Merge pull request #447 from PX4/hil_usb_only

HIL and fixed wing fixes - gives perfect results in simulation

ROMFS/px4fmu_common/init.d/1000_rc_fw.hil

@@ -32,6 +32,7 @@ then
 	param set FW_T_SINK_MAX 5.0
 	param set FW_T_SINK_MIN 4.0
 	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
 
 	param set SYS_AUTOCONFIG 0
 	param save

ROMFS/px4fmu_common/init.d/100_mpx_easystar

@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on EasyStar"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
 
 	param set SYS_AUTOCONFIG 0
 	param save

ROMFS/px4fmu_common/init.d/101_hk_bixler

@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on HK Bixler"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 16
 
 	param set SYS_AUTOCONFIG 0
 	param save

ROMFS/px4fmu_common/init.d/31_io_phantom

@@ -8,7 +8,27 @@ echo "[init] PX4FMU v1, v2 with or without IO on Phantom FPV"
 if param compare SYS_AUTOCONFIG 1
 then
 	# Set all params here, then disable autoconfig
-	# TODO
+	param set FW_P_D 0
+	param set FW_P_I 0
+	param set FW_P_IMAX 15
+	param set FW_P_LIM_MAX 50
+	param set FW_P_LIM_MIN -50
+	param set FW_P_P 60
+	param set FW_P_RMAX_NEG 0
+	param set FW_P_RMAX_POS 0
+	param set FW_P_ROLLFF 1.1
+	param set FW_R_D 0
+	param set FW_R_I 5
+	param set FW_R_IMAX 20
+	param set FW_R_P 100
+	param set FW_R_RMAX 100
+	param set FW_THR_CRUISE 0.65
+	param set FW_THR_MAX 1
+	param set FW_THR_MIN 0
+	param set FW_T_SINK_MAX 5.0
+	param set FW_T_SINK_MIN 4.0
+	param set FW_Y_ROLLFF 1.1
+	param set FW_L1_PERIOD 17
 
 	param set SYS_AUTOCONFIG 0
 	param save

ROMFS/px4fmu_common/init.d/cmp_test

@@ -0,0 +1,9 @@
+#!nsh
+
+cp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
+if cmp /etc/extras/px4io-v2_default.bin /fs/microsd/px4io.loaded
+then
+	echo "CMP returned true"
+else
+	echo "CMP returned false"
+fi

makefiles/config_px4fmu-v2_default.mk

@@ -128,6 +128,9 @@ MODULES		+= lib/geo
 # https://pixhawk.ethz.ch/px4/dev/debug_values
 #MODULES		+= examples/px4_mavlink_debug
 
+# Hardware test
+MODULES			+= examples/hwtest
+
 #
 # Transitional support - add commands from the NuttX export archive.
 #

src/drivers/bma180/bma180.cpp

@@ -690,6 +690,7 @@ BMA180::measure()
 	 * measurement flow without using the external interrupt.
 	 */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = 0;
 	/*
 	 * y of board is x of sensor and x of board is -y of sensor
 	 * perform only the axis assignment here.

src/drivers/drv_accel.h

@@ -52,6 +52,7 @@
  */
 struct accel_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float x;		/**< acceleration in the NED X board axis in m/s^2 */
 	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
 	float z;		/**< acceleration in the NED Z board axis in m/s^2 */

src/drivers/drv_baro.h

@@ -55,6 +55,7 @@ struct baro_report {
 	float altitude;
 	float temperature;
 	uint64_t timestamp;
+	uint64_t error_count;
 };
 
 /*

src/drivers/drv_gyro.h

@@ -52,6 +52,7 @@
  */
 struct gyro_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float x;		/**< angular velocity in the NED X board axis in rad/s */
 	float y;		/**< angular velocity in the NED Y board axis in rad/s */
 	float z;		/**< angular velocity in the NED Z board axis in rad/s */

src/drivers/drv_mag.h

@@ -54,6 +54,7 @@
  */
 struct mag_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float x;
 	float y;
 	float z;

src/drivers/drv_range_finder.h

@@ -52,6 +52,7 @@
  */
 struct range_finder_report {
 	uint64_t timestamp;
+	uint64_t error_count;
 	float distance; 			/** in meters */
 	uint8_t valid;				/** 1 == within sensor range, 0 = outside sensor range */
 };

src/drivers/ets_airspeed/ets_airspeed.cpp

@@ -153,35 +153,36 @@ ETSAirspeed::collect()
 	ret = transfer(nullptr, 0, &val[0], 2);
 
 	if (ret < 0) {
-		log("error reading