boards/mro/ctrl-zero-classic/default.px4board +++ b/boards/mro/ctrl-zero-classic/default.px4board @@ -49,7 +49,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y CONFIG_MODULES_FW_RATE_CONTROL=y CONFIG_MODULES_GIMBAL=y CONFIG_MODULES_GYRO_CALIBRATION=y -CONFIG_MODULES_GYRO_FFT=y CONFIG_MODULES_LAND_DETECTOR=y CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y CONFIG_MODULES_LOAD_MON=y From 6373d8d2435d7187872c22e5ced88b7eb35e2ab1 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 16:30:06 +0100 Subject: [PATCH 065/102] commander: low flight time failsafe: set UserTakeoverAllowed::Auto to enter Hold first (#22887) Signed-off-by: Silvan Fuhrer --- src/modules/commander/failsafe/failsafe.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/failsafe/failsafe.cpp b/src/modules/commander/failsafe/failsafe.cpp index cbdb37ab8e67..9a9b1e7cad2c 100644 --- a/src/modules/commander/failsafe/failsafe.cpp +++ b/src/modules/commander/failsafe/failsafe.cpp @@ -369,7 +369,7 @@ FailsafeBase::ActionOptions Failsafe::fromRemainingFlightTimeLowActParam(int par { ActionOptions options{}; - options.allow_user_takeover = UserTakeoverAllowed::Always; + options.allow_user_takeover = UserTakeoverAllowed::Auto; options.cause = Cause::RemainingFlightTimeLow; switch (command_after_remaining_flight_time_low(param_value)) { From e3f67d5c1a607e8751f7fe7a3e31772e21434b7a Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 12 Mar 2024 17:26:51 +0100 Subject: [PATCH 066/102] ekf2: new yaw derivation Instead of euler angles, compute measurement jacobian using a small global perturbation around the vertical axis --- .../EKF/python/ekf_derivation/derivation.py | 19 ++++++ .../generated/compute_yaw_innov_var_and_h.h | 65 +++++++++++++++++++ src/modules/ekf2/EKF/yaw_fusion.cpp | 10 +-- .../test/test_EKF_yaw_fusion_generated.cpp | 53 ++++++++++----- 4 files changed, 123 insertions(+), 24 deletions(-) create mode 100644 src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py index 7e99388fce91..c67d1f007271 100755 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py +++ b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py @@ -390,6 +390,24 @@ def compute_mag_z_innov_var_and_h( return (innov_var, H.T) +def compute_yaw_innov_var_and_h( + state: VState, + P: MTangent, + R: sf.Scalar +) -> (sf.Scalar, VTangent): + + state = vstate_to_state(state) + q = sf.Quaternion.from_storage(state["quat_nominal"].to_storage()) + r = sf.Quaternion.symbolic('r') + delta_q = q * r.conj() # create a quaternion error of the measurement at the origin + delta_meas_pred = 2 * delta_q.z # Use small angle approximation to obtain a simpler jacobian + + H = sf.V1(delta_meas_pred).jacobian(state) + H = H.subs({r.w: q.w, r.x: q.x, r.y: q.y, r.z: q.z}) # assume innovation is small + innov_var = (H * P * H.T + R)[0,0] + + return (innov_var, H.T) + def compute_yaw_321_innov_var_and_h( state: VState, P: MTangent, @@ -678,6 +696,7 @@ def compute_gravity_z_innov_var_and_h( generate_px4_function(compute_sideslip_innov_and_innov_var, output_names=["innov", "innov_var"]) generate_px4_function(compute_wind_init_and_cov_from_airspeed, output_names=["wind", "P_wind"]) +generate_px4_function(compute_yaw_innov_var_and_h, output_names=["innov_var", "H"]) generate_px4_function(compute_yaw_312_innov_var_and_h, output_names=["innov_var", "H"]) generate_px4_function(compute_yaw_312_innov_var_and_h_alternate, output_names=["innov_var", "H"]) generate_px4_function(compute_yaw_321_innov_var_and_h, output_names=["innov_var", "H"]) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h new file mode 100644 index 000000000000..443fb0b03c5e --- /dev/null +++ b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h @@ -0,0 +1,65 @@ +// ----------------------------------------------------------------------------- +// This file was autogenerated by symforce from template: +// function/FUNCTION.h.jinja +// Do NOT modify by hand. +// ----------------------------------------------------------------------------- + +#pragma once + +#include + +namespace sym { + +/** + * This function was autogenerated from a symbolic function. Do not modify by hand. + * + * Symbolic function: compute_yaw_innov_var_and_h + * + * Args: + * state: Matrix24_1 + * P: Matrix23_23 + * R: Scalar + * + * Outputs: + * innov_var: Scalar + * H: Matrix23_1 + */ +template +void ComputeYawInnovVarAndH(const matrix::Matrix& state, + const matrix::Matrix& P, const Scalar R, + Scalar* const innov_var = nullptr, + matrix::Matrix* const H = nullptr) { + // Total ops: 36 + + // Input arrays + + // Intermediate terms (5) + const Scalar _tmp0 = 2 * state(2, 0); + const Scalar _tmp1 = 2 * state(1, 0); + const Scalar _tmp2 = -_tmp0 * state(0, 0) + _tmp1 * state(3, 0); + const Scalar _tmp3 = _tmp0 * state(3, 0) + _tmp1 * state(0, 0); + const Scalar _tmp4 = std::pow(state(0, 0), Scalar(2)) - std::pow(state(1, 0), Scalar(2)) - + std::pow(state(2, 0), Scalar(2)) + std::pow(state(3, 0), Scalar(2)); + + // Output terms (2) + if (innov_var != nullptr) { + Scalar& _innov_var = (*innov_var); + + _innov_var = R + _tmp2 * (P(0, 0) * _tmp2 + P(1, 0) * _tmp3 + P(2, 0) * _tmp4) + + _tmp3 * (P(0, 1) * _tmp2 + P(1, 1) * _tmp3 + P(2, 1) * _tmp4) + + _tmp4 * (P(0, 2) * _tmp2 + P(1, 2) * _tmp3 + P(2, 2) * _tmp4); + } + + if (H != nullptr) { + matrix::Matrix& _h = (*H); + + _h.setZero(); + + _h(0, 0) = _tmp2; + _h(1, 0) = _tmp3; + _h(2, 0) = _tmp4; + } +} // NOLINT(readability/fn_size) + +// NOLINTNEXTLINE(readability/fn_size) +} // namespace sym diff --git a/src/modules/ekf2/EKF/yaw_fusion.cpp b/src/modules/ekf2/EKF/yaw_fusion.cpp index e5f94938aa7b..939824a0fe91 100644 --- a/src/modules/ekf2/EKF/yaw_fusion.cpp +++ b/src/modules/ekf2/EKF/yaw_fusion.cpp @@ -35,6 +35,7 @@ #include #include +#include #include @@ -42,7 +43,7 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status) { VectorState H_YAW; - computeYawInnovVarAndH(aid_src_status.observation_variance, aid_src_status.innovation_variance, H_YAW); + sym::ComputeYawInnovVarAndH(_state.vector(), P, aid_src_status.observation_variance, &aid_src_status.innovation_variance, &H_YAW); return fuseYaw(aid_src_status, H_YAW); } @@ -135,10 +136,5 @@ bool Ekf::fuseYaw(estimator_aid_source1d_s &aid_src_status, const VectorState &H void Ekf::computeYawInnovVarAndH(float variance, float &innovation_variance, VectorState &H_YAW) const { - if (shouldUse321RotationSequence(_R_to_earth)) { - sym::ComputeYaw321InnovVarAndH(_state.vector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW); - - } else { - sym::ComputeYaw312InnovVarAndH(_state.vector(), P, variance, FLT_EPSILON, &innovation_variance, &H_YAW); - } + sym::ComputeYawInnovVarAndH(_state.vector(), P, variance, &innovation_variance, &H_YAW); } diff --git a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp index ab02fd3cacf8..2469635e8114 100644 --- a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp +++ b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp @@ -39,10 +39,11 @@ #include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h" #include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h" #include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h" +#include "../EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h" using namespace matrix; -TEST(YawFusionGenerated, singularityYawEquivalence) +TEST(YawFusionGenerated, yawSingularity) { // GIVEN: an attitude that should give a singularity when transforming the // rotation matrix to Euler yaw @@ -57,18 +58,18 @@ TEST(YawFusionGenerated, singularityYawEquivalence) float innov_var_a; float innov_var_b; - // WHEN: computing the innovation variance and H using two different - // alternate forms (one is singular at pi/2 and the other one at 0) + // WHEN: computing the innovation variance and H using two different methods sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_a, &H_a); - sym::ComputeYaw321InnovVarAndHAlternate(state.vector(), P, R, FLT_EPSILON, &innov_var_b, &H_b); + sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var_b, &H_b); - // THEN: Even at the singularity point, the result is still correct, thanks to epsilon + // THEN: Even at the singularity point, the result is still correct EXPECT_TRUE(isEqual(H_a, H_b)); + EXPECT_NEAR(innov_var_a, innov_var_b, 1e-5f); EXPECT_TRUE(innov_var_a < 50.f && innov_var_a > R) << "innov_var = " << innov_var_a; } -TEST(YawFusionGenerated, gimbalLock321vs312) +TEST(YawFusionGenerated, gimbalLock321vs312vsTangent) { // GIVEN: an attitude at gimbal lock position StateSample state{}; @@ -79,18 +80,31 @@ TEST(YawFusionGenerated, gimbalLock321vs312) VectorState H_321; VectorState H_312; + VectorState H_tangent; float innov_var_321; float innov_var_312; + float innov_var_tangent; sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_321, &H_321); sym::ComputeYaw312InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_312, &H_312); + sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var_tangent, &H_tangent); - // THEN: both computation are not equivalent, 321 is undefined but 312 is valid + // THEN: both computation are not equivalent, 321 is undefined but 312 and "tangent" are valid EXPECT_FALSE(isEqual(H_321, H_312)); + EXPECT_TRUE(isEqual(H_312, H_tangent)); EXPECT_GT(fabsf(innov_var_321 - innov_var_312), 1e6f); + EXPECT_NEAR(innov_var_312, innov_var_tangent, 1e-6f); EXPECT_TRUE(innov_var_312 < 50.f && innov_var_312 > R) << "innov_var = " << innov_var_312; } +Vector3f getRotVarNed(const Quatf &q, const SquareMatrixState &P) +{ + constexpr auto S = State::quat_nominal; + matrix::SquareMatrix3f rot_cov_body = P.slice(S.idx, S.idx); + auto R_to_earth = Dcmf(q); + return matrix::SquareMatrix(R_to_earth * rot_cov_body * R_to_earth.T()).diag(); +} + TEST(YawFusionGenerated, positiveVarianceAllOrientations) { const float R = sq(radians(10.f)); @@ -99,19 +113,14 @@ TEST(YawFusionGenerated, positiveVarianceAllOrientations) VectorState H; float innov_var; - // GIVEN: all orientations (90 deg steps) - for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 2.f) { - for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 2.f) { - for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 2.f) { + // GIVEN: all orientations + for (float yaw = 0.f; yaw < 2.f * M_PI_F; yaw += M_PI_F / 4.f) { + for (float pitch = 0.f; pitch < 2.f * M_PI_F; pitch += M_PI_F / 4.f) { + for (float roll = 0.f; roll < 2.f * M_PI_F; roll += M_PI_F / 4.f) { StateSample state{}; state.quat_nominal = Eulerf(roll, pitch, yaw); - if (shouldUse321RotationSequence(Dcmf(state.quat_nominal))) { - sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H); - - } else { - sym::ComputeYaw312InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var, &H); - } + sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var, &H); // THEN: the innovation variance must be positive and finite EXPECT_TRUE(innov_var < 100.f && innov_var > R) @@ -119,6 +128,16 @@ TEST(YawFusionGenerated, positiveVarianceAllOrientations) << " pitch = " << degrees(pitch) << " roll = " << degrees(roll) << " innov_var = " << innov_var; + + // AND: it should be the same as the "true" innovation variance obtained by summing + // the Z rotation variance in NED and the measurement variance + const float innov_var_true = getRotVarNed(state.quat_nominal, P)(2) + R; + EXPECT_NEAR(innov_var, innov_var_true, 1e-5f) + << "yaw = " << degrees(yaw) + << " pitch = " << degrees(pitch) + << " roll = " << degrees(roll) + << " innov_var = " << innov_var + << " innov_var_true = " << innov_var_true; } } } From ee63f3e664f8377b637ca09dd56da745a9ff3fea Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 13 Mar 2024 09:16:24 +0100 Subject: [PATCH 067/102] update change indicator --- .../test/change_indication/ekf_gsf_reset.csv | 776 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 696 ++++++++-------- 2 files changed, 736 insertions(+), 736 deletions(-) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 73ee61760864..93742373c006 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -1,391 +1,391 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7],state[8],state[9],state[10],state[11],state[12],state[13],state[14],state[15],state[16],state[17],state[18],state[19],state[20],state[21],state[22],state[23],variance[0],variance[1],variance[2],variance[3],variance[4],variance[5],variance[6],variance[7],variance[8],variance[9],variance[10],variance[11],variance[12],variance[13],variance[14],variance[15],variance[16],variance[17],variance[18],variance[19],variance[20],variance[21],variance[22],variance[23] 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09:57:51 +0100 Subject: [PATCH 068/102] ekf2: remove old yaw 321 and 312 derivations --- .../EKF/python/ekf_derivation/derivation.py | 72 ------------------ .../compute_yaw_312_innov_var_and_h.h | 76 ------------------- ...ompute_yaw_312_innov_var_and_h_alternate.h | 76 ------------------- .../compute_yaw_321_innov_var_and_h.h | 76 ------------------- ...ompute_yaw_321_innov_var_and_h_alternate.h | 76 ------------------- src/modules/ekf2/EKF/yaw_fusion.cpp | 2 - .../test/test_EKF_yaw_fusion_generated.cpp | 60 +-------------- 7 files changed, 2 insertions(+), 436 deletions(-) delete mode 100644 src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h delete mode 100644 src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h delete mode 100644 src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h delete mode 100644 src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py index c67d1f007271..5cbe1a127f3b 100755 --- a/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py +++ b/src/modules/ekf2/EKF/python/ekf_derivation/derivation.py @@ -408,74 +408,6 @@ def compute_yaw_innov_var_and_h( return (innov_var, H.T) -def compute_yaw_321_innov_var_and_h( - state: VState, - P: MTangent, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VTangent): - - state = vstate_to_state(state) - R_to_earth = state["quat_nominal"].to_rotation_matrix() - # Fix the singularity at pi/2 by inserting epsilon - meas_pred = sf.atan2(R_to_earth[1,0], R_to_earth[0,0], epsilon=epsilon) - - H = sf.V1(meas_pred).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - -def compute_yaw_321_innov_var_and_h_alternate( - state: VState, - P: MTangent, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VTangent): - - state = vstate_to_state(state) - R_to_earth = state["quat_nominal"].to_rotation_matrix() - # Alternate form that has a singularity at yaw 0 instead of pi/2 - meas_pred = sf.pi/2 - sf.atan2(R_to_earth[0,0], R_to_earth[1,0], epsilon=epsilon) - - H = sf.V1(meas_pred).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - -def compute_yaw_312_innov_var_and_h( - state: VState, - P: MTangent, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VTangent): - - state = vstate_to_state(state) - R_to_earth = state["quat_nominal"].to_rotation_matrix() - # Alternate form to be used when close to pitch +-pi/2 - meas_pred = sf.atan2(-R_to_earth[0,1], R_to_earth[1,1], epsilon=epsilon) - - H = sf.V1(meas_pred).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - -def compute_yaw_312_innov_var_and_h_alternate( - state: VState, - P: MTangent, - R: sf.Scalar, - epsilon: sf.Scalar -) -> (sf.Scalar, VTangent): - - state = vstate_to_state(state) - R_to_earth = state["quat_nominal"].to_rotation_matrix() - # Alternate form to be used when close to pitch +-pi/2 - meas_pred = sf.pi/2 - sf.atan2(-R_to_earth[1,1], R_to_earth[0,1], epsilon=epsilon) - - H = sf.V1(meas_pred).jacobian(state) - innov_var = (H * P * H.T + R)[0,0] - - return (innov_var, H.T) - def compute_mag_declination_pred_innov_var_and_h( state: VState, P: MTangent, @@ -697,10 +629,6 @@ def compute_gravity_z_innov_var_and_h( generate_px4_function(compute_wind_init_and_cov_from_airspeed, output_names=["wind", "P_wind"]) generate_px4_function(compute_yaw_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_312_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_312_innov_var_and_h_alternate, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_321_innov_var_and_h, output_names=["innov_var", "H"]) -generate_px4_function(compute_yaw_321_innov_var_and_h_alternate, output_names=["innov_var", "H"]) generate_px4_function(compute_flow_xy_innov_var_and_hx, output_names=["innov_var", "H"]) generate_px4_function(compute_flow_y_innov_var_and_h, output_names=["innov_var", "H"]) generate_px4_function(compute_gnss_yaw_pred_innov_var_and_h, output_names=["meas_pred", "innov_var", "H"]) diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h deleted file mode 100644 index e6fd32157ef7..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h +++ /dev/null @@ -1,76 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_312_innov_var_and_h - * - * Args: - * state: Matrix24_1 - * P: Matrix23_23 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix23_1 - */ -template -void ComputeYaw312InnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 53 - - // Input arrays - - // Intermediate terms (15) - const Scalar _tmp0 = 2 * state(0, 0); - const Scalar _tmp1 = -_tmp0 * state(3, 0); - const Scalar _tmp2 = 2 * state(1, 0); - const Scalar _tmp3 = _tmp2 * state(2, 0); - const Scalar _tmp4 = _tmp1 + _tmp3; - const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp6 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp7 = -2 * _tmp5 - 2 * _tmp6 + 1; - const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5)); - const Scalar _tmp9 = std::pow(_tmp8, Scalar(2)); - const Scalar _tmp10 = _tmp4 / _tmp9; - const Scalar _tmp11 = Scalar(1.0) / (_tmp8); - const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9); - const Scalar _tmp13 = _tmp12 * (_tmp10 * (_tmp1 - _tmp3) - - _tmp11 * (_tmp5 - _tmp6 - std::pow(state(0, 0), Scalar(2)) + - std::pow(state(2, 0), Scalar(2)))); - const Scalar _tmp14 = _tmp12 * (_tmp10 * (-_tmp2 * state(0, 0) + 2 * state(2, 0) * state(3, 0)) - - _tmp11 * (_tmp0 * state(2, 0) + _tmp2 * state(3, 0))); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = R + _tmp13 * (P(0, 2) * _tmp14 + P(2, 2) * _tmp13) + - _tmp14 * (P(0, 0) * _tmp14 + P(2, 0) * _tmp13); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(0, 0) = _tmp14; - _h(2, 0) = _tmp13; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h deleted file mode 100644 index 07fd1091819a..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h +++ /dev/null @@ -1,76 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_312_innov_var_and_h_alternate - * - * Args: - * state: Matrix24_1 - * P: Matrix23_23 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix23_1 - */ -template -void ComputeYaw312InnovVarAndHAlternate(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 57 - - // Input arrays - - // Intermediate terms (15) - const Scalar _tmp0 = 2 * state(0, 0); - const Scalar _tmp1 = 2 * state(1, 0); - const Scalar _tmp2 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp3 = std::pow(state(1, 0), Scalar(2)); - const Scalar _tmp4 = -2 * _tmp2 - 2 * _tmp3 + 1; - const Scalar _tmp5 = -_tmp0 * state(3, 0); - const Scalar _tmp6 = _tmp1 * state(2, 0); - const Scalar _tmp7 = _tmp5 + _tmp6; - const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5)); - const Scalar _tmp9 = std::pow(_tmp8, Scalar(2)); - const Scalar _tmp10 = _tmp4 / _tmp9; - const Scalar _tmp11 = Scalar(1.0) / (_tmp8); - const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9); - const Scalar _tmp13 = _tmp12 * (_tmp10 * (_tmp0 * state(2, 0) + _tmp1 * state(3, 0)) - - _tmp11 * (-_tmp1 * state(0, 0) + 2 * state(2, 0) * state(3, 0))); - const Scalar _tmp14 = _tmp12 * (_tmp10 * (_tmp2 - _tmp3 - std::pow(state(0, 0), Scalar(2)) + - std::pow(state(2, 0), Scalar(2))) - - _tmp11 * (_tmp5 - _tmp6)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = R - _tmp13 * (-P(0, 0) * _tmp13 - P(2, 0) * _tmp14) - - _tmp14 * (-P(0, 2) * _tmp13 - P(2, 2) * _tmp14); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(0, 0) = -_tmp13; - _h(2, 0) = -_tmp14; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h deleted file mode 100644 index 3677dbac87c3..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h +++ /dev/null @@ -1,76 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_321_innov_var_and_h - * - * Args: - * state: Matrix24_1 - * P: Matrix23_23 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix23_1 - */ -template -void ComputeYaw321InnovVarAndH(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 53 - - // Input arrays - - // Intermediate terms (15) - const Scalar _tmp0 = 2 * state(0, 0); - const Scalar _tmp1 = _tmp0 * state(3, 0); - const Scalar _tmp2 = 2 * state(1, 0); - const Scalar _tmp3 = _tmp2 * state(2, 0); - const Scalar _tmp4 = _tmp1 + _tmp3; - const Scalar _tmp5 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp6 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp7 = -2 * _tmp5 - 2 * _tmp6 + 1; - const Scalar _tmp8 = _tmp7 + epsilon * ((((_tmp7) > 0) - ((_tmp7) < 0)) + Scalar(0.5)); - const Scalar _tmp9 = std::pow(_tmp8, Scalar(2)); - const Scalar _tmp10 = _tmp4 / _tmp9; - const Scalar _tmp11 = Scalar(1.0) / (_tmp8); - const Scalar _tmp12 = _tmp9 / (std::pow(_tmp4, Scalar(2)) + _tmp9); - const Scalar _tmp13 = _tmp12 * (-_tmp10 * (-_tmp1 + _tmp3) + - _tmp11 * (-_tmp5 + _tmp6 + std::pow(state(0, 0), Scalar(2)) - - std::pow(state(1, 0), Scalar(2)))); - const Scalar _tmp14 = _tmp12 * (-_tmp10 * (-_tmp0 * state(2, 0) - _tmp2 * state(3, 0)) + - _tmp11 * (_tmp2 * state(0, 0) - 2 * state(2, 0) * state(3, 0))); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = R + _tmp13 * (P(1, 2) * _tmp14 + P(2, 2) * _tmp13) + - _tmp14 * (P(1, 1) * _tmp14 + P(2, 1) * _tmp13); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(1, 0) = _tmp14; - _h(2, 0) = _tmp13; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h b/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h deleted file mode 100644 index 3f1876623740..000000000000 --- a/src/modules/ekf2/EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h +++ /dev/null @@ -1,76 +0,0 @@ -// ----------------------------------------------------------------------------- -// This file was autogenerated by symforce from template: -// function/FUNCTION.h.jinja -// Do NOT modify by hand. -// ----------------------------------------------------------------------------- - -#pragma once - -#include - -namespace sym { - -/** - * This function was autogenerated from a symbolic function. Do not modify by hand. - * - * Symbolic function: compute_yaw_321_innov_var_and_h_alternate - * - * Args: - * state: Matrix24_1 - * P: Matrix23_23 - * R: Scalar - * epsilon: Scalar - * - * Outputs: - * innov_var: Scalar - * H: Matrix23_1 - */ -template -void ComputeYaw321InnovVarAndHAlternate(const matrix::Matrix& state, - const matrix::Matrix& P, const Scalar R, - const Scalar epsilon, Scalar* const innov_var = nullptr, - matrix::Matrix* const H = nullptr) { - // Total ops: 57 - - // Input arrays - - // Intermediate terms (15) - const Scalar _tmp0 = 2 * state(2, 0); - const Scalar _tmp1 = 2 * state(1, 0); - const Scalar _tmp2 = 2 * state(0, 0) * state(3, 0); - const Scalar _tmp3 = _tmp1 * state(2, 0); - const Scalar _tmp4 = _tmp2 + _tmp3; - const Scalar _tmp5 = _tmp4 + epsilon * ((((_tmp4) > 0) - ((_tmp4) < 0)) + Scalar(0.5)); - const Scalar _tmp6 = Scalar(1.0) / (_tmp5); - const Scalar _tmp7 = std::pow(state(3, 0), Scalar(2)); - const Scalar _tmp8 = std::pow(state(2, 0), Scalar(2)); - const Scalar _tmp9 = -2 * _tmp7 - 2 * _tmp8 + 1; - const Scalar _tmp10 = std::pow(_tmp5, Scalar(2)); - const Scalar _tmp11 = _tmp9 / _tmp10; - const Scalar _tmp12 = _tmp10 / (_tmp10 + std::pow(_tmp9, Scalar(2))); - const Scalar _tmp13 = _tmp12 * (-_tmp11 * (-_tmp0 * state(3, 0) + _tmp1 * state(0, 0)) + - _tmp6 * (-_tmp0 * state(0, 0) - _tmp1 * state(3, 0))); - const Scalar _tmp14 = _tmp12 * (-_tmp11 * (-_tmp7 + _tmp8 + std::pow(state(0, 0), Scalar(2)) - - std::pow(state(1, 0), Scalar(2))) + - _tmp6 * (-_tmp2 + _tmp3)); - - // Output terms (2) - if (innov_var != nullptr) { - Scalar& _innov_var = (*innov_var); - - _innov_var = R - _tmp13 * (-P(1, 1) * _tmp13 - P(2, 1) * _tmp14) - - _tmp14 * (-P(1, 2) * _tmp13 - P(2, 2) * _tmp14); - } - - if (H != nullptr) { - matrix::Matrix& _h = (*H); - - _h.setZero(); - - _h(1, 0) = -_tmp13; - _h(2, 0) = -_tmp14; - } -} // NOLINT(readability/fn_size) - -// NOLINTNEXTLINE(readability/fn_size) -} // namespace sym diff --git a/src/modules/ekf2/EKF/yaw_fusion.cpp b/src/modules/ekf2/EKF/yaw_fusion.cpp index 939824a0fe91..80ce35210b14 100644 --- a/src/modules/ekf2/EKF/yaw_fusion.cpp +++ b/src/modules/ekf2/EKF/yaw_fusion.cpp @@ -33,8 +33,6 @@ #include "ekf.h" -#include -#include #include #include diff --git a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp index 2469635e8114..7e536e62bb79 100644 --- a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp +++ b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp @@ -35,68 +35,10 @@ #include "EKF/ekf.h" #include "test_helper/comparison_helper.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_321_innov_var_and_h_alternate.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h.h" -#include "../EKF/python/ekf_derivation/generated/compute_yaw_312_innov_var_and_h_alternate.h" #include "../EKF/python/ekf_derivation/generated/compute_yaw_innov_var_and_h.h" using namespace matrix; -TEST(YawFusionGenerated, yawSingularity) -{ - // GIVEN: an attitude that should give a singularity when transforming the - // rotation matrix to Euler yaw - StateSample state{}; - state.quat_nominal = Eulerf(M_PI_F, 0.f, M_PI_F); - - const float R = sq(radians(10.f)); - SquareMatrixState P = createRandomCovarianceMatrix(); - - VectorState H_a; - VectorState H_b; - float innov_var_a; - float innov_var_b; - - // WHEN: computing the innovation variance and H using two different methods - sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_a, &H_a); - sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var_b, &H_b); - - // THEN: Even at the singularity point, the result is still correct - EXPECT_TRUE(isEqual(H_a, H_b)); - - EXPECT_NEAR(innov_var_a, innov_var_b, 1e-5f); - EXPECT_TRUE(innov_var_a < 50.f && innov_var_a > R) << "innov_var = " << innov_var_a; -} - -TEST(YawFusionGenerated, gimbalLock321vs312vsTangent) -{ - // GIVEN: an attitude at gimbal lock position - StateSample state{}; - state.quat_nominal = Eulerf(0.f, -M_PI_F / 2.f, M_PI_F); - - const float R = sq(radians(10.f)); - SquareMatrixState P = createRandomCovarianceMatrix(); - - VectorState H_321; - VectorState H_312; - VectorState H_tangent; - float innov_var_321; - float innov_var_312; - float innov_var_tangent; - sym::ComputeYaw321InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_321, &H_321); - - sym::ComputeYaw312InnovVarAndH(state.vector(), P, R, FLT_EPSILON, &innov_var_312, &H_312); - sym::ComputeYawInnovVarAndH(state.vector(), P, R, &innov_var_tangent, &H_tangent); - - // THEN: both computation are not equivalent, 321 is undefined but 312 and "tangent" are valid - EXPECT_FALSE(isEqual(H_321, H_312)); - EXPECT_TRUE(isEqual(H_312, H_tangent)); - EXPECT_GT(fabsf(innov_var_321 - innov_var_312), 1e6f); - EXPECT_NEAR(innov_var_312, innov_var_tangent, 1e-6f); - EXPECT_TRUE(innov_var_312 < 50.f && innov_var_312 > R) << "innov_var = " << innov_var_312; -} - Vector3f getRotVarNed(const Quatf &q, const SquareMatrixState &P) { constexpr auto S = State::quat_nominal; @@ -138,6 +80,8 @@ TEST(YawFusionGenerated, positiveVarianceAllOrientations) << " roll = " << degrees(roll) << " innov_var = " << innov_var << " innov_var_true = " << innov_var_true; + + EXPECT_TRUE(H.isAllFinite()); } } } From 7c6ecd95a8ef21e4fb5a33b3d3d4b00aa229dc2f Mon Sep 17 00:00:00 2001 From: bresch Date: Thu, 14 Mar 2024 17:19:34 +0100 Subject: [PATCH 069/102] mc_wind_estimator_tuning: optionally use GNSS velocity Sometimes GNSS is logged but not used --- .../mc_wind_estimator_tuning.py | 24 ++++++++++++------- 1 file changed, 16 insertions(+), 8 deletions(-) diff --git a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py index 61b746fb3886..c0047a00f3ed 100644 --- a/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py +++ b/src/modules/ekf2/EKF/python/tuning_tools/mc_wind_estimator/mc_wind_estimator_tuning.py @@ -45,14 +45,20 @@ import quaternion from scipy import optimize -def getAllData(logfile): +def getAllData(logfile, use_gnss): log = ULog(logfile) - v_local = np.matrix([getData(log, 'vehicle_local_position', 'vx'), - getData(log, 'vehicle_local_position', 'vy'), - getData(log, 'vehicle_local_position', 'vz')]) + if use_gnss: + v_local = np.array([getData(log, 'vehicle_gps_position', 'vel_n_m_s'), + getData(log, 'vehicle_gps_position', 'vel_e_m_s'), + getData(log, 'vehicle_gps_position', 'vel_d_m_s')]) + t_v_local = ms2s(getData(log, 'vehicle_gps_position', 'timestamp')) - t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp')) + else: + v_local = np.array([getData(log, 'vehicle_local_position', 'vx'), + getData(log, 'vehicle_local_position', 'vy'), + getData(log, 'vehicle_local_position', 'vz')]) + t_v_local = ms2s(getData(log, 'vehicle_local_position', 'timestamp')) accel = np.matrix([getData(log, 'sensor_combined', 'accelerometer_m_s2[0]'), getData(log, 'sensor_combined', 'accelerometer_m_s2[1]'), @@ -126,8 +132,8 @@ def getData(log, topic_name, variable_name, instance=0): def ms2s(time_ms): return time_ms * 1e-6 -def run(logfile): - (t, v_body, a_body) = getAllData(logfile) +def run(logfile, use_gnss): + (t, v_body, a_body) = getAllData(logfile, use_gnss) rho = 1.15 # air densitiy rho15 = 1.225 # air density at 15 degC @@ -197,8 +203,10 @@ def run(logfile): # Provide parameter file path and name parser.add_argument('logfile', help='Full ulog file path, name and extension', type=str) + parser.add_argument('--gnss', help='Use GNSS velocity instead of local velocity estimate', + action='store_true') args = parser.parse_args() logfile = os.path.abspath(args.logfile) # Convert to absolute path - run(logfile) + run(logfile, args.gnss) From 6d8273483cd0644f4a5ad614aae9c95c19a1cbb2 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Wed, 13 Mar 2024 17:06:21 +0100 Subject: [PATCH 070/102] Commander: set vehicle_status.failsafe flag only if action for failed check is more than warning Signed-off-by: Silvan Fuhrer --- src/modules/commander/failsafe/framework.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/commander/failsafe/framework.h b/src/modules/commander/failsafe/framework.h index 07d46cbabfd6..9f989582f7ce 100644 --- a/src/modules/commander/failsafe/framework.h +++ b/src/modules/commander/failsafe/framework.h @@ -147,7 +147,7 @@ class FailsafeBase: public ModuleParams bool rc_sticks_takeover_request, const failsafe_flags_s &status_flags); - bool inFailsafe() const { return _selected_action != Action::None; } + bool inFailsafe() const { return (_selected_action != Action::None && _selected_action != Action::Warn); } Action selectedAction() const { return _selected_action; } From d330d4749565bacdfa3bbaa3b166ebfdf56761b4 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 09:48:59 +0100 Subject: [PATCH 071/102] EstimatorCheck: GNSS data fusion stopped as INFO if local position is already invalid Helps to reduce spamming of less important warnings. Signed-off-by: Silvan Fuhrer --- .../commander/HealthAndArmingChecks/checks/estimatorCheck.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp index 9bb33f2bd24f..1cdd097b12aa 100644 --- a/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp +++ b/src/modules/commander/HealthAndArmingChecks/checks/estimatorCheck.cpp @@ -293,7 +293,9 @@ void EstimatorChecks::checkEstimatorStatus(const Context &context, Report &repor mavlink_log_warning(reporter.mavlink_log_pub(), "GNSS data fusion stopped\t"); } - events::send(events::ID("check_estimator_gnss_fusion_stopped"), {events::Log::Error, events::LogInternal::Info}, + // only report this failure as critical if not already in a local position invalid state + events::Log log_level = reporter.failsafeFlags().local_position_invalid ? events::Log::Info : events::Log::Error; + events::send(events::ID("check_estimator_gnss_fusion_stopped"), {log_level, events::LogInternal::Info}, "GNSS data fusion stopped"); } else if (!_gps_was_fused && ekf_gps_fusion) { From 6e15dd5328f183f3202f68f50409a33bfb33a3c7 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 10:35:45 +0100 Subject: [PATCH 072/102] Commander: trigger warning when arming denied due to check failure Signed-off-by: Silvan Fuhrer --- src/modules/commander/Commander.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/src/modules/commander/Commander.cpp b/src/modules/commander/Commander.cpp index bca8ef3f68d3..444f5b0c8dba 100644 --- a/src/modules/commander/Commander.cpp +++ b/src/modules/commander/Commander.cpp @@ -598,6 +598,9 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_ if (!_health_and_arming_checks.canArm(_vehicle_status.nav_state)) { tune_negative(true); + mavlink_log_critical(&_mavlink_log_pub, "Arming denied: Resolve system health failures first\t"); + events::send(events::ID("commander_arm_denied_resolve_failures"), {events::Log::Critical, events::LogInternal::Info}, + "Arming denied: Resolve system health failures first"); return TRANSITION_DENIED; } } From 4ae2fbd17160c777ffe862de149524179f562a3e Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 10:50:00 +0100 Subject: [PATCH 073/102] Commander enums: capitalize flight mode names Signed-off-by: Silvan Fuhrer --- src/lib/events/enums.json | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index 1b23bcfab4c5..f8ebe3b1a728 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -402,19 +402,19 @@ }, "2": { "name": "fallback_posctrl", - "description": "fallback to position control" + "description": "fallback to Position mode" }, "3": { "name": "fallback_altctrl", - "description": "fallback to altitude control" + "description": "fallback to Altitude mode" }, "4": { "name": "fallback_stabilized", - "description": "fallback to stabilized" + "description": "fallback to Stabilized mode" }, "5": { "name": "hold", - "description": "hold" + "description": "Hold" }, "6": { "name": "rtl", @@ -422,11 +422,11 @@ }, "7": { "name": "land", - "description": "land" + "description": "Land" }, "8": { "name": "descend", - "description": "descend" + "description": "Descend" }, "9": { "name": "disarm", From f6430a27d67a0f19e12bc666bda9a6544c3d71fd Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 11:04:02 +0100 Subject: [PATCH 074/102] Commander enums: capitalize battery level key words Signed-off-by: Silvan Fuhrer --- src/lib/events/enums.json | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index f8ebe3b1a728..97bfd70c8fb9 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -372,15 +372,15 @@ }, "3": { "name": "low_battery_level", - "description": "low battery level" + "description": "Low battery level" }, "4": { "name": "critical_battery_level", - "description": "critical battery level" + "description": "Critical battery level" }, "5": { "name": "emergency_battery_level", - "description": "emergency battery level" + "description": "Emergency battery level" }, "6": { "name": "low_remaining_flight_time", From da39d075acec070f8f7fe3677b79363192fa10ac Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Thu, 14 Mar 2024 11:33:11 +0100 Subject: [PATCH 075/102] Commander enums: shorten failsafe event messages Such that the focus is on the important keywords. Signed-off-by: Silvan Fuhrer --- src/lib/events/enums.json | 10 +++++----- src/modules/commander/failsafe/framework.cpp | 8 ++++---- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/src/lib/events/enums.json b/src/lib/events/enums.json index 97bfd70c8fb9..8e86170951bf 100644 --- a/src/lib/events/enums.json +++ b/src/lib/events/enums.json @@ -364,7 +364,7 @@ }, "1": { "name": "manual_control_loss", - "description": "manual control loss" + "description": "Manual control loss" }, "2": { "name": "gcs_connection_loss", @@ -384,7 +384,7 @@ }, "6": { "name": "low_remaining_flight_time", - "description": "low remaining flight time" + "description": "Remaining flight time low" } } }, @@ -402,15 +402,15 @@ }, "2": { "name": "fallback_posctrl", - "description": "fallback to Position mode" + "description": "Position mode" }, "3": { "name": "fallback_altctrl", - "description": "fallback to Altitude mode" + "description": "Altitude mode" }, "4": { "name": "fallback_stabilized", - "description": "fallback to Stabilized mode" + "description": "Stabilized mode" }, "5": { "name": "hold", diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index 4c85ee5c7214..cdd72de0f71d 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -195,7 +195,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic_hold"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, + "Failsafe, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, (uint16_t) delay_s); } else { @@ -204,7 +204,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_hold"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated due to {4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, + "{4}, triggering {2} in {3} seconds", mavlink_mode, failsafe_action, (uint16_t) delay_s, failsafe_cause); } @@ -231,7 +231,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter_generic"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated, triggering {2}", mavlink_mode, failsafe_action); + "Failsafe, triggering {2}", mavlink_mode, failsafe_action); } } else { @@ -272,7 +272,7 @@ void FailsafeBase::notifyUser(uint8_t user_intended_mode, Action action, Action events::send( events::ID("commander_failsafe_enter"), {events::Log::Critical, events::LogInternal::Warning}, - "Failsafe activated due to {3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause); + "{3}, triggering {2}", mavlink_mode, failsafe_action, failsafe_cause); } } From 70346a5b2f34eef5119848658dbb97f3d7c1ca56 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Fri, 15 Mar 2024 10:06:58 +0100 Subject: [PATCH 076/102] failsafe: set cause to generic when fallback mode is activated Previously when triggering low battery RTL and then losing GPS, the fallback to Descend would still have low battery as cause. --- src/modules/commander/failsafe/framework.cpp | 14 ++++++++++++++ 1 file changed, 14 insertions(+) diff --git a/src/modules/commander/failsafe/framework.cpp b/src/modules/commander/failsafe/framework.cpp index cdd72de0f71d..16a3678d81b5 100644 --- a/src/modules/commander/failsafe/framework.cpp +++ b/src/modules/commander/failsafe/framework.cpp @@ -517,6 +517,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::FallbackAltCtrl: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_ALTCTL)) { @@ -524,6 +526,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::FallbackStab: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_STAB)) { @@ -531,6 +535,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } // else: fall through here as well. If stabilized isn't available, we most certainly end up in Terminate + returned_state.cause = Cause::Generic; + // fallthrough case Action::Hold: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER)) { @@ -538,6 +544,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::RTL: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_RTL)) { @@ -545,6 +553,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::Land: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_AUTO_LAND)) { @@ -552,6 +562,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::Descend: if (modeCanRun(status_flags, vehicle_status_s::NAVIGATION_STATE_DESCEND)) { @@ -559,6 +571,8 @@ void FailsafeBase::getSelectedAction(const State &state, const failsafe_flags_s break; } + returned_state.cause = Cause::Generic; + // fallthrough case Action::Terminate: selected_action = Action::Terminate; From 32aa3263a60d48a960eb8a2ccc50073815250889 Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 17 Mar 2024 22:04:32 +0900 Subject: [PATCH 077/102] EKF: Change a typo --- src/modules/ekf2/EKF/gps_control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/gps_control.cpp b/src/modules/ekf2/EKF/gps_control.cpp index cf2f9eb7b454..03cf0a326f28 100644 --- a/src/modules/ekf2/EKF/gps_control.cpp +++ b/src/modules/ekf2/EKF/gps_control.cpp @@ -246,7 +246,7 @@ bool Ekf::tryYawEmergencyReset() bool success = false; /* A rapid reset to the yaw emergency estimate is performed if horizontal velocity innovation checks continuously - * fails while the difference between the yaw emergency estimator and the yas estimate is large. + * fails while the difference between the yaw emergency estimator and the yaw estimate is large. * This enables recovery from a bad yaw estimate. A reset is not performed if the fault condition was * present before flight to prevent triggering due to GPS glitches or other sensor errors. */ From 2e6dd243af393afb64e326a0357a052045e2a492 Mon Sep 17 00:00:00 2001 From: bresch Date: Fri, 26 Jan 2024 16:53:21 +0100 Subject: [PATCH 078/102] mpc: add possibility to generate tilt using full 3D accel Using full 3D acceleration provides better horizontal acceleration tracking but also creates a sometimes unwanted behavior because the tilt is directly coupled with the vertical acceleration setpoint. --- .../MulticopterPositionControl.cpp | 1 + .../MulticopterPositionControl.hpp | 1 + .../PositionControl/PositionControl.cpp | 17 ++++++++++++----- .../PositionControl/PositionControl.hpp | 6 ++++++ ...multicopter_position_control_limits_params.c | 10 ++++++++++ 5 files changed, 30 insertions(+), 5 deletions(-) diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.cpp b/src/modules/mc_pos_control/MulticopterPositionControl.cpp index ca8360c80452..90928921835d 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.cpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.cpp @@ -167,6 +167,7 @@ void MulticopterPositionControl::parameters_update(bool force) Vector3f(_param_mpc_xy_vel_i_acc.get(), _param_mpc_xy_vel_i_acc.get(), _param_mpc_z_vel_i_acc.get()), Vector3f(_param_mpc_xy_vel_d_acc.get(), _param_mpc_xy_vel_d_acc.get(), _param_mpc_z_vel_d_acc.get())); _control.setHorizontalThrustMargin(_param_mpc_thr_xy_marg.get()); + _control.decoupleHorizontalAndVecticalAcceleration(_param_mpc_acc_decouple.get()); _goto_control.setParamMpcAccHor(_param_mpc_acc_hor.get()); _goto_control.setParamMpcAccDownMax(_param_mpc_acc_down_max.get()); _goto_control.setParamMpcAccUpMax(_param_mpc_acc_up_max.get()); diff --git a/src/modules/mc_pos_control/MulticopterPositionControl.hpp b/src/modules/mc_pos_control/MulticopterPositionControl.hpp index b1f88fde57d3..3dac59bc1b89 100644 --- a/src/modules/mc_pos_control/MulticopterPositionControl.hpp +++ b/src/modules/mc_pos_control/MulticopterPositionControl.hpp @@ -146,6 +146,7 @@ class MulticopterPositionControl : public ModuleBase (ParamFloat) _param_mpc_tiltmax_air, (ParamFloat) _param_mpc_thr_hover, (ParamBool) _param_mpc_use_hte, + (ParamBool) _param_mpc_acc_decouple, // Takeoff / Land (ParamFloat) _param_com_spoolup_time, /**< time to let motors spool up after arming */ diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp index 955f3f4b44a7..0cf632c04359 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.cpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.cpp @@ -204,13 +204,20 @@ void PositionControl::_velocityControl(const float dt) void PositionControl::_accelerationControl() { // Assume standard acceleration due to gravity in vertical direction for attitude generation - Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), CONSTANTS_ONE_G).normalized(); + float z_specific_force = -CONSTANTS_ONE_G; + + if (!_decouple_horizontal_and_vertical_acceleration) { + // Include vertical acceleration setpoint for better horizontal acceleration tracking + z_specific_force += _acc_sp(2); + } + + Vector3f body_z = Vector3f(-_acc_sp(0), -_acc_sp(1), -z_specific_force).normalized(); ControlMath::limitTilt(body_z, Vector3f(0, 0, 1), _lim_tilt); - // Scale thrust assuming hover thrust produces standard gravity - float collective_thrust = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; + // Convert to thrust assuming hover thrust produces standard gravity + const float thrust_ned_z = _acc_sp(2) * (_hover_thrust / CONSTANTS_ONE_G) - _hover_thrust; // Project thrust to planned body attitude - collective_thrust /= (Vector3f(0, 0, 1).dot(body_z)); - collective_thrust = math::min(collective_thrust, -_lim_thr_min); + const float cos_ned_body = (Vector3f(0, 0, 1).dot(body_z)); + const float collective_thrust = math::min(thrust_ned_z / cos_ned_body, -_lim_thr_min); _thr_sp = body_z * collective_thrust; } diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 4eb909e1fa3e..7575409bbc78 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -163,6 +163,11 @@ class PositionControl */ void resetIntegral() { _vel_int.setZero(); } + /** + * If set, the tilt setpoint is computed by assuming no vertical acceleration + */ + void decoupleHorizontalAndVecticalAcceleration(bool val) { _decouple_horizontal_and_vertical_acceleration = val; } + /** * Get the controllers output local position setpoint * These setpoints are the ones which were executed on including PID output and feed-forward. @@ -211,6 +216,7 @@ class PositionControl float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation + bool _decouple_horizontal_and_vertical_acceleration{false}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint // States matrix::Vector3f _pos; /**< current position */ diff --git a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c index a60732cfa8c2..91039f04ea6d 100644 --- a/src/modules/mc_pos_control/multicopter_position_control_limits_params.c +++ b/src/modules/mc_pos_control/multicopter_position_control_limits_params.c @@ -138,3 +138,13 @@ PARAM_DEFINE_FLOAT(MPC_THR_MIN, 0.12f); * @group Multicopter Position Control */ PARAM_DEFINE_FLOAT(MPC_THR_MAX, 1.f); + +/** + * Acceleration to tilt coupling + * + * Set to decouple tilt from vertical acceleration. + * + * @boolean + * @group Multicopter Position Control + */ +PARAM_DEFINE_INT32(MPC_ACC_DECOUPLE, 1); From 95627ea098f3e6107805ba4f389c54ecfe1c0c42 Mon Sep 17 00:00:00 2001 From: Hamish Willee Date: Wed, 20 Mar 2024 09:33:37 +1100 Subject: [PATCH 079/102] SMART_BATTERY_INFO to BATTERY_INFO (#22875) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Update submodule mavlink to latest Wed Mar 13 01:02:16 UTC 2024 - mavlink in PX4/Firmware (497327e916103ef05ff8f08f47d33b9a19bc28d7): https://github.com/mavlink/mavlink/commit/c4a5c497379ca873f73abe691a033641a6a5a817 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/a3558d6b335d930fc01816fd168d16b3f38ed434 - Changes: https://github.com/mavlink/mavlink/compare/c4a5c497379ca873f73abe691a033641a6a5a817...a3558d6b335d930fc01816fd168d16b3f38ed434 a3558d6b 2024-03-07 Hamish Willee - common - DO_FENCE_ENABLE/PARACHUTE fix (#2090) b9730e0f 2024-03-06 olliw42 - update RADIO_RC_CHANNELS to latest, remove all mlrs from storm32.xml (#1919) 7fed0268 2024-03-06 Patrick José Pereira - common: MAV_CMD_DO_SET_SYS_CMP_ID: Add first version (#2082) 2909b481 2024-03-06 Hamish Willee - Update Pymavlink (#2089) e9b532a9 2024-03-05 Randy Mackay - common: add set-camera-source command (#2079) bcdbeb7f 2024-03-01 auturgy - Allow individual fences to be enabled and disabled (#2085) 2f8403d1 2024-02-29 Hamish Willee - MAV_CMD_ODID_SET_EMERGENCY - (#2086) daa59c02 2024-02-22 Peter Barker - common.xml: add a command to deal with safety switch (#2081) 977332e2 2024-02-14 Hamish Willee - COMPONENT_INFORMATION_BASIC - add manufacturer date (#2078) 4fef7de2 2024-02-07 Randy Mackay - Common: rename SMART_BATTERY_INFO to BATTERY_INFO and add SOH (#2070) 3865b311 2024-02-01 Hamish Willee - FLIGHT_INFORMATION - description to match PX4 (#2067) f80e6818 2024-01-31 KonradRudin - development.xml: merge both MAV_CMD enums together (#2074) * SMART_BATTERY_INFO to BATTERY_INFO on new mavlink module * Update src/modules/mavlink/streams/BATTERY_INFO.hpp * fix trivial whitespace --------- Co-authored-by: PX4 BuildBot Co-authored-by: Daniel Agar --- src/modules/mavlink/mavlink | 2 +- src/modules/mavlink/mavlink_messages.cpp | 8 +-- ...MART_BATTERY_INFO.hpp => BATTERY_INFO.hpp} | 58 ++++++++++++------- 3 files changed, 41 insertions(+), 27 deletions(-) rename src/modules/mavlink/streams/{SMART_BATTERY_INFO.hpp => BATTERY_INFO.hpp} (67%) diff --git a/src/modules/mavlink/mavlink b/src/modules/mavlink/mavlink index c4a5c497379c..a3558d6b335d 160000 --- a/src/modules/mavlink/mavlink +++ b/src/modules/mavlink/mavlink @@ -1 +1 @@ -Subproject commit c4a5c497379ca873f73abe691a033641a6a5a817 +Subproject commit a3558d6b335d930fc01816fd168d16b3f38ed434 diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index d9a9dc213910..bcd532861814 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -132,6 +132,7 @@ #if !defined(CONSTRAINED_FLASH) # include "streams/ADSB_VEHICLE.hpp" # include "streams/AUTOPILOT_STATE_FOR_GIMBAL_DEVICE.hpp" +# include "streams/BATTERY_INFO.hpp" # include "streams/DEBUG.hpp" # include "streams/DEBUG_FLOAT_ARRAY.hpp" # include "streams/DEBUG_VECT.hpp" @@ -147,7 +148,6 @@ # include "streams/ODOMETRY.hpp" # include "streams/SCALED_PRESSURE2.hpp" # include "streams/SCALED_PRESSURE3.hpp" -# include "streams/SMART_BATTERY_INFO.hpp" # include "streams/UAVIONIX_ADSB_OUT_CFG.hpp" # include "streams/UAVIONIX_ADSB_OUT_DYNAMIC.hpp" # include "streams/UTM_GLOBAL_POSITION.hpp" @@ -259,9 +259,9 @@ static const StreamListItem streams_list[] = { create_stream_list_item(), #endif // SYS_STATUS_HPP create_stream_list_item(), -#if defined(SMART_BATTERY_INFO_HPP) - create_stream_list_item(), -#endif // SMART_BATTERY_INFO_HPP +#if defined(BATTERY_INFO_HPP) + create_stream_list_item(), +#endif // BATTERY_INFO_HPP #if defined(HIGHRES_IMU_HPP) create_stream_list_item(), #endif // HIGHRES_IMU_HPP diff --git a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp b/src/modules/mavlink/streams/BATTERY_INFO.hpp similarity index 67% rename from src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp rename to src/modules/mavlink/streams/BATTERY_INFO.hpp index 3476db3a02b2..fd72acce45ed 100644 --- a/src/modules/mavlink/streams/SMART_BATTERY_INFO.hpp +++ b/src/modules/mavlink/streams/BATTERY_INFO.hpp @@ -31,30 +31,30 @@ * ****************************************************************************/ -#ifndef SMART_BATTERY_INFO_HPP -#define SMART_BATTERY_INFO_HPP +#ifndef BATTERY_INFO_HPP +#define BATTERY_INFO_HPP #include -class MavlinkStreamSmartBatteryInfo : public MavlinkStream +class MavlinkStreamBatteryInfo : public MavlinkStream { public: - static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamSmartBatteryInfo(mavlink); } + static MavlinkStream *new_instance(Mavlink *mavlink) { return new MavlinkStreamBatteryInfo(mavlink); } - static constexpr const char *get_name_static() { return "SMART_BATTERY_INFO"; } - static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_SMART_BATTERY_INFO; } + static constexpr const char *get_name_static() { return "BATTERY_INFO"; } + static constexpr uint16_t get_id_static() { return MAVLINK_MSG_ID_BATTERY_INFO; } const char *get_name() const override { return get_name_static(); } uint16_t get_id() override { return get_id_static(); } unsigned get_size() override { - static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_SMART_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; + static constexpr unsigned size_per_battery = MAVLINK_MSG_ID_BATTERY_INFO_LEN + MAVLINK_NUM_NON_PAYLOAD_BYTES; return size_per_battery * _battery_status_subs.advertised_count(); } private: - explicit MavlinkStreamSmartBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} + explicit MavlinkStreamBatteryInfo(Mavlink *mavlink) : MavlinkStream(mavlink) {} uORB::SubscriptionMultiArray _battery_status_subs{ORB_ID::battery_status}; @@ -67,36 +67,50 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream if (battery_sub.update(&battery_status)) { if (battery_status.serial_number == 0) { - // This is not smart battery + // Required to emit continue; } - mavlink_smart_battery_info_t msg{}; + mavlink_battery_info_t msg{}; msg.id = battery_status.id - 1; - msg.capacity_full_specification = battery_status.capacity; - msg.capacity_full = (int32_t)((float)(battery_status.state_of_health * battery_status.capacity) / 100.f); + msg.design_capacity = (float)(battery_status.capacity * 1000); + msg.full_charge_capacity = (float)(battery_status.state_of_health * battery_status.capacity * 1000.f) / 100.f; msg.cycle_count = battery_status.cycle_count; if (battery_status.manufacture_date) { uint16_t day = battery_status.manufacture_date % 32; uint16_t month = (battery_status.manufacture_date >> 5) % 16; - uint16_t year = (80 + (battery_status.manufacture_date >> 9)) % 100; + uint16_t year = (80 + (battery_status.manufacture_date >> 9)); + uint16_t year2dig = year % 100; + //Formatted as 'ddmmyyyy' (maxed 9 chars) + snprintf(msg.manufacture_date, sizeof(msg.manufacture_date), "%d%d%d", day, month, year); //Formatted as 'dd/mm/yy-123456' (maxed 15 + 1 chars) - snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year, battery_status.serial_number); + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d/%d/%d-%d", day, month, year2dig, + battery_status.serial_number); } else { + snprintf(msg.serial_number, sizeof(msg.serial_number), "%d", battery_status.serial_number); } - //msg.device_name = ?? - msg.weight = -1; - msg.discharge_minimum_voltage = -1; - msg.charging_minimum_voltage = -1; - msg.resting_minimum_voltage = -1; - - mavlink_msg_smart_battery_info_send_struct(_mavlink->get_channel(), &msg); + // Not supported by PX4 (not in battery_status uorb topic) + /* + msg.name = 0; // char[50] + msg.weight = 0; + msg.discharge_minimum_voltage = 0; + msg.charging_minimum_voltage = 0; + msg.resting_minimum_voltage = 0; + msg.charging_maximum_voltage = 0; + msg.charging_maximum_current = 0; + msg.discharge_maximum_current = 0; + msg.discharge_maximum_burst_current = 0; + msg.cells_in_series = 0; + msg.nominal_voltage = 0; + */ + + mavlink_msg_battery_info_send_struct(_mavlink->get_channel(), &msg); updated = true; } } @@ -105,4 +119,4 @@ class MavlinkStreamSmartBatteryInfo : public MavlinkStream } }; -#endif // SMART_BATTERY_INFO_HPP +#endif // BATTERY_INFO_HPP From 63850873eb6a0ecb7fc5ccda0b294dc3e60a674e Mon Sep 17 00:00:00 2001 From: muramura Date: Sun, 10 Mar 2024 01:20:35 +0900 Subject: [PATCH 080/102] sd_bench: Display maximum time for maximum write time --- src/systemcmds/sd_bench/sd_bench.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/src/systemcmds/sd_bench/sd_bench.cpp b/src/systemcmds/sd_bench/sd_bench.cpp index 990932432162..edfaff4f5062 100644 --- a/src/systemcmds/sd_bench/sd_bench.cpp +++ b/src/systemcmds/sd_bench/sd_bench.cpp @@ -50,6 +50,8 @@ #include +#define MAX(a,b) ((a) > (b) ? (a) : (b)) + typedef struct sdb_config { int num_runs; ///< number of runs int run_duration; ///< duration of a single run [ms] @@ -202,6 +204,7 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) unsigned int total_blocks = 0; cfg->total_blocks_written = 0; unsigned int *blocknumber = (unsigned int *)(void *)&block[0]; + unsigned int max_max_write_time = 0; for (int run = 0; run < cfg->num_runs; ++run) { hrt_abstime start = hrt_absolute_time(); @@ -245,10 +248,12 @@ void write_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) total_elapsed += elapsed; total_blocks += num_blocks; + max_max_write_time = MAX(max_max_write_time, max_write_time); } cfg->total_blocks_written = total_blocks; PX4_INFO(" Avg : %8.2lf KB/s", (double)block_size * total_blocks / total_elapsed / 1024.); + PX4_INFO(" Overall max write time: %i ms", max_max_write_time); } int read_test(int fd, sdb_config_t *cfg, uint8_t *block, int block_size) From 37caddedbb8e8fd871ebbe942f03c257ae6a0012 Mon Sep 17 00:00:00 2001 From: Drone-Lab <2334088143@qq.com> Date: Wed, 20 Mar 2024 15:37:19 +0800 Subject: [PATCH 081/102] navigator: update mission after changing home position (#22834) --- src/modules/navigator/mission_base.cpp | 27 ++++++++++++++++++++++++++ src/modules/navigator/mission_base.h | 8 ++++++++ 2 files changed, 35 insertions(+) diff --git a/src/modules/navigator/mission_base.cpp b/src/modules/navigator/mission_base.cpp index 4a376995a098..026cefaba2c5 100644 --- a/src/modules/navigator/mission_base.cpp +++ b/src/modules/navigator/mission_base.cpp @@ -253,6 +253,7 @@ MissionBase::on_active() updateMavlinkMission(); updateDatamanCache(); + updateMissionAltAfterHomeChanged(); /* Check the mission */ if (!_mission_checked && canRunMissionFeasibility()) { @@ -1375,3 +1376,29 @@ bool MissionBase::canRunMissionFeasibility() (_geofence_status_sub.get().geofence_id == _mission.geofence_id) && (_geofence_status_sub.get().status == geofence_status_s::GF_STATUS_READY); } + +void MissionBase::updateMissionAltAfterHomeChanged() +{ + if (_navigator->get_home_position()->update_count > _home_update_counter) { + float new_alt = get_absolute_altitude_for_item(_mission_item); + float altitude_diff = new_alt - _navigator->get_position_setpoint_triplet()->current.alt; + + if (_navigator->get_position_setpoint_triplet()->previous.valid + && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->previous.alt)) { + _navigator->get_position_setpoint_triplet()->previous.alt = _navigator->get_position_setpoint_triplet()->previous.alt + + altitude_diff; + } + + _navigator->get_position_setpoint_triplet()->current.alt = _navigator->get_position_setpoint_triplet()->current.alt + + altitude_diff; + + if (_navigator->get_position_setpoint_triplet()->next.valid + && PX4_ISFINITE(_navigator->get_position_setpoint_triplet()->next.alt)) { + _navigator->get_position_setpoint_triplet()->next.alt = _navigator->get_position_setpoint_triplet()->next.alt + + altitude_diff; + } + + _navigator->set_position_setpoint_triplet_updated(); + _home_update_counter = _navigator->get_home_position()->update_count; + } +} diff --git a/src/modules/navigator/mission_base.h b/src/modules/navigator/mission_base.h index 7f234bb7d277..1b788106f4a3 100644 --- a/src/modules/navigator/mission_base.h +++ b/src/modules/navigator/mission_base.h @@ -448,8 +448,16 @@ class MissionBase : public MissionBlock, public ModuleParams */ bool checkMissionDataChanged(mission_s new_mission); + /** + * @brief update current mission altitude after the home position has changed. + */ + + void updateMissionAltAfterHomeChanged(); + bool canRunMissionFeasibility(); + uint32_t _home_update_counter = 0; /**< Variable to store the previous value for home change detection.*/ + bool _align_heading_necessary{false}; // if true, heading of vehicle needs to be aligned with heading of next waypoint. Used to create new mission items for heading alignment. mission_item_s _last_gimbal_configure_item {}; From c9221b91ad85c7eae114fd1a0ffe3bf1750676ea Mon Sep 17 00:00:00 2001 From: bresch Date: Tue, 19 Mar 2024 13:55:51 +0100 Subject: [PATCH 082/102] ekf2: fix gnss yaw unit test --- src/modules/ekf2/test/test_EKF_gps_yaw.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp index 42737306eae3..2c3afc655ac4 100644 --- a/src/modules/ekf2/test/test_EKF_gps_yaw.cpp +++ b/src/modules/ekf2/test/test_EKF_gps_yaw.cpp @@ -81,9 +81,10 @@ class EkfGpsHeadingTest : public ::testing::Test void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float antenna_offset_rad) { // GIVEN: an initial GPS yaw, not aligned with the current one - float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle() + yaw_offset_rad); + // The yaw antenna offset has already been corrected in the driver + float gps_heading = matrix::wrap_pi(_ekf_wrapper.getYawAngle()); - _sensor_simulator._gps.setYaw(gps_heading); + _sensor_simulator._gps.setYaw(gps_heading); // used to remove the correction to fuse the real measurement _sensor_simulator._gps.setYawOffset(antenna_offset_rad); // WHEN: the GPS yaw fusion is activated @@ -91,7 +92,7 @@ void EkfGpsHeadingTest::runConvergenceScenario(float yaw_offset_rad, float anten _sensor_simulator.runSeconds(5); // THEN: the estimate is reset and stays close to the measurement - checkConvergence(gps_heading, 0.05f); + checkConvergence(gps_heading, 0.01f); } void EkfGpsHeadingTest::checkConvergence(float truth, float tolerance_deg) From cb2bb2e0980e21a9cb4029aa036d2535d37c94b8 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 12:12:27 +0100 Subject: [PATCH 083/102] ekf2: add no gyro bias estimate test case This makes the ekf unstable and creates NANs during initialization --- .../test/sensor_simulator/ekf_wrapper.cpp | 10 +++++++ .../ekf2/test/sensor_simulator/ekf_wrapper.h | 3 +++ .../ekf2/test/test_EKF_initialization.cpp | 26 +++++++++++++++++++ 3 files changed, 39 insertions(+) diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp index 513e6d057b3d..fe2c3a88ff7c 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.cpp @@ -314,3 +314,13 @@ float EkfWrapper::getMagHeadingNoise() const { return _ekf_params->mag_heading_noise; } + +void EkfWrapper::enableGyroBiasEstimation() +{ + _ekf_params->imu_ctrl |= static_cast(ImuCtrl::GyroBias); +} + +void EkfWrapper::disableGyroBiasEstimation() +{ + _ekf_params->imu_ctrl &= ~static_cast(ImuCtrl::GyroBias); +} diff --git a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h index 43753e9bc548..e1d35f093408 100644 --- a/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h +++ b/src/modules/ekf2/test/sensor_simulator/ekf_wrapper.h @@ -128,6 +128,9 @@ class EkfWrapper float getMagHeadingNoise() const; + void enableGyroBiasEstimation(); + void disableGyroBiasEstimation(); + private: std::shared_ptr _ekf; diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index 6e2dae1b9eba..eed210864176 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -191,6 +191,32 @@ TEST_F(EkfInitializationTest, initializeWithZeroTiltNotAtRest) learningCorrectAccelBias(); } +TEST_F(EkfInitializationTest, initializeWithTiltNoGyroBiasEstimate) +{ + const float pitch = math::radians(30.0f); + const float roll = math::radians(-20.0f); + const Eulerf euler_angles_sim(roll, pitch, 0.0f); + const Quatf quat_sim(euler_angles_sim); + + _ekf_wrapper.disableGyroBiasEstimation(); + _sensor_simulator.simulateOrientation(quat_sim); + + _sensor_simulator.runSeconds(_init_tilt_period); + + EXPECT_TRUE(_ekf->control_status_flags().tilt_align); + + initializedOrienationIsMatchingGroundTruth(quat_sim); + quaternionVarianceBigEnoughAfterOrientationInitialization(0.00001f); + + velocityAndPositionCloseToZero(); + + positionVarianceBigEnoughAfterOrientationInitialization(0.00001f); // Fake position fusion obs var when at rest sq(0.5f) + velocityVarianceBigEnoughAfterOrientationInitialization(0.0001f); + + _sensor_simulator.runSeconds(1.f); + learningCorrectAccelBias(); +} + TEST_F(EkfInitializationTest, gyroBias) { // GIVEN: a healthy filter From 6d819343aad926d2a156b6e028c93dc79d5cba96 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 11:02:08 +0100 Subject: [PATCH 084/102] ekf2: fix direct state measurement update for suboptimal K case The duration of a unit test had to be increased because the incorrect covariance matrix update, was making the unit test passing faster (over-optimistic variance). --- src/modules/ekf2/EKF/ekf.h | 9 +++++++-- src/modules/ekf2/EKF/ekf_helper.cpp | 10 ++++++++-- src/modules/ekf2/test/test_EKF_initialization.cpp | 2 +- 3 files changed, 16 insertions(+), 5 deletions(-) diff --git a/src/modules/ekf2/EKF/ekf.h b/src/modules/ekf2/EKF/ekf.h index edffd17974d0..bc087558e9eb 100644 --- a/src/modules/ekf2/EKF/ekf.h +++ b/src/modules/ekf2/EKF/ekf.h @@ -485,9 +485,14 @@ class Ekf final : public EstimatorInterface #else // Efficient implementation of the Joseph stabilized covariance update // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" + // P = (I - K * H) * P * (I - K * H).T + K * R * K.T + // = P_temp * (I - H.T * K.T) + K * R * K.T + // = P_temp - P_temp * H.T * K.T + K * R * K.T // Step 1: conventional update - VectorState PH = P * H; + // Compute P_temp and store it in P to avoid allocating more memory + // P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major + VectorState PH = P * H; // H is stored as a column vector. H is in fact H.T for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j < State::size; j++) { @@ -496,7 +501,7 @@ class Ekf final : public EstimatorInterface } // Step 2: stabilized update - PH = P * H; + PH = P * H; // H is stored as a column vector. H is in fact H.T for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j <= i; j++) { diff --git a/src/modules/ekf2/EKF/ekf_helper.cpp b/src/modules/ekf2/EKF/ekf_helper.cpp index 032d35fb31a6..bb9e901f5760 100644 --- a/src/modules/ekf2/EKF/ekf_helper.cpp +++ b/src/modules/ekf2/EKF/ekf_helper.cpp @@ -865,18 +865,24 @@ bool Ekf::fuseDirectStateMeasurement(const float innov, const float innov_var, c #else // Efficient implementation of the Joseph stabilized covariance update // Based on "G. J. Bierman. Factorization Methods for Discrete Sequential Estimation. Academic Press, Dover Publications, New York, 1977, 2006" + // P = (I - K * H) * P * (I - K * H).T + K * R * K.T + // = P_temp * (I - H.T * K.T) + K * R * K.T + // = P_temp - P_temp * H.T * K.T + K * R * K.T // Step 1: conventional update + // Compute P_temp and store it in P to avoid allocating more memory + // P is symmetric, so PH == H.T * P.T == H.T * P. Taking the row is faster as matrices are row-major VectorState PH = P.row(state_index); for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j < State::size; j++) { - P(i, j) -= K(i) * PH(j); // P is now not symmetrical if K is not optimal (e.g.: some gains have been zeroed) + P(i, j) -= K(i) * PH(j); // P is now not symmetric if K is not optimal (e.g.: some gains have been zeroed) } } // Step 2: stabilized update - PH = P.row(state_index); + // P (or "P_temp") is not symmetric so we must take the column + PH = P.col(state_index); for (unsigned i = 0; i < State::size; i++) { for (unsigned j = 0; j <= i; j++) { diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp index eed210864176..142a4ea3ef73 100644 --- a/src/modules/ekf2/test/test_EKF_initialization.cpp +++ b/src/modules/ekf2/test/test_EKF_initialization.cpp @@ -346,7 +346,7 @@ TEST_F(EkfInitializationTest, initializeWithTiltNotAtRest) _ekf->set_vehicle_at_rest(false); _sensor_simulator.simulateOrientation(quat_sim); //_sensor_simulator.runSeconds(_init_tilt_period); - _sensor_simulator.runSeconds(7); + _sensor_simulator.runSeconds(10); EXPECT_TRUE(_ekf->control_status_flags().tilt_align); From 638e17d5518ead549aa667a9db18960d35177378 Mon Sep 17 00:00:00 2001 From: bresch Date: Wed, 20 Mar 2024 11:13:42 +0100 Subject: [PATCH 085/102] ekf: update change indicator --- .../test/change_indication/ekf_gsf_reset.csv | 754 +++++++++--------- .../ekf2/test/change_indication/iris_gps.csv | 666 ++++++++-------- 2 files changed, 710 insertions(+), 710 deletions(-) diff --git a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv index 93742373c006..17437ae7216c 100644 --- a/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv +++ b/src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv @@ -12,380 +12,380 @@ 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2024 13:43:47 +0100 Subject: [PATCH 086/102] mpc: fix PositionControl unit test The unit test assumes the position controller is in "decoupled" mode --- src/modules/mc_pos_control/PositionControl/PositionControl.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp index 7575409bbc78..85af876cd136 100644 --- a/src/modules/mc_pos_control/PositionControl/PositionControl.hpp +++ b/src/modules/mc_pos_control/PositionControl/PositionControl.hpp @@ -216,7 +216,7 @@ class PositionControl float _lim_tilt{}; ///< Maximum tilt from level the output attitude is allowed to have float _hover_thrust{}; ///< Thrust [HOVER_THRUST_MIN, HOVER_THRUST_MAX] with which the vehicle hovers not accelerating down or up with level orientation - bool _decouple_horizontal_and_vertical_acceleration{false}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint + bool _decouple_horizontal_and_vertical_acceleration{true}; ///< Ignore vertical acceleration setpoint to remove its effect on the tilt setpoint // States matrix::Vector3f _pos; /**< current position */ From 35532609c9f8b337372c57d12f12e24aa5634738 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 20 Mar 2024 11:10:37 -0400 Subject: [PATCH 087/102] mathlib: utilities refactor float to function template (for optional double precision usage) Co-authored-by: Mathieu Bresciani --- src/lib/mathlib/math/Utilities.hpp | 99 +++++++++++++++++------------- 1 file changed, 58 insertions(+), 41 deletions(-) diff --git a/src/lib/mathlib/math/Utilities.hpp b/src/lib/mathlib/math/Utilities.hpp index 9b8f7047c422..890346b9733c 100644 --- a/src/lib/mathlib/math/Utilities.hpp +++ b/src/lib/mathlib/math/Utilities.hpp @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (c) 2020-2022 PX4 Development Team. All rights reserved. + * Copyright (c) 2020-2024 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -51,17 +51,18 @@ static constexpr float sq(float var) { return var * var; } // rot312(1) - Second rotation is a RH rotation about the X axis (rad) // rot312(2) - Third rotation is a RH rotation about the Y axis (rad) // See http://www.atacolorado.com/eulersequences.doc -inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312) +template +inline matrix::Dcm taitBryan312ToRotMat(const matrix::Vector3 &rot312) { // Calculate the frame2 to frame 1 rotation matrix from a 312 Tait-Bryan rotation sequence - const float c2 = cosf(rot312(2)); // third rotation is pitch - const float s2 = sinf(rot312(2)); - const float s1 = sinf(rot312(1)); // second rotation is roll - const float c1 = cosf(rot312(1)); - const float s0 = sinf(rot312(0)); // first rotation is yaw - const float c0 = cosf(rot312(0)); - - matrix::Dcmf R; + const T c2 = cosf(rot312(2)); // third rotation is pitch + const T s2 = sinf(rot312(2)); + const T s1 = sinf(rot312(1)); // second rotation is roll + const T c1 = cosf(rot312(1)); + const T s0 = sinf(rot312(0)); // first rotation is yaw + const T c0 = cosf(rot312(0)); + + matrix::Dcm R; R(0, 0) = c0 * c2 - s0 * s1 * s2; R(1, 1) = c0 * c1; R(2, 2) = c2 * c1; @@ -75,20 +76,21 @@ inline matrix::Dcmf taitBryan312ToRotMat(const matrix::Vector3f &rot312) return R; } -inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat) +template +inline matrix::Dcm quatToInverseRotMat(const matrix::Quaternion &quat) { - const float q00 = quat(0) * quat(0); - const float q11 = quat(1) * quat(1); - const float q22 = quat(2) * quat(2); - const float q33 = quat(3) * quat(3); - const float q01 = quat(0) * quat(1); - const float q02 = quat(0) * quat(2); - const float q03 = quat(0) * quat(3); - const float q12 = quat(1) * quat(2); - const float q13 = quat(1) * quat(3); - const float q23 = quat(2) * quat(3); - - matrix::Dcmf dcm; + const T q00 = quat(0) * quat(0); + const T q11 = quat(1) * quat(1); + const T q22 = quat(2) * quat(2); + const T q33 = quat(3) * quat(3); + const T q01 = quat(0) * quat(1); + const T q02 = quat(0) * quat(2); + const T q03 = quat(0) * quat(3); + const T q12 = quat(1) * quat(2); + const T q13 = quat(1) * quat(3); + const T q23 = quat(2) * quat(3); + + matrix::Dcm dcm; dcm(0, 0) = q00 + q11 - q22 - q33; dcm(1, 1) = q00 - q11 + q22 - q33; dcm(2, 2) = q00 - q11 - q22 + q33; @@ -105,40 +107,46 @@ inline matrix::Dcmf quatToInverseRotMat(const matrix::Quatf &quat) // We should use a 3-2-1 Tait-Bryan (yaw-pitch-roll) rotation sequence // when there is more roll than pitch tilt and a 3-1-2 rotation sequence // when there is more pitch than roll tilt to avoid gimbal lock. -inline bool shouldUse321RotationSequence(const matrix::Dcmf &R) +template +inline bool shouldUse321RotationSequence(const matrix::Dcm &R) { return fabsf(R(2, 0)) < fabsf(R(2, 1)); } -inline float getEuler321Yaw(const matrix::Dcmf &R) +template +inline float getEuler321Yaw(const matrix::Dcm &R) { return atan2f(R(1, 0), R(0, 0)); } -inline float getEuler312Yaw(const matrix::Dcmf &R) +template +inline float getEuler312Yaw(const matrix::Dcm &R) { return atan2f(-R(0, 1), R(1, 1)); } -inline float getEuler321Yaw(const matrix::Quatf &q) +template +inline T getEuler321Yaw(const matrix::Quaternion &q) { // Values from yaw_input_321.c file produced by // https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw321.m - const float a = 2.f * (q(0) * q(3) + q(1) * q(2)); - const float b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3)); + const T a = static_cast(2.) * (q(0) * q(3) + q(1) * q(2)); + const T b = sq(q(0)) + sq(q(1)) - sq(q(2)) - sq(q(3)); return atan2f(a, b); } -inline float getEuler312Yaw(const matrix::Quatf &q) +template +inline T getEuler312Yaw(const matrix::Quaternion &q) { // Values from yaw_input_312.c file produced by // https://github.com/PX4/ecl/blob/master/matlab/scripts/Inertial%20Nav%20EKF/quat2yaw312.m - const float a = 2.f * (q(0) * q(3) - q(1) * q(2)); - const float b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3)); + const T a = static_cast(2.) * (q(0) * q(3) - q(1) * q(2)); + const T b = sq(q(0)) - sq(q(1)) + sq(q(2)) - sq(q(3)); return atan2f(a, b); } -inline float getEulerYaw(const matrix::Dcmf &R) +template +inline T getEulerYaw(const matrix::Dcm &R) { if (shouldUse321RotationSequence(R)) { return getEuler321Yaw(R); @@ -148,23 +156,32 @@ inline float getEulerYaw(const matrix::Dcmf &R) } } -inline matrix::Dcmf updateEuler321YawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline T getEulerYaw(const matrix::Quaternion &q) { - matrix::Eulerf euler321(rot_in); + return getEulerYaw(matrix::Dcm(q)); +} + +template +inline matrix::Dcm updateEuler321YawInRotMat(T yaw, const matrix::Dcm &rot_in) +{ + matrix::Euler euler321(rot_in); euler321(2) = yaw; - return matrix::Dcmf(euler321); + return matrix::Dcm(euler321); } -inline matrix::Dcmf updateEuler312YawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline matrix::Dcm updateEuler312YawInRotMat(T yaw, const matrix::Dcm &rot_in) { - const matrix::Vector3f rotVec312(yaw, // yaw - asinf(rot_in(2, 1)), // roll - atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch + const matrix::Vector3 rotVec312(yaw, // yaw + asinf(rot_in(2, 1)), // roll + atan2f(-rot_in(2, 0), rot_in(2, 2))); // pitch return taitBryan312ToRotMat(rotVec312); } // Checks which euler rotation sequence to use and update yaw in rotation matrix -inline matrix::Dcmf updateYawInRotMat(float yaw, const matrix::Dcmf &rot_in) +template +inline matrix::Dcm updateYawInRotMat(T yaw, const matrix::Dcm &rot_in) { if (shouldUse321RotationSequence(rot_in)) { return updateEuler321YawInRotMat(yaw, rot_in); From af16544809c4863a8f9417937320a3d5485f00b7 Mon Sep 17 00:00:00 2001 From: alexklimaj Date: Tue, 19 Mar 2024 12:26:31 -0600 Subject: [PATCH 088/102] boards: ark septentrio update flash size and enable ekf2 --- boards/ark/septentrio-gps/default.px4board | 1 + boards/ark/septentrio-gps/init/rc.board_defaults | 2 ++ boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig | 1 + boards/ark/septentrio-gps/nuttx-config/nsh/defconfig | 1 + .../septentrio-gps/nuttx-config/scripts/canbootloader_script.ld | 2 +- boards/ark/septentrio-gps/nuttx-config/scripts/script.ld | 2 +- 6 files changed, 7 insertions(+), 2 deletions(-) diff --git a/boards/ark/septentrio-gps/default.px4board b/boards/ark/septentrio-gps/default.px4board index 1480a0b4da05..b62a95d689d5 100644 --- a/boards/ark/septentrio-gps/default.px4board +++ b/boards/ark/septentrio-gps/default.px4board @@ -20,6 +20,7 @@ CONFIG_UAVCANNODE_RTK_DATA=y CONFIG_UAVCANNODE_SAFETY_BUTTON=y CONFIG_UAVCANNODE_STATIC_PRESSURE=y CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y +CONFIG_MODULES_EKF2=y CONFIG_MODULES_GYRO_CALIBRATION=y CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y CONFIG_MODULES_SENSORS=y diff --git a/boards/ark/septentrio-gps/init/rc.board_defaults b/boards/ark/septentrio-gps/init/rc.board_defaults index c50d81602629..0db1234ce96d 100644 --- a/boards/ark/septentrio-gps/init/rc.board_defaults +++ b/boards/ark/septentrio-gps/init/rc.board_defaults @@ -11,3 +11,5 @@ param set-default SENS_IMU_CLPNOTI 0 safety_button start tone_alarm start + +ekf2 start diff --git a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig index 6b3c2c951842..0208af2cac25 100644 --- a/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig +++ b/boards/ark/septentrio-gps/nuttx-config/canbootloader/defconfig @@ -50,6 +50,7 @@ CONFIG_STACK_COLORATION=y CONFIG_START_DAY=30 CONFIG_START_MONTH=11 CONFIG_STDIO_DISABLE_BUFFERING=y +CONFIG_STM32_FLASH_CONFIG_G=y CONFIG_STM32_NOEXT_VECTORS=y CONFIG_STM32_TIM8=y CONFIG_TASK_NAME_SIZE=0 diff --git a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig index 81007d30a44f..176ae3eccc5b 100644 --- a/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig +++ b/boards/ark/septentrio-gps/nuttx-config/nsh/defconfig @@ -123,6 +123,7 @@ CONFIG_STM32_ADC1=y CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y CONFIG_STM32_DMA1=y CONFIG_STM32_DMA2=y +CONFIG_STM32_FLASH_CONFIG_G=y CONFIG_STM32_FLASH_PREFETCH=y CONFIG_STM32_FLOWCONTROL_BROKEN=y CONFIG_STM32_I2C1=y diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld index cbf9fddc32dc..48a59fe92d0e 100644 --- a/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld +++ b/boards/ark/septentrio-gps/nuttx-config/scripts/canbootloader_script.ld @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and +/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and * 256Kb of SRAM. SRAM is split up into three blocks: * * 1) 112Kb of SRAM beginning at address 0x2000:0000 diff --git a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld index d8573d2bcdde..2f4769b8f5b4 100644 --- a/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld +++ b/boards/ark/septentrio-gps/nuttx-config/scripts/script.ld @@ -33,7 +33,7 @@ * ****************************************************************************/ -/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and +/* The STM32F412 has 1M of FLASH beginning at address 0x0800:0000 and * 256Kb of SRAM. SRAM is split up into three blocks: * * 1) 112Kb of SRAM beginning at address 0x2000:0000 From 34c19b2e5a39831373509d69c71b346d098b975d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 20 Mar 2024 12:35:34 -0400 Subject: [PATCH 089/102] boards/px4/fmu-v5x: default remove systemcmds/sd_stress to save flash --- boards/px4/fmu-v5x/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index e2b5833dfecb..4107d049e1d3 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -104,7 +104,6 @@ CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y CONFIG_SYSTEMCMDS_REFLECT=y CONFIG_SYSTEMCMDS_SD_BENCH=y -CONFIG_SYSTEMCMDS_SD_STRESS=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y From 710286da722beae72a488af52b6c1e603f68eea7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C3=98yvind=20Taksdal=20Stubhaug?= Date: Wed, 20 Mar 2024 17:38:47 +0100 Subject: [PATCH 090/102] uavcan: publish new can interface status as uorb topic (#22873) --- msg/CMakeLists.txt | 1 + msg/CanInterfaceStatus.msg | 6 +++++ src/drivers/uavcan/CMakeLists.txt | 1 + src/drivers/uavcan/uavcan_main.cpp | 35 ++++++++++++++++++++++++++++ src/drivers/uavcan/uavcan_main.hpp | 5 ++++ src/modules/logger/logged_topics.cpp | 1 + 6 files changed, 49 insertions(+) create mode 100644 msg/CanInterfaceStatus.msg diff --git a/msg/CMakeLists.txt b/msg/CMakeLists.txt index 3b1e2647e3c5..c53402bd0f35 100644 --- a/msg/CMakeLists.txt +++ b/msg/CMakeLists.txt @@ -58,6 +58,7 @@ set(msg_files CameraCapture.msg CameraStatus.msg CameraTrigger.msg + CanInterfaceStatus.msg CellularStatus.msg CollisionConstraints.msg CollisionReport.msg diff --git a/msg/CanInterfaceStatus.msg b/msg/CanInterfaceStatus.msg new file mode 100644 index 000000000000..4129c8d56386 --- /dev/null +++ b/msg/CanInterfaceStatus.msg @@ -0,0 +1,6 @@ +uint64 timestamp # time since system start (microseconds) +uint8 interface + +uint64 io_errors +uint64 frames_tx +uint64 frames_rx diff --git a/src/drivers/uavcan/CMakeLists.txt b/src/drivers/uavcan/CMakeLists.txt index 4146edab05b8..39a9bb3ff2ff 100644 --- a/src/drivers/uavcan/CMakeLists.txt +++ b/src/drivers/uavcan/CMakeLists.txt @@ -75,6 +75,7 @@ add_definitions( -DUAVCAN_${UAVCAN_DRIVER_UPPER}_${OS_UPPER}=1 -DUAVCAN_${UAVCAN_DRIVER_UPPER}_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_${UAVCAN_DRIVER_UPPER}_TIMER_NUMBER=${UAVCAN_TIMER} + -DUAVCAN_NUM_IFACES=${config_uavcan_num_ifaces} -DUAVCAN_CPP_VERSION=UAVCAN_CPP03 -DUAVCAN_DRIVER=uavcan_${UAVCAN_DRIVER} -DUAVCAN_IMPLEMENT_PLACEMENT_NEW=1 diff --git a/src/drivers/uavcan/uavcan_main.cpp b/src/drivers/uavcan/uavcan_main.cpp index 277b2526ddd4..fbdc534a9c30 100644 --- a/src/drivers/uavcan/uavcan_main.cpp +++ b/src/drivers/uavcan/uavcan_main.cpp @@ -744,6 +744,41 @@ UavcanNode::Run() _node.spinOnce(); // expected to be non-blocking + // Publish status + constexpr hrt_abstime status_pub_interval = 100_ms; + + if (hrt_absolute_time() - _last_can_status_pub >= status_pub_interval) { + _last_can_status_pub = hrt_absolute_time(); + + for (int i = 0; i < _node.getDispatcher().getCanIOManager().getCanDriver().getNumIfaces(); i++) { + if (i > UAVCAN_NUM_IFACES) { + break; + } + + auto iface = _node.getDispatcher().getCanIOManager().getCanDriver().getIface(i); + + if (!iface) { + continue; + } + + auto iface_perf_cnt = _node.getDispatcher().getCanIOManager().getIfacePerfCounters(i); + can_interface_status_s status{ + .timestamp = hrt_absolute_time(), + .io_errors = iface_perf_cnt.errors, + .frames_tx = iface_perf_cnt.frames_tx, + .frames_rx = iface_perf_cnt.frames_rx, + .interface = static_cast(i), + }; + + if (_can_status_pub_handles[i] == nullptr) { + int instance{0}; + _can_status_pub_handles[i] = orb_advertise_multi(ORB_ID(can_interface_status), nullptr, &instance); + } + + (void)orb_publish(ORB_ID(can_interface_status), _can_status_pub_handles[i], &status); + } + } + // check for parameter updates if (_parameter_update_sub.updated()) { // clear update diff --git a/src/drivers/uavcan/uavcan_main.hpp b/src/drivers/uavcan/uavcan_main.hpp index 54119259ef16..5afa04ef672e 100644 --- a/src/drivers/uavcan/uavcan_main.hpp +++ b/src/drivers/uavcan/uavcan_main.hpp @@ -96,6 +96,7 @@ #include #include #include +#include #include #include #include @@ -309,6 +310,10 @@ class UavcanNode : public px4::ScheduledWorkItem, public ModuleParams uORB::Publication _param_response_pub{ORB_ID(uavcan_parameter_value)}; uORB::Publication _command_ack_pub{ORB_ID(vehicle_command_ack)}; + uORB::PublicationMulti _can_status_pub{ORB_ID(can_interface_status)}; + + hrt_abstime _last_can_status_pub{0}; + orb_advert_t _can_status_pub_handles[UAVCAN_NUM_IFACES] = {nullptr}; /* * The MAVLink parameter bridge needs to know the maximum parameter index diff --git a/src/modules/logger/logged_topics.cpp b/src/modules/logger/logged_topics.cpp index 68b3d27b42fd..cd72d324a0c9 100644 --- a/src/modules/logger/logged_topics.cpp +++ b/src/modules/logger/logged_topics.cpp @@ -53,6 +53,7 @@ void LoggedTopics::add_default_topics() add_optional_topic("autotune_attitude_control_status", 100); add_optional_topic("camera_capture"); add_optional_topic("camera_trigger"); + add_optional_topic("can_interface_status", 10); add_topic("cellular_status", 200); add_topic("commander_state"); add_topic("config_overrides"); From 5f6dc1c5d09a117bdeb4bda715d934de316c39ad Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Thu, 21 Mar 2024 17:53:34 -0700 Subject: [PATCH 091/102] uORB: SubscriptionBlocking purged the broken attempt to set the mutex protocol in constructor --- .../common/uORB/SubscriptionBlocking.hpp | 25 ------------------- 1 file changed, 25 deletions(-) diff --git a/platforms/common/uORB/SubscriptionBlocking.hpp b/platforms/common/uORB/SubscriptionBlocking.hpp index 7ec29e329b6e..5c5580d855cb 100644 --- a/platforms/common/uORB/SubscriptionBlocking.hpp +++ b/platforms/common/uORB/SubscriptionBlocking.hpp @@ -56,31 +56,6 @@ class SubscriptionBlocking : public SubscriptionCallback SubscriptionBlocking(const orb_metadata *meta, uint32_t interval_us = 0, uint8_t instance = 0) : SubscriptionCallback(meta, interval_us, instance) { - // pthread_mutexattr_init - pthread_mutexattr_t attr; - int ret_attr_init = pthread_mutexattr_init(&attr); - - if (ret_attr_init != 0) { - PX4_ERR("pthread_mutexattr_init failed, status=%d", ret_attr_init); - } - -#if defined(PTHREAD_PRIO_NONE) - // pthread_mutexattr_settype - // PTHREAD_PRIO_NONE not available on cygwin - int ret_mutexattr_settype = pthread_mutexattr_settype(&attr, PTHREAD_PRIO_NONE); - - if (ret_mutexattr_settype != 0) { - PX4_ERR("pthread_mutexattr_settype failed, status=%d", ret_mutexattr_settype); - } - -#endif // PTHREAD_PRIO_NONE - - // pthread_mutex_init - int ret_mutex_init = pthread_mutex_init(&_mutex, &attr); - - if (ret_mutex_init != 0) { - PX4_ERR("pthread_mutex_init failed, status=%d", ret_mutex_init); - } } virtual ~SubscriptionBlocking() From 82a1aa37dbfb060406ed72f28e511786010c8f5f Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Thu, 21 Mar 2024 17:54:43 -0700 Subject: [PATCH 092/102] uORB: fix for uORB communicator, only send most recent data for new subscription (#22893) --- platforms/common/uORB/uORBDeviceNode.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/platforms/common/uORB/uORBDeviceNode.cpp b/platforms/common/uORB/uORBDeviceNode.cpp index e83b3f3e04e3..fd4ef60e63e0 100644 --- a/platforms/common/uORB/uORBDeviceNode.cpp +++ b/platforms/common/uORB/uORBDeviceNode.cpp @@ -412,7 +412,10 @@ int16_t uORB::DeviceNode::process_add_subscription() uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator(); if (_data != nullptr && ch != nullptr) { // _data will not be null if there is a publisher. - ch->send_message(_meta->o_name, _meta->o_size, _data); + // Only send the most recent data to initialize the remote end. + if (_data_valid) { + ch->send_message(_meta->o_name, _meta->o_size, _data + (_meta->o_size * ((_generation.load() - 1) % _meta->o_queue))); + } } return PX4_OK; From d0251b8688fd768727fe8c644ef2fabae168452c Mon Sep 17 00:00:00 2001 From: Thomas Frans <160142177+flyingthingsintothings@users.noreply.github.com> Date: Fri, 22 Mar 2024 01:56:20 +0100 Subject: [PATCH 093/102] add `.editorconfig` for consistent code style across editors (#22916) EditorConfig is a well-known convention to share style settings across different editors. Adding one will make it easier for new contributors or people who like to use a different editor to contribute. --- .editorconfig | 6 ++++++ 1 file changed, 6 insertions(+) create mode 100644 .editorconfig diff --git a/.editorconfig b/.editorconfig new file mode 100644 index 000000000000..87496c115e9e --- /dev/null +++ b/.editorconfig @@ -0,0 +1,6 @@ +root = true + +[*.{c,cpp,cc,h,hpp}] +indent_style = tab +tab_width = 8 +max_line_length = 120 From 2e12e14a23db3dc949c1004fc2290b4bcb05038d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Beat=20K=C3=BCng?= Date: Wed, 20 Mar 2024 08:47:02 +0100 Subject: [PATCH 094/102] boards/px4/fmu-v5x: remove sd_stress & reflect to reduce flash usage --- boards/px4/fmu-v5x/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index 4107d049e1d3..a4c2baf0dc37 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -102,7 +102,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y CONFIG_SYSTEMCMDS_PARAM=y CONFIG_SYSTEMCMDS_PERF=y CONFIG_SYSTEMCMDS_REBOOT=y -CONFIG_SYSTEMCMDS_REFLECT=y CONFIG_SYSTEMCMDS_SD_BENCH=y CONFIG_SYSTEMCMDS_SYSTEM_TIME=y CONFIG_SYSTEMCMDS_TOP=y From bb9f4d42f30a98e76542e31f767d9d9e34671ba9 Mon Sep 17 00:00:00 2001 From: Thomas Frans Date: Wed, 20 Mar 2024 10:30:37 +0100 Subject: [PATCH 095/102] gps: fix incorrect task id in module startup --- src/drivers/gps/gps.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index 4ed29a8c6e35..fcbd5a0c8384 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -1406,7 +1406,7 @@ int GPS::task_spawn(int argc, char *argv[], Instance instance) entry_point, (char *const *)argv); if (task_id < 0) { - task_id = -1; + _task_id = -1; return -errno; } From 69028f37a91b48add269ef699101922e52410446 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Thu, 21 Mar 2024 18:00:23 -0700 Subject: [PATCH 096/102] New platform independent Serial interface (#21723) --- boards/modalai/fc-v2/default.px4board | 2 +- boards/modalai/voxl2-slpi/default.px4board | 1 + platforms/common/CMakeLists.txt | 1 + platforms/common/Serial.cpp | 138 ++++++ .../include/px4_platform_common/Serial.hpp | 97 +++++ .../px4_platform_common/SerialCommon.hpp | 70 ++++ .../common/include/px4_platform_common/time.h | 13 +- platforms/nuttx/src/px4/common/SerialImpl.cpp | 394 ++++++++++++++++++ .../src/px4/common/include/SerialImpl.hpp | 104 +++++ .../nuttx/src/px4/common/px4_layer.cmake | 2 + .../src/px4/common/px4_protected_layers.cmake | 2 + platforms/posix/include/SerialImpl.hpp | 103 +++++ platforms/posix/src/px4/common/CMakeLists.txt | 2 + platforms/posix/src/px4/common/SerialImpl.cpp | 387 +++++++++++++++++ platforms/qurt/CMakeLists.txt | 1 - platforms/qurt/include/SerialImpl.hpp | 108 +++++ platforms/qurt/src/px4/CMakeLists.txt | 1 + platforms/qurt/src/px4/SerialImpl.cpp | 326 +++++++++++++++ platforms/qurt/src/px4/drv_hrt.cpp | 2 +- src/drivers/gps/gps.cpp | 325 +++++++-------- 20 files changed, 1902 insertions(+), 177 deletions(-) create mode 100644 platforms/common/Serial.cpp create mode 100644 platforms/common/include/px4_platform_common/Serial.hpp create mode 100644 platforms/common/include/px4_platform_common/SerialCommon.hpp create mode 100644 platforms/nuttx/src/px4/common/SerialImpl.cpp create mode 100644 platforms/nuttx/src/px4/common/include/SerialImpl.hpp create mode 100644 platforms/posix/include/SerialImpl.hpp create mode 100644 platforms/posix/src/px4/common/SerialImpl.cpp create mode 100644 platforms/qurt/include/SerialImpl.hpp create mode 100644 platforms/qurt/src/px4/SerialImpl.cpp diff --git a/boards/modalai/fc-v2/default.px4board b/boards/modalai/fc-v2/default.px4board index be01cfa93415..c4e7d3649597 100644 --- a/boards/modalai/fc-v2/default.px4board +++ b/boards/modalai/fc-v2/default.px4board @@ -60,7 +60,7 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODULES_RC_UPDATE=y CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y -CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y +# CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y CONFIG_MODULES_UXRCE_DDS_CLIENT=y CONFIG_MODULES_VTOL_ATT_CONTROL=y diff --git a/boards/modalai/voxl2-slpi/default.px4board b/boards/modalai/voxl2-slpi/default.px4board index 73e75dd7bcb0..b6ce6133fcdf 100644 --- a/boards/modalai/voxl2-slpi/default.px4board +++ b/boards/modalai/voxl2-slpi/default.px4board @@ -4,6 +4,7 @@ CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y +CONFIG_DRIVERS_GPS=y CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y diff --git a/platforms/common/CMakeLists.txt b/platforms/common/CMakeLists.txt index a0bafe7d59de..cb0721fe6911 100644 --- a/platforms/common/CMakeLists.txt +++ b/platforms/common/CMakeLists.txt @@ -52,6 +52,7 @@ add_library(px4_platform STATIC shutdown.cpp spi.cpp pab_manifest.c + Serial.cpp ${SRCS} ) target_link_libraries(px4_platform prebuild_targets px4_work_queue) diff --git a/platforms/common/Serial.cpp b/platforms/common/Serial.cpp new file mode 100644 index 000000000000..2f93a66a6ebf --- /dev/null +++ b/platforms/common/Serial.cpp @@ -0,0 +1,138 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include + +namespace device +{ + +Serial::Serial(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _impl(port, baudrate, bytesize, parity, stopbits, flowcontrol) +{ + // If no baudrate was specified then set it to a reasonable default value + if (baudrate == 0) { + (void) _impl.setBaudrate(9600); + } +} + +Serial::~Serial() +{ +} + +bool Serial::open() +{ + return _impl.open(); +} + +bool Serial::isOpen() const +{ + return _impl.isOpen(); +} + +bool Serial::close() +{ + return _impl.close(); +} + +ssize_t Serial::read(uint8_t *buffer, size_t buffer_size) +{ + return _impl.read(buffer, buffer_size); +} + +ssize_t Serial::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + return _impl.readAtLeast(buffer, buffer_size, character_count, timeout_us); +} + +ssize_t Serial::write(const void *buffer, size_t buffer_size) +{ + return _impl.write(buffer, buffer_size); +} + +uint32_t Serial::getBaudrate() const +{ + return _impl.getBaudrate(); +} + +bool Serial::setBaudrate(uint32_t baudrate) +{ + return _impl.setBaudrate(baudrate); +} + +ByteSize Serial::getBytesize() const +{ + return _impl.getBytesize(); +} + +bool Serial::setBytesize(ByteSize bytesize) +{ + return _impl.setBytesize(bytesize); +} + +Parity Serial::getParity() const +{ + return _impl.getParity(); +} + +bool Serial::setParity(Parity parity) +{ + return _impl.setParity(parity); +} + +StopBits Serial::getStopbits() const +{ + return _impl.getStopbits(); +} + +bool Serial::setStopbits(StopBits stopbits) +{ + return _impl.setStopbits(stopbits); +} + +FlowControl Serial::getFlowcontrol() const +{ + return _impl.getFlowcontrol(); +} + +bool Serial::setFlowcontrol(FlowControl flowcontrol) +{ + return _impl.setFlowcontrol(flowcontrol); +} + +const char *Serial::getPort() const +{ + return _impl.getPort(); +} + +} // namespace device diff --git a/platforms/common/include/px4_platform_common/Serial.hpp b/platforms/common/include/px4_platform_common/Serial.hpp new file mode 100644 index 000000000000..ce02b5ac6308 --- /dev/null +++ b/platforms/common/include/px4_platform_common/Serial.hpp @@ -0,0 +1,97 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device __EXPORT +{ + +class Serial +{ +public: + Serial(const char *port, uint32_t baudrate = 57600, + ByteSize bytesize = ByteSize::EightBits, Parity parity = Parity::None, + StopBits stopbits = StopBits::One, FlowControl flowcontrol = FlowControl::Disabled); + virtual ~Serial(); + + // Open sets up the port and gets it configured based on desired configuration + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + // If port is already open then the following configuration functions + // will reconfigure the port. If the port is not yet open then they will + // simply store the configuration in preparation for the port to be opened. + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + + const char *getPort() const; + +private: + // Disable copy constructors + Serial(const Serial &); + Serial &operator=(const Serial &); + + // platform implementation + SerialImpl _impl; +}; + +} // namespace device diff --git a/platforms/common/include/px4_platform_common/SerialCommon.hpp b/platforms/common/include/px4_platform_common/SerialCommon.hpp new file mode 100644 index 000000000000..bbe9be0ad9fe --- /dev/null +++ b/platforms/common/include/px4_platform_common/SerialCommon.hpp @@ -0,0 +1,70 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +namespace device +{ +namespace SerialConfig +{ + + +// ByteSize: number of data bits +enum class ByteSize { + FiveBits = 5, + SixBits = 6, + SevenBits = 7, + EightBits = 8, +}; + +// Parity: enable parity checking +enum class Parity { + None = 0, + Odd = 1, + Even = 2, +}; + +// StopBits: number of stop bits +enum class StopBits { + One = 1, + Two = 2 +}; + +// FlowControl: enable flow control +enum class FlowControl { + Disabled = 0, + Enabled = 1, +}; + +} // namespace SerialConfig +} // namespace device diff --git a/platforms/common/include/px4_platform_common/time.h b/platforms/common/include/px4_platform_common/time.h index 1b4d8a27560c..d61e23c75cfb 100644 --- a/platforms/common/include/px4_platform_common/time.h +++ b/platforms/common/include/px4_platform_common/time.h @@ -13,11 +13,21 @@ __END_DECLS #define px4_clock_gettime system_clock_gettime #endif -#if defined(ENABLE_LOCKSTEP_SCHEDULER) +#if defined(ENABLE_LOCKSTEP_SCHEDULER) || defined(__PX4_QURT) __BEGIN_DECLS __EXPORT int px4_clock_settime(clockid_t clk_id, const struct timespec *tp); +__END_DECLS + +#else + +#define px4_clock_settime system_clock_settime +#endif + +#if defined(ENABLE_LOCKSTEP_SCHEDULER) + +__BEGIN_DECLS __EXPORT int px4_usleep(useconds_t usec); __EXPORT unsigned int px4_sleep(unsigned int seconds); __EXPORT int px4_pthread_cond_timedwait(pthread_cond_t *cond, @@ -27,7 +37,6 @@ __END_DECLS #else -#define px4_clock_settime system_clock_settime #define px4_usleep system_usleep #define px4_sleep system_sleep #define px4_pthread_cond_timedwait system_pthread_cond_timedwait diff --git a/platforms/nuttx/src/px4/common/SerialImpl.cpp b/platforms/nuttx/src/px4/common/SerialImpl.cpp new file mode 100644 index 000000000000..7490dd604cc4 --- /dev/null +++ b/platforms/nuttx/src/px4/common/SerialImpl.cpp @@ -0,0 +1,394 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include // strncpy +#include +#include +#include +#include +#include +#include + +#define MODULE_NAME "SerialImpl" + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + return ((baudrate == 9600) || + (baudrate == 19200) || + (baudrate == 38400) || + (baudrate == 57600) || + (baudrate == 115200) || + (baudrate == 230400) || + (baudrate == 460800) || + (baudrate == 921600)); +} + +bool SerialImpl::configure() +{ + /* process baud rate */ + int speed; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("ERR: unknown baudrate: %lu", _baudrate); + return false; + } + + switch (_baudrate) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + +#ifndef B460800 +#define B460800 460800 +#endif + + case 460800: speed = B460800; break; + +#ifndef B921600 +#define B921600 921600 +#endif + + case 921600: speed = B921600; break; + + default: + PX4_ERR("ERR: unknown baudrate: %lu", _baudrate); + return false; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcgetattr)", termios_state); + return false; + } + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return false; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return false; + } + + if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + if (isOpen()) { + return true; + } + + // Open the serial port + int serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s err: %d", _port, errno); + return false; + } + + _serial_fd = serial_fd; + + // Configure the serial port + if (! configure()) { + PX4_ERR("failed to configure %s err: %d", _port, errno); + return false; + } + + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + + if (_serial_fd >= 0) { + ::close(_serial_fd); + } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret = ::read(_serial_fd, buffer, buffer_size); + + if (ret < 0) { + PX4_DEBUG("%s read error %d", _port, ret); + } + + return ret; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + int total_bytes_read = 0; + + while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) { + // Poll for incoming UART data. + pollfd fds[1]; + fds[0].fd = _serial_fd; + fds[0].events = POLLIN; + + hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us); + + if (remaining_time <= 0) { break; } + + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time); + + if (ret > 0) { + if (fds[0].revents & POLLIN) { + const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10); + + int err = 0; + int bytes_available = 0; + err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available); + + if (err != 0 || bytes_available < (int)character_count) { + px4_usleep(sleeptime); + } + + ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (ret > 0) { + total_bytes_read += ret; + } + + } else { + PX4_ERR("Got a poll error"); + return -1; + } + } + } + + return total_bytes_read; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int written = ::write(_serial_fd, buffer, buffer_size); + ::fsync(_serial_fd); + + if (written < 0) { + PX4_ERR("%s write error %d", _port, written); + } + + return written; +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("ERR: invalid baudrate: %lu", baudrate); + return false; + } + + // check if already configured + if ((baudrate == _baudrate) && _open) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return configure(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +} // namespace device diff --git a/platforms/nuttx/src/px4/common/include/SerialImpl.hpp b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp new file mode 100644 index 000000000000..58d41bf759c9 --- /dev/null +++ b/platforms/nuttx/src/px4/common/include/SerialImpl.hpp @@ -0,0 +1,104 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + const char *getPort() const; + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + bool configure(); + +}; + +} // namespace device diff --git a/platforms/nuttx/src/px4/common/px4_layer.cmake b/platforms/nuttx/src/px4/common/px4_layer.cmake index 69fd1a007da9..9199a9528997 100644 --- a/platforms/nuttx/src/px4/common/px4_layer.cmake +++ b/platforms/nuttx/src/px4/common/px4_layer.cmake @@ -3,6 +3,8 @@ add_library(px4_layer ${KERNEL_SRCS} cdc_acm_check.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_link_libraries(px4_layer diff --git a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake index 9c57b488b6d3..a1c6ebc39175 100644 --- a/platforms/nuttx/src/px4/common/px4_protected_layers.cmake +++ b/platforms/nuttx/src/px4/common/px4_protected_layers.cmake @@ -15,6 +15,8 @@ add_library(px4_layer usr_board_ctrl.c usr_hrt.cpp usr_mcu_version.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_link_libraries(px4_layer diff --git a/platforms/posix/include/SerialImpl.hpp b/platforms/posix/include/SerialImpl.hpp new file mode 100644 index 000000000000..efc95d7d517a --- /dev/null +++ b/platforms/posix/include/SerialImpl.hpp @@ -0,0 +1,103 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + const char *getPort() const; + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + bool configure(); +}; + +} // namespace device diff --git a/platforms/posix/src/px4/common/CMakeLists.txt b/platforms/posix/src/px4/common/CMakeLists.txt index 34b65cdf44aa..90d4a77992bb 100644 --- a/platforms/posix/src/px4/common/CMakeLists.txt +++ b/platforms/posix/src/px4/common/CMakeLists.txt @@ -46,6 +46,8 @@ add_library(px4_layer drv_hrt.cpp cpuload.cpp print_load.cpp + ${PX4_SOURCE_DIR}/platforms/common/Serial.cpp + SerialImpl.cpp ) target_compile_definitions(px4_layer PRIVATE MODULE_NAME="px4") target_compile_options(px4_layer PRIVATE -Wno-cast-align) # TODO: fix and enable diff --git a/platforms/posix/src/px4/common/SerialImpl.cpp b/platforms/posix/src/px4/common/SerialImpl.cpp new file mode 100644 index 000000000000..79e3422aedf2 --- /dev/null +++ b/platforms/posix/src/px4/common/SerialImpl.cpp @@ -0,0 +1,387 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include // strncpy +#include +#include +#include +#include +#include +#include + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + return ((baudrate == 9600) || + (baudrate == 19200) || + (baudrate == 38400) || + (baudrate == 57600) || + (baudrate == 115200) || + (baudrate == 230400) || + (baudrate == 460800) || + (baudrate == 921600)); +} + +bool SerialImpl::configure() +{ + /* process baud rate */ + int speed; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("ERR: unknown baudrate: %u", _baudrate); + return false; + } + + switch (_baudrate) { + case 9600: speed = B9600; break; + + case 19200: speed = B19200; break; + + case 38400: speed = B38400; break; + + case 57600: speed = B57600; break; + + case 115200: speed = B115200; break; + + case 230400: speed = B230400; break; + +#ifndef B460800 +#define B460800 460800 +#endif + + case 460800: speed = B460800; break; + +#ifndef B921600 +#define B921600 921600 +#endif + + case 921600: speed = B921600; break; + + default: + PX4_ERR("ERR: unknown baudrate: %d", _baudrate); + return false; + } + + struct termios uart_config; + + int termios_state; + + /* fill the struct for the new configuration */ + if ((termios_state = tcgetattr(_serial_fd, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcgetattr)", termios_state); + return false; + } + + /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ + + // + // Input flags - Turn off input processing + // + // convert break to null byte, no CR to NL translation, + // no NL to CR translation, don't mark parity errors or breaks + // no input parity check, don't strip high bit off, + // no XON/XOFF software flow control + // + uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | + INLCR | PARMRK | INPCK | ISTRIP | IXON); + + // + // Output flags - Turn off output processing + // + // no CR to NL translation, no NL to CR-NL translation, + // no NL to CR translation, no column 0 CR suppression, + // no Ctrl-D suppression, no fill characters, no case mapping, + // no local output processing + // + // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | + // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); + uart_config.c_oflag = 0; + + // + // No line processing + // + // echo off, echo newline off, canonical mode off, + // extended input processing off, signal chars off + // + uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); + + /* no parity, one stop bit, disable flow control */ + uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); + + /* set baud rate */ + if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetispeed)", termios_state); + return false; + } + + if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { + PX4_ERR("ERR: %d (cfsetospeed)", termios_state); + return false; + } + + if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { + PX4_ERR("ERR: %d (tcsetattr)", termios_state); + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + if (isOpen()) { + return true; + } + + // Open the serial port + int serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s err: %d", _port, errno); + return false; + } + + _serial_fd = serial_fd; + + // Configure the serial port + if (! configure()) { + PX4_ERR("failed to configure %s err: %d", _port, errno); + return false; + } + + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + + if (_serial_fd >= 0) { + ::close(_serial_fd); + } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret = ::read(_serial_fd, buffer, buffer_size); + + if (ret < 0) { + PX4_DEBUG("%s read error %d", _port, ret); + + } + + return ret; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + int total_bytes_read = 0; + + while ((total_bytes_read < (int) character_count) && (hrt_elapsed_time(&start_time_us) < timeout_us)) { + // Poll for incoming UART data. + pollfd fds[1]; + fds[0].fd = _serial_fd; + fds[0].events = POLLIN; + + hrt_abstime remaining_time = timeout_us - hrt_elapsed_time(&start_time_us); + + if (remaining_time <= 0) { break; } + + int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), remaining_time); + + if (ret > 0) { + if (fds[0].revents & POLLIN) { + const unsigned sleeptime = character_count * 1000000 / (_baudrate / 10); + px4_usleep(sleeptime); + + ret = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (ret > 0) { + total_bytes_read += ret; + } + + } else { + PX4_ERR("Got a poll error"); + return -1; + } + } + } + + return total_bytes_read; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int written = ::write(_serial_fd, buffer, buffer_size); + ::fsync(_serial_fd); + + if (written < 0) { + PX4_ERR("%s write error %d", _port, written); + + } + + return written; +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("ERR: invalid baudrate: %u", baudrate); + return false; + } + + // check if already configured + if ((baudrate == _baudrate) && _open) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return configure(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +} // namespace device diff --git a/platforms/qurt/CMakeLists.txt b/platforms/qurt/CMakeLists.txt index d85f3fcb7bff..0e9757a5d1a9 100644 --- a/platforms/qurt/CMakeLists.txt +++ b/platforms/qurt/CMakeLists.txt @@ -50,5 +50,4 @@ add_library(px4 SHARED target_link_libraries(px4 modules__muorb__slpi ${module_libraries} - px4_layer ) diff --git a/platforms/qurt/include/SerialImpl.hpp b/platforms/qurt/include/SerialImpl.hpp new file mode 100644 index 000000000000..1b98d3bb401b --- /dev/null +++ b/platforms/qurt/include/SerialImpl.hpp @@ -0,0 +1,108 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#pragma once + +#include + +#include + +using device::SerialConfig::ByteSize; +using device::SerialConfig::Parity; +using device::SerialConfig::StopBits; +using device::SerialConfig::FlowControl; + +namespace device +{ + +class SerialImpl +{ +public: + + SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol); + virtual ~SerialImpl(); + + bool open(); + bool isOpen() const; + + bool close(); + + ssize_t read(uint8_t *buffer, size_t buffer_size); + ssize_t readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count = 1, uint32_t timeout_us = 0); + + ssize_t write(const void *buffer, size_t buffer_size); + + const char *getPort() const; + bool setPort(const char *port); + + uint32_t getBaudrate() const; + bool setBaudrate(uint32_t baudrate); + + ByteSize getBytesize() const; + bool setBytesize(ByteSize bytesize); + + Parity getParity() const; + bool setParity(Parity parity); + + StopBits getStopbits() const; + bool setStopbits(StopBits stopbits); + + FlowControl getFlowcontrol() const; + bool setFlowcontrol(FlowControl flowcontrol); + +private: + + int _serial_fd{-1}; + + bool _open{false}; + + char _port[32] {}; + + uint32_t _baudrate{0}; + + ByteSize _bytesize{ByteSize::EightBits}; + Parity _parity{Parity::None}; + StopBits _stopbits{StopBits::One}; + FlowControl _flowcontrol{FlowControl::Disabled}; + + bool validateBaudrate(uint32_t baudrate); + + // Mutex used to lock the read functions + //pthread_mutex_t read_mutex; + + // Mutex used to lock the write functions + //pthread_mutex_t write_mutex; +}; + +} // namespace device diff --git a/platforms/qurt/src/px4/CMakeLists.txt b/platforms/qurt/src/px4/CMakeLists.txt index e685b8d42acf..8a25322755a9 100644 --- a/platforms/qurt/src/px4/CMakeLists.txt +++ b/platforms/qurt/src/px4/CMakeLists.txt @@ -38,6 +38,7 @@ set(QURT_LAYER_SRCS px4_qurt_impl.cpp main.cpp qurt_log.cpp + SerialImpl.cpp ) add_library(px4_layer diff --git a/platforms/qurt/src/px4/SerialImpl.cpp b/platforms/qurt/src/px4/SerialImpl.cpp new file mode 100644 index 000000000000..ec0fb73fce3a --- /dev/null +++ b/platforms/qurt/src/px4/SerialImpl.cpp @@ -0,0 +1,326 @@ +/**************************************************************************** + * + * Copyright (C) 2023 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +#include +#include // strncpy +#include +#include +#include + +namespace device +{ + +SerialImpl::SerialImpl(const char *port, uint32_t baudrate, ByteSize bytesize, Parity parity, StopBits stopbits, + FlowControl flowcontrol) : + _baudrate(baudrate), + _bytesize(bytesize), + _parity(parity), + _stopbits(stopbits), + _flowcontrol(flowcontrol) +{ + if (port) { + strncpy(_port, port, sizeof(_port) - 1); + _port[sizeof(_port) - 1] = '\0'; + + } else { + _port[0] = 0; + } +} + +SerialImpl::~SerialImpl() +{ + if (isOpen()) { + close(); + } +} + +bool SerialImpl::validateBaudrate(uint32_t baudrate) +{ + if ((baudrate != 9600) && + (baudrate != 38400) && + (baudrate != 57600) && + (baudrate != 115200) && + (baudrate != 230400) && + (baudrate != 250000) && + (baudrate != 420000) && + (baudrate != 460800) && + (baudrate != 921600) && + (baudrate != 1000000) && + (baudrate != 1843200) && + (baudrate != 2000000)) { + return false; + } + + return true; +} + +bool SerialImpl::open() +{ + // There's no harm in calling open multiple times on the same port. + // In fact, that's the only way to change the baudrate + + _open = false; + _serial_fd = -1; + + if (! validateBaudrate(_baudrate)) { + PX4_ERR("Invalid baudrate: %u", _baudrate); + return false; + } + + if (_bytesize != ByteSize::EightBits) { + PX4_ERR("Qurt platform only supports ByteSize::EightBits"); + return false; + } + + if (_parity != Parity::None) { + PX4_ERR("Qurt platform only supports Parity::None"); + return false; + } + + if (_stopbits != StopBits::One) { + PX4_ERR("Qurt platform only supports StopBits::One"); + return false; + } + + if (_flowcontrol != FlowControl::Disabled) { + PX4_ERR("Qurt platform only supports FlowControl::Disabled"); + return false; + } + + // qurt_uart_open will check validity of port and baudrate + int serial_fd = qurt_uart_open(_port, _baudrate); + + if (serial_fd < 0) { + PX4_ERR("failed to open %s, fd returned: %d", _port, serial_fd); + return false; + + } else { + PX4_INFO("Successfully opened UART %s with baudrate %u", _port, _baudrate); + } + + _serial_fd = serial_fd; + _open = true; + + return _open; +} + +bool SerialImpl::isOpen() const +{ + return _open; +} + +bool SerialImpl::close() +{ + // No close defined for qurt uart yet + // if (_serial_fd >= 0) { + // qurt_uart_close(_serial_fd); + // } + + _serial_fd = -1; + _open = false; + + return true; +} + +ssize_t SerialImpl::read(uint8_t *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot read from serial device until it has been opened"); + return -1; + } + + int ret_read = qurt_uart_read(_serial_fd, (char *) buffer, buffer_size, 500); + + if (ret_read < 0) { + PX4_DEBUG("%s read error %d", _port, ret_read); + + } + + return ret_read; +} + +ssize_t SerialImpl::readAtLeast(uint8_t *buffer, size_t buffer_size, size_t character_count, uint32_t timeout_us) +{ + if (!_open) { + PX4_ERR("Cannot readAtLeast from serial device until it has been opened"); + return -1; + } + + if (buffer_size < character_count) { + PX4_ERR("%s: Buffer not big enough to hold desired amount of read data", __FUNCTION__); + return -1; + } + + const hrt_abstime start_time_us = hrt_absolute_time(); + int total_bytes_read = 0; + + while (total_bytes_read < (int) character_count) { + + if (timeout_us > 0) { + const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us); + + if (elapsed_us >= timeout_us) { + // If there was a partial read but not enough to satisfy the minimum then they will be lost + // but this really should never happen when everything is working normally. + // PX4_WARN("%s timeout %d bytes read (%llu us elapsed)", __FUNCTION__, total_bytes_read, elapsed_us); + // Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)? + return total_bytes_read; + } + } + + int current_bytes_read = read(&buffer[total_bytes_read], buffer_size - total_bytes_read); + + if (current_bytes_read < 0) { + // Again, if there was a partial read but not enough to satisfy the minimum then they will be lost + // but this really should never happen when everything is working normally. + PX4_ERR("%s failed to read uart", __FUNCTION__); + // Or, instead of returning an error, should we return the number of bytes read (assuming it is greater than zero)? + return -1; + } + + // Current bytes read could be zero + total_bytes_read += current_bytes_read; + + // If we have at least reached our desired minimum number of characters + // then we can return now + if (total_bytes_read >= (int) character_count) { + return total_bytes_read; + } + + // Wait a set amount of time before trying again or the remaining time + // until the timeout if we are getting close + const uint64_t elapsed_us = hrt_elapsed_time(&start_time_us); + int64_t time_until_timeout = timeout_us - elapsed_us; + uint64_t time_to_sleep = 5000; + + if ((time_until_timeout >= 0) && + (time_until_timeout < (int64_t) time_to_sleep)) { + time_to_sleep = time_until_timeout; + } + + px4_usleep(time_to_sleep); + } + + return -1; +} + +ssize_t SerialImpl::write(const void *buffer, size_t buffer_size) +{ + if (!_open) { + PX4_ERR("Cannot write to serial device until it has been opened"); + return -1; + } + + int ret_write = qurt_uart_write(_serial_fd, (const char *) buffer, buffer_size); + + if (ret_write < 0) { + PX4_ERR("%s write error %d", _port, ret_write); + + } + + return ret_write; +} + +const char *SerialImpl::getPort() const +{ + return _port; +} + +uint32_t SerialImpl::getBaudrate() const +{ + return _baudrate; +} + +bool SerialImpl::setBaudrate(uint32_t baudrate) +{ + if (! validateBaudrate(baudrate)) { + PX4_ERR("Invalid baudrate: %u", baudrate); + return false; + } + + // check if already configured + if (baudrate == _baudrate) { + return true; + } + + _baudrate = baudrate; + + // process baud rate change now if port is already open + if (_open) { + return open(); + } + + return true; +} + +ByteSize SerialImpl::getBytesize() const +{ + return _bytesize; +} + +bool SerialImpl::setBytesize(ByteSize bytesize) +{ + return bytesize == ByteSize::EightBits; +} + +Parity SerialImpl::getParity() const +{ + return _parity; +} + +bool SerialImpl::setParity(Parity parity) +{ + return parity == Parity::None; +} + +StopBits SerialImpl::getStopbits() const +{ + return _stopbits; +} + +bool SerialImpl::setStopbits(StopBits stopbits) +{ + return stopbits == StopBits::One; +} + +FlowControl SerialImpl::getFlowcontrol() const +{ + return _flowcontrol; +} + +bool SerialImpl::setFlowcontrol(FlowControl flowcontrol) +{ + return flowcontrol == FlowControl::Disabled; +} + +} // namespace device diff --git a/platforms/qurt/src/px4/drv_hrt.cpp b/platforms/qurt/src/px4/drv_hrt.cpp index 8bb9546a01db..2ef152083249 100644 --- a/platforms/qurt/src/px4/drv_hrt.cpp +++ b/platforms/qurt/src/px4/drv_hrt.cpp @@ -81,7 +81,7 @@ static void hrt_unlock() px4_sem_post(&_hrt_lock); } -int px4_clock_settime(clockid_t clk_id, struct timespec *tp) +int px4_clock_settime(clockid_t clk_id, const struct timespec *tp) { return 0; } diff --git a/src/drivers/gps/gps.cpp b/src/drivers/gps/gps.cpp index fcbd5a0c8384..766be323d719 100644 --- a/src/drivers/gps/gps.cpp +++ b/src/drivers/gps/gps.cpp @@ -45,7 +45,6 @@ #include #endif -#include #include #include @@ -57,6 +56,8 @@ #include #include #include +#include +#include #include #include #include @@ -81,6 +82,7 @@ #include #endif /* __PX4_LINUX */ +using namespace device; using namespace time_literals; #define TIMEOUT_1HZ 1300 //!< Timeout time in mS, 1000 mS (1Hz) + 300 mS delta for error @@ -169,7 +171,10 @@ class GPS : public ModuleBase, public device::Device void reset_if_scheduled(); private: - int _serial_fd{-1}; ///< serial interface to GPS +#ifdef __PX4_LINUX + int _spi_fd {-1}; ///< SPI interface to GPS +#endif + Serial *_uart = nullptr; ///< UART interface to GPS unsigned _baudrate{0}; ///< current baudrate const unsigned _configured_baudrate{0}; ///< configured baudrate (0=auto-detect) char _port[20] {}; ///< device / serial port path @@ -329,8 +334,11 @@ GPS::GPS(const char *path, gps_driver_mode_t mode, GPSHelper::Interface interfac char c = _port[strlen(_port) - 1]; // last digit of path (eg /dev/ttyS2) set_device_bus(c - 48); // sub 48 to convert char to integer +#ifdef __PX4_LINUX + } else if (_interface == GPSHelper::Interface::SPI) { set_device_bus_type(device::Device::DeviceBusType::DeviceBusType_SPI); +#endif } if (_mode == gps_driver_mode_t::None) { @@ -403,10 +411,23 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) return num_read; } - case GPSCallbackType::writeDeviceData: - gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true); + case GPSCallbackType::writeDeviceData: { + gps->dumpGpsData((uint8_t *)data1, (size_t)data2, gps_dump_comm_mode_t::Full, true); + + int ret = 0; + + if (gps->_uart) { + ret = gps->_uart->write((void *) data1, (size_t) data2); + +#ifdef __PX4_LINUX + + } else if (gps->_spi_fd >= 0) { + ret = ::write(gps->_spi_fd, data1, (size_t)data2); +#endif + } - return ::write(gps->_serial_fd, data1, (size_t)data2); + return ret; + } case GPSCallbackType::setBaudrate: return gps->setBaudrate(data2); @@ -449,72 +470,64 @@ int GPS::callback(GPSCallbackType type, void *data1, int data2, void *user) int GPS::pollOrRead(uint8_t *buf, size_t buf_length, int timeout) { + int ret = 0; + const unsigned character_count = 32; // minimum bytes that we want to read + const int max_timeout = 50; + int timeout_adjusted = math::min(max_timeout, timeout); + handleInjectDataTopic(); -#if !defined(__PX4_QURT) + if ((_interface == GPSHelper::Interface::UART) && (_uart)) { + ret = _uart->readAtLeast(buf, buf_length, character_count, timeout_adjusted); - /* For non QURT, use the usual polling. */ +// SPI is only supported on LInux +#if defined(__PX4_LINUX) - //Poll only for the serial data. In the same thread we also need to handle orb messages, - //so ideally we would poll on both, the serial fd and orb subscription. Unfortunately the - //two pollings use different underlying mechanisms (at least under posix), which makes this - //impossible. Instead we limit the maximum polling interval and regularly check for new orb - //messages. - //FIXME: add a unified poll() API - const int max_timeout = 50; + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) { - pollfd fds[1]; - fds[0].fd = _serial_fd; - fds[0].events = POLLIN; - - int ret = poll(fds, sizeof(fds) / sizeof(fds[0]), math::min(max_timeout, timeout)); - - if (ret > 0) { - /* if we have new data from GPS, go handle it */ - if (fds[0].revents & POLLIN) { - /* - * We are here because poll says there is some data, so this - * won't block even on a blocking device. But don't read immediately - * by 1-2 bytes, wait for some more data to save expensive read() calls. - * If we have all requested data available, read it without waiting. - * If more bytes are available, we'll go back to poll() again. - */ - const unsigned character_count = 32; // minimum bytes that we want to read - unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate; - const unsigned sleeptime = character_count * 1000000 / (baudrate / 10); + //Poll only for the SPI data. In the same thread we also need to handle orb messages, + //so ideally we would poll on both, the SPI fd and orb subscription. Unfortunately the + //two pollings use different underlying mechanisms (at least under posix), which makes this + //impossible. Instead we limit the maximum polling interval and regularly check for new orb + //messages. + //FIXME: add a unified poll() API -#ifdef __PX4_NUTTX - int err = 0; - int bytes_available = 0; - err = ::ioctl(_serial_fd, FIONREAD, (unsigned long)&bytes_available); + pollfd fds[1]; + fds[0].fd = _spi_fd; + fds[0].events = POLLIN; + + ret = poll(fds, sizeof(fds) / sizeof(fds[0]), timeout_adjusted); + + if (ret > 0) { + /* if we have new data from GPS, go handle it */ + if (fds[0].revents & POLLIN) { + /* + * We are here because poll says there is some data, so this + * won't block even on a blocking device. But don't read immediately + * by 1-2 bytes, wait for some more data to save expensive read() calls. + * If we have all requested data available, read it without waiting. + * If more bytes are available, we'll go back to poll() again. + */ + unsigned baudrate = _baudrate == 0 ? 115200 : _baudrate; + const unsigned sleeptime = character_count * 1000000 / (baudrate / 10); - if (err != 0 || bytes_available < (int)character_count) { px4_usleep(sleeptime); - } -#else - px4_usleep(sleeptime); -#endif + ret = ::read(_spi_fd, buf, buf_length); - ret = ::read(_serial_fd, buf, buf_length); + if (ret > 0) { + _num_bytes_read += ret; + } - if (ret > 0) { - _num_bytes_read += ret; + } else { + ret = -1; } - - } else { - ret = -1; } + +#endif } return ret; - -#else - /* For QURT, just use read for now, since this doesn't block, we need to slow it down - * just a bit. */ - px4_usleep(10000); - return ::read(_serial_fd, buf, buf_length); -#endif } void GPS::handleInjectDataTopic() @@ -583,105 +596,38 @@ bool GPS::injectData(uint8_t *data, size_t len) { dumpGpsData(data, len, gps_dump_comm_mode_t::Full, true); - size_t written = ::write(_serial_fd, data, len); - ::fsync(_serial_fd); - return written == len; -} - -int GPS::setBaudrate(unsigned baud) -{ - /* process baud rate */ - int speed; - - switch (baud) { - case 9600: speed = B9600; break; - - case 19200: speed = B19200; break; - - case 38400: speed = B38400; break; - - case 57600: speed = B57600; break; - - case 115200: speed = B115200; break; - - case 230400: speed = B230400; break; + size_t written = 0; -#ifndef B460800 -#define B460800 460800 -#endif + if ((_interface == GPSHelper::Interface::UART) && (_uart)) { + written = _uart->write((const void *) data, len); - case 460800: speed = B460800; break; +#ifdef __PX4_LINUX -#ifndef B921600 -#define B921600 921600 + } else if (_interface == GPSHelper::Interface::SPI) { + written = ::write(_spi_fd, data, len); + ::fsync(_spi_fd); #endif - - case 921600: speed = B921600; break; - - default: - PX4_ERR("ERR: unknown baudrate: %d", baud); - return -EINVAL; } - struct termios uart_config; - - int termios_state; - - /* fill the struct for the new configuration */ - tcgetattr(_serial_fd, &uart_config); - - /* properly configure the terminal (see also https://en.wikibooks.org/wiki/Serial_Programming/termios ) */ - - // - // Input flags - Turn off input processing - // - // convert break to null byte, no CR to NL translation, - // no NL to CR translation, don't mark parity errors or breaks - // no input parity check, don't strip high bit off, - // no XON/XOFF software flow control - // - uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | - INLCR | PARMRK | INPCK | ISTRIP | IXON); - // - // Output flags - Turn off output processing - // - // no CR to NL translation, no NL to CR-NL translation, - // no NL to CR translation, no column 0 CR suppression, - // no Ctrl-D suppression, no fill characters, no case mapping, - // no local output processing - // - // config.c_oflag &= ~(OCRNL | ONLCR | ONLRET | - // ONOCR | ONOEOT| OFILL | OLCUC | OPOST); - uart_config.c_oflag = 0; - - // - // No line processing - // - // echo off, echo newline off, canonical mode off, - // extended input processing off, signal chars off - // - uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); - - /* no parity, one stop bit, disable flow control */ - uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); - - /* set baud rate */ - if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { - GPS_ERR("ERR: %d (cfsetispeed)", termios_state); - return -1; - } + return written == len; +} - if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { - GPS_ERR("ERR: %d (cfsetospeed)", termios_state); - return -1; - } +int GPS::setBaudrate(unsigned baud) +{ + if (_interface == GPSHelper::Interface::UART) { + if ((_uart) && (_uart->setBaudrate(baud))) { + return 0; + } + +#ifdef __PX4_LINUX - if ((termios_state = tcsetattr(_serial_fd, TCSANOW, &uart_config)) < 0) { - GPS_ERR("ERR: %d (tcsetattr)", termios_state); - return -1; + } else if (_interface == GPSHelper::Interface::SPI) { + // Can't set the baudrate on a SPI port but just return a success + return 0; +#endif } - return 0; + return -1; } void GPS::initializeCommunicationDump() @@ -840,31 +786,58 @@ GPS::run() _helper = nullptr; } - if (_serial_fd < 0) { - /* open the serial port */ - _serial_fd = ::open(_port, O_RDWR | O_NOCTTY); + if ((_interface == GPSHelper::Interface::UART) && (_uart == nullptr)) { + + // Create the UART port instance + _uart = new Serial(_port); + + if (_uart == nullptr) { + PX4_ERR("Error creating serial device %s", _port); + px4_sleep(1); + continue; + } + } + + if ((_interface == GPSHelper::Interface::UART) && (! _uart->isOpen())) { + // Configure the desired baudrate if one was specified by the user. + // Otherwise the default baudrate will be used. + if (_configured_baudrate) { + if (! _uart->setBaudrate(_configured_baudrate)) { + PX4_ERR("Error setting baudrate to %u on %s", _configured_baudrate, _port); + px4_sleep(1); + continue; + } + } - if (_serial_fd < 0) { - PX4_ERR("failed to open %s err: %d", _port, errno); + // Open the UART. If this is successful then the UART is ready to use. + if (! _uart->open()) { + PX4_ERR("Error opening serial device %s", _port); px4_sleep(1); continue; } #ifdef __PX4_LINUX - if (_interface == GPSHelper::Interface::SPI) { - int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi) - int status_value = ::ioctl(_serial_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd < 0)) { + _spi_fd = ::open(_port, O_RDWR | O_NOCTTY); - if (status_value < 0) { - PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno); - } + if (_spi_fd < 0) { + PX4_ERR("failed to open SPI port %s err: %d", _port, errno); + px4_sleep(1); + continue; + } - status_value = ::ioctl(_serial_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed); + int spi_speed = 1000000; // make sure the bus speed is not too high (required on RPi) + int status_value = ::ioctl(_spi_fd, SPI_IOC_WR_MAX_SPEED_HZ, &spi_speed); - if (status_value < 0) { - PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno); - } + if (status_value < 0) { + PX4_ERR("SPI_IOC_WR_MAX_SPEED_HZ failed for %s (%d)", _port, errno); + } + + status_value = ::ioctl(_spi_fd, SPI_IOC_RD_MAX_SPEED_HZ, &spi_speed); + + if (status_value < 0) { + PX4_ERR("SPI_IOC_RD_MAX_SPEED_HZ failed for %s (%d)", _port, errno); } #endif /* __PX4_LINUX */ @@ -1056,9 +1029,17 @@ GPS::run() } } - if (_serial_fd >= 0) { - ::close(_serial_fd); - _serial_fd = -1; + if ((_interface == GPSHelper::Interface::UART) && (_uart)) { + (void) _uart->close(); + delete _uart; + _uart = nullptr; + +#ifdef __PX4_LINUX + + } else if ((_interface == GPSHelper::Interface::SPI) && (_spi_fd >= 0)) { + ::close(_spi_fd); + _spi_fd = -1; +#endif } if (_mode_auto) { @@ -1477,12 +1458,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) break; case 'i': - if (!strcmp(myoptarg, "spi")) { - interface = GPSHelper::Interface::SPI; - - } else if (!strcmp(myoptarg, "uart")) { + if (!strcmp(myoptarg, "uart")) { interface = GPSHelper::Interface::UART; - +#ifdef __PX4_LINUX + } else if (!strcmp(myoptarg, "spi")) { + interface = GPSHelper::Interface::SPI; +#endif } else { PX4_ERR("unknown interface: %s", myoptarg); error_flag = true; @@ -1490,12 +1471,12 @@ GPS *GPS::instantiate(int argc, char *argv[], Instance instance) break; case 'j': - if (!strcmp(myoptarg, "spi")) { - interface_secondary = GPSHelper::Interface::SPI; - - } else if (!strcmp(myoptarg, "uart")) { + if (!strcmp(myoptarg, "uart")) { interface_secondary = GPSHelper::Interface::UART; - +#ifdef __PX4_LINUX + } else if (!strcmp(myoptarg, "spi")) { + interface_secondary = GPSHelper::Interface::SPI; +#endif } else { PX4_ERR("unknown interface for secondary: %s", myoptarg); error_flag = true; From c024ea396a6065e1281b82877b0b7ba5f94aa41d Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 22 Mar 2024 15:17:03 -0400 Subject: [PATCH 097/102] boards/px4/fmu-v5x: remove legacy rover_pos_control to reduce flash usage --- boards/px4/fmu-v5x/default.px4board | 1 - 1 file changed, 1 deletion(-) diff --git a/boards/px4/fmu-v5x/default.px4board b/boards/px4/fmu-v5x/default.px4board index a4c2baf0dc37..2bede96763c0 100644 --- a/boards/px4/fmu-v5x/default.px4board +++ b/boards/px4/fmu-v5x/default.px4board @@ -81,7 +81,6 @@ CONFIG_MODULES_NAVIGATOR=y CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y CONFIG_MODULES_PAYLOAD_DELIVERER=y CONFIG_MODULES_RC_UPDATE=y -CONFIG_MODULES_ROVER_POS_CONTROL=y CONFIG_MODULES_SENSORS=y CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y CONFIG_MODULES_TEMPERATURE_COMPENSATION=y From 4a553938fb6bc7a853b83d175544fff26b404f68 Mon Sep 17 00:00:00 2001 From: Eric Katzfey <53063038+katzfey@users.noreply.github.com> Date: Fri, 22 Mar 2024 12:24:51 -0700 Subject: [PATCH 098/102] VOXL2: HRT updates for synchronization with Qurt time (#22881) - Added offset to Posix hrt time to account for synchronization with Qurt hrt time - Added new Kconfig to configure synchronization of HRT timestamps on VOXL2 - Moved voxl2 libfc sensor library submodule from muorb module to boards directory - Added check to make sure hrt_elapsed_time can never be negative --- .gitmodules | 2 +- Tools/astyle/files_to_check_code_style.sh | 2 +- boards/modalai/voxl2/cmake/init.cmake | 34 +++++++++++++++++++ .../modalai/voxl2/cmake/link_libraries.cmake | 2 +- .../modalai/voxl2}/libfc-sensor-api | 0 boards/modalai/voxl2/scripts/build-deps.sh | 5 ++- platforms/posix/src/px4/common/drv_hrt.cpp | 29 ++++++++++++++++ src/drivers/drv_hrt.h | 11 +++++- src/modules/muorb/apps/CMakeLists.txt | 2 +- src/modules/muorb/apps/Kconfig | 8 +++++ 10 files changed, 87 insertions(+), 8 deletions(-) create mode 100644 boards/modalai/voxl2/cmake/init.cmake rename {src/modules/muorb/apps => boards/modalai/voxl2}/libfc-sensor-api (100%) diff --git a/.gitmodules b/.gitmodules index e91cf2b63a14..e443da19a290 100644 --- a/.gitmodules +++ b/.gitmodules @@ -81,5 +81,5 @@ url = https://github.com/PX4/PX4-gazebo-models.git branch = main [submodule "boards/modalai/voxl2/libfc-sensor-api"] - path = src/modules/muorb/apps/libfc-sensor-api + path = boards/modalai/voxl2/libfc-sensor-api url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git diff --git a/Tools/astyle/files_to_check_code_style.sh b/Tools/astyle/files_to_check_code_style.sh index e0cc5693edb3..734d6f5323d5 100755 --- a/Tools/astyle/files_to_check_code_style.sh +++ b/Tools/astyle/files_to_check_code_style.sh @@ -30,5 +30,5 @@ exec find boards msg src platforms test \ -path src/lib/cdrstream/cyclonedds -prune -o \ -path src/lib/cdrstream/rosidl -prune -o \ -path src/modules/zenoh/zenoh-pico -prune -o \ - -path src/modules/muorb/apps/libfc-sensor-api -prune -o \ + -path boards/modalai/voxl2/libfc-sensor-api -prune -o \ -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN diff --git a/boards/modalai/voxl2/cmake/init.cmake b/boards/modalai/voxl2/cmake/init.cmake new file mode 100644 index 000000000000..e5a4daad5f8b --- /dev/null +++ b/boards/modalai/voxl2/cmake/init.cmake @@ -0,0 +1,34 @@ +############################################################################ +# +# Copyright (c) 2024 ModalAI, Inc. All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# 1. Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# 2. Redistributions in binary form must reproduce the above copyright +# notice, this list of conditions and the following disclaimer in +# the documentation and/or other materials provided with the +# distribution. +# 3. Neither the name PX4 nor the names of its contributors may be +# used to endorse or promote products derived from this software +# without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS +# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED +# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. +# +############################################################################ + +include_directories(${PX4_BOARD_DIR}/libfc-sensor-api/inc) \ No newline at end of file diff --git a/boards/modalai/voxl2/cmake/link_libraries.cmake b/boards/modalai/voxl2/cmake/link_libraries.cmake index f250f52e211b..e0b09beb7038 100644 --- a/boards/modalai/voxl2/cmake/link_libraries.cmake +++ b/boards/modalai/voxl2/cmake/link_libraries.cmake @@ -1,7 +1,7 @@ # Link against the public stub version of the proprietary fc sensor library target_link_libraries(px4 PRIVATE - ${PX4_SOURCE_DIR}/src//modules/muorb/apps/libfc-sensor-api/build/libfc_sensor.so + ${PX4_BOARD_DIR}/libfc-sensor-api/build/libfc_sensor.so px4_layer ${module_libraries} ) diff --git a/src/modules/muorb/apps/libfc-sensor-api b/boards/modalai/voxl2/libfc-sensor-api similarity index 100% rename from src/modules/muorb/apps/libfc-sensor-api rename to boards/modalai/voxl2/libfc-sensor-api diff --git a/boards/modalai/voxl2/scripts/build-deps.sh b/boards/modalai/voxl2/scripts/build-deps.sh index b76cd0d7fa79..fe7f85486888 100755 --- a/boards/modalai/voxl2/scripts/build-deps.sh +++ b/boards/modalai/voxl2/scripts/build-deps.sh @@ -1,10 +1,9 @@ #!/bin/bash -cd src/modules/muorb/apps/libfc-sensor-api +cd boards/modalai/voxl2/libfc-sensor-api rm -fR build mkdir build cd build CC=/home/4.1.0.4/tools/linaro64/bin/aarch64-linux-gnu-gcc cmake .. make -cd ../../../../../.. - +cd ../../../../.. diff --git a/platforms/posix/src/px4/common/drv_hrt.cpp b/platforms/posix/src/px4/common/drv_hrt.cpp index 9634511bf3fc..b510229bc0cf 100644 --- a/platforms/posix/src/px4/common/drv_hrt.cpp +++ b/platforms/posix/src/px4/common/drv_hrt.cpp @@ -51,6 +51,11 @@ #include #include "hrt_work.h" +// Voxl2 board specific API definitions to get time offset +#if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) +#include "fc_sensor.h" +#endif + #if defined(ENABLE_LOCKSTEP_SCHEDULER) #include static LockstepScheduler lockstep_scheduler {true}; @@ -107,6 +112,29 @@ hrt_abstime hrt_absolute_time() #else // defined(ENABLE_LOCKSTEP_SCHEDULER) struct timespec ts; px4_clock_gettime(CLOCK_MONOTONIC, &ts); + +# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) + hrt_abstime temp_abstime = ts_to_abstime(&ts); + int apps_time_offset = fc_sensor_get_time_offset(); + + if (apps_time_offset < 0) { + hrt_abstime temp_offset = -apps_time_offset; + + if (temp_offset >= temp_abstime) { + temp_abstime = 0; + + } else { + temp_abstime -= temp_offset; + } + + } else { + temp_abstime += (hrt_abstime) apps_time_offset; + } + + ts.tv_sec = temp_abstime / 1000000; + ts.tv_nsec = (temp_abstime % 1000000) * 1000; +# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP) + return ts_to_abstime(&ts); #endif // defined(ENABLE_LOCKSTEP_SCHEDULER) } @@ -449,6 +477,7 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp) #endif // defined(ENABLE_LOCKSTEP_SCHEDULER) return system_clock_gettime(clk_id, tp); + } #if defined(ENABLE_LOCKSTEP_SCHEDULER) diff --git a/src/drivers/drv_hrt.h b/src/drivers/drv_hrt.h index 3e295abfc949..bb62da0189c3 100644 --- a/src/drivers/drv_hrt.h +++ b/src/drivers/drv_hrt.h @@ -162,7 +162,16 @@ static inline void abstime_to_ts(struct timespec *ts, hrt_abstime abstime) */ static inline hrt_abstime hrt_elapsed_time(const hrt_abstime *then) { - return hrt_absolute_time() - *then; + hrt_abstime now = hrt_absolute_time(); + + // Cannot allow a negative elapsed time as this would appear + // to be a huge positive elapsed time when represented as an + // unsigned value! + if (*then > now) { + return 0; + } + + return now - *then; } /** diff --git a/src/modules/muorb/apps/CMakeLists.txt b/src/modules/muorb/apps/CMakeLists.txt index 5a608bec5301..532ada62413b 100644 --- a/src/modules/muorb/apps/CMakeLists.txt +++ b/src/modules/muorb/apps/CMakeLists.txt @@ -39,7 +39,7 @@ px4_add_module( INCLUDES ../test ../aggregator - libfc-sensor-api/inc + ${PX4_BOARD_DIR}/libfc-sensor-api/inc SRCS uORBAppsProtobufChannel.cpp muorb_main.cpp diff --git a/src/modules/muorb/apps/Kconfig b/src/modules/muorb/apps/Kconfig index 21969d591d13..f0afac8b6204 100644 --- a/src/modules/muorb/apps/Kconfig +++ b/src/modules/muorb/apps/Kconfig @@ -4,3 +4,11 @@ menuconfig MODULES_MUORB_APPS depends on PLATFORM_POSIX ---help--- Enable support for muorb apps + + + config MUORB_APPS_SYNC_TIMESTAMP + bool "Sync timestamp with external processor" + depends on MODULES_MUORB_APPS + default y + help + causes HRT timestamp to use an externally calculated offset for synchronization From bcbae86b9f869414866238a939232c5771e0f695 Mon Sep 17 00:00:00 2001 From: Thomas Frans Date: Fri, 22 Mar 2024 14:53:49 +0100 Subject: [PATCH 099/102] code: add more style options in `.editorconfig` --- .editorconfig | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/.editorconfig b/.editorconfig index 87496c115e9e..50a87fd83923 100644 --- a/.editorconfig +++ b/.editorconfig @@ -1,6 +1,14 @@ root = true -[*.{c,cpp,cc,h,hpp}] +[*] +insert_final_newline = false + +[{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}] indent_style = tab tab_width = 8 +# Not in the official standard, but supported by many editors max_line_length = 120 + +[*.yaml] +indent_style = space +indent_size = 2 From 999a71c4ddc53080875272fcef2c2f0c184d2777 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 26 Feb 2024 11:38:48 +0100 Subject: [PATCH 100/102] px4io: don't output on disabled PWM pins Same logic as on the FMU PWM updateOutputs() in PWMOut.cpp --- src/drivers/px4io/px4io.cpp | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index bd6b5d1f3192..e98a9c837d55 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -364,6 +364,13 @@ PX4IO::~PX4IO() bool PX4IO::updateOutputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs, unsigned num_control_groups_updated) { + for (size_t i = 0; i < num_outputs; i++) { + if (!_mixing_output.isFunctionSet(i)) { + // do not run any signal on disabled channels + outputs[i] = 0; + } + } + if (!_test_fmu_fail) { /* output to the servos */ io_reg_set(PX4IO_PAGE_DIRECT_PWM, 0, outputs, num_outputs); From 1096384a38fa3c0bc5c991d6f7a9145bd8550f98 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Mon, 26 Feb 2024 12:00:55 +0100 Subject: [PATCH 101/102] px4iofirmware: don't switch to disarmed or failsafe value on disabled PWM outputs If the output is set to 0 then the FMU had this channel disabled/no function mapped to it. In that case we do not want to suddenly start outputing failsafe or disarmed signals. --- .../ark/fmu-v6x/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../extras/cubepilot_io-v2_default.bin | Bin 39920 -> 39928 bytes .../extras/cubepilot_io-v2_default.bin | Bin 39920 -> 39928 bytes .../durandal-v1/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../pix32v5/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../mro/x21-777/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes boards/mro/x21/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v2/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v3/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../fmu-v4pro/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v5/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v5x/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v6c/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes .../px4/fmu-v6x/extras/px4_io-v2_default.bin | Bin 40140 -> 40148 bytes src/modules/px4iofirmware/mixer.cpp | 12 ++++++++---- 15 files changed, 8 insertions(+), 4 deletions(-) diff --git a/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin b/boards/ark/fmu-v6x/extras/px4_io-v2_default.bin index 957f0f13a12e8eb8a7979955f29ad98d82433933..5a0796406fc11c3476448b5284c5c519cb6a711d 100755 GIT binary patch delta 2593 zcmYjT3se;675?u&hnKLfl+_Kg%L;Zh7N$~G)XxZuT{!un9jE@gGM=5B1&?gsI|B|9p|s$M8qO$RK{myw5up4=~W! z6eC_UQf`2O4@teC0Z;mPVKih@qdmy7!08uE%*Rt*Vu)KIT#-od(ez^(izQWp$~^wm zc&Zdy=nDH(kLQxc^joV^2&4z>rMA5e-v*7Tp)F#E?-5-?IqG*th%o7uLU<^7)+vN8 z2?Vo51aN_H#dY4OqJ@t=m1;^X-}kFvecHZxOxK6=CSC*K3!0p{1$NPMnc?71?`KBp zmb!ZTiRHCp3pzL&ly%nQOYGz;hM2C=@3ZV)SDX^K~;((DkZqqW%q z9#7DjIM0^|v^6^r$NlTb+QT57h*h(+1G(#!v zUs(k!Y3Zseh^GUqs%CzacDwCbzoK~O3mv!Qkycro;nmZ^9n~m%!F15-65n#0%)h~< zL)^xDM5uKU%bCX-riL~b1O@K2_TV&j;6%60%e~&hE!E`qws7^D#l72X+vxoQf3IJs z>xXu1F?1Di6%-1Cwr@_;m$h)U>}$1!+n8qPI{zY3uP-~f{}9{Iwx|`Nn4W}+xYicV zs8;rx%*FWZ{jMU;K14R_1(SMN>iDZJaVNH;(7HS=R#JFD91{_YEcGZt{qJ@6lj5d6 z2<7`+;w~3NdG|!HS!qkGKShV(-PTx1Ptfcw|LG+@NGZ703GMYbBXXo~KP-{Vfwm&< zt~9$*FZlT$!3y+{$Te574n^%?B0`}9%(GH!B;w~1=em-tYLiPWcFE2~tqB#D_Im0r zH0DMv3}b&LDU2|K2$v)#QtYvC$F6D^+Sd6{NHLUv@cRx6cT@XAZ-i|cD{E$} ztQtG89Wna$BJMlQ&0Z2RWueg?#>R3)Xr`N2`_D0=+c@TQIW1g+_KRL7IKcW6uW6-agfh0Y#^BqiSjmIL$4HHM`vTnIjE(1>x$Qo-2fet{eoS^`miU? 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Also when rebooting with a parameters reset or new airframe with no mapped outputs it would previously keep outputting PWM with the disarmed value of the new airframe e.g. 1000us which is a safety hazard because servos could break the physical limit of the model or miscalibrated ESCs spinning motors. --- src/lib/mixer_module/mixer_module.cpp | 5 ++++- src/lib/mixer_module/mixer_module.hpp | 1 + src/lib/mixer_module/mixer_module_tests.cpp | 8 ++++++-- 3 files changed, 11 insertions(+), 3 deletions(-) diff --git a/src/lib/mixer_module/mixer_module.cpp b/src/lib/mixer_module/mixer_module.cpp index dc5f791af22e..ee75bcf9fa0e 100644 --- a/src/lib/mixer_module/mixer_module.cpp +++ b/src/lib/mixer_module/mixer_module.cpp @@ -455,7 +455,8 @@ bool MixingOutput::update() } } - if (!all_disabled) { + // Send output if any function mapped or one last disabling sample + if (!all_disabled || !_was_all_disabled) { if (!_armed.armed && !_armed.manual_lockdown) { _actuator_test.overrideValues(outputs, _max_num_outputs); } @@ -463,6 +464,8 @@ bool MixingOutput::update() limitAndUpdateOutputs(outputs, has_updates); } + _was_all_disabled = all_disabled; + return true; } diff --git a/src/lib/mixer_module/mixer_module.hpp b/src/lib/mixer_module/mixer_module.hpp index c791feb10333..3deaa54aa42f 100644 --- a/src/lib/mixer_module/mixer_module.hpp +++ b/src/lib/mixer_module/mixer_module.hpp @@ -288,6 +288,7 @@ class MixingOutput : public ModuleParams hrt_abstime _lowrate_schedule_interval{300_ms}; ActuatorTest _actuator_test{_function_assignment}; uint32_t _reversible_mask{0}; ///< per-output bits. If set, the output is configured to be reversible (motors only) + bool _was_all_disabled{false}; uORB::SubscriptionCallbackWorkItem *_subscription_callback{nullptr}; ///< current scheduling callback diff --git a/src/lib/mixer_module/mixer_module_tests.cpp b/src/lib/mixer_module/mixer_module_tests.cpp index ef48f3e3f217..3901a1c85de9 100644 --- a/src/lib/mixer_module/mixer_module_tests.cpp +++ b/src/lib/mixer_module/mixer_module_tests.cpp @@ -191,11 +191,15 @@ TEST_F(MixerModuleTest, basic) mixing_output.setAllMaxValues(MAX_VALUE); EXPECT_EQ(test_module.num_updates, 0); - // all functions disabled: not expected to get an update + // all functions disabled: expect to get one single update to process disabling the output signal mixing_output.update(); mixing_output.updateSubscriptions(false); mixing_output.update(); - EXPECT_EQ(test_module.num_updates, 0); + EXPECT_EQ(test_module.num_updates, 1); + mixing_output.update(); + mixing_output.updateSubscriptions(false); + mixing_output.update(); + EXPECT_EQ(test_module.num_updates, 1); test_module.reset(); // configure motor, ensure all still disarmed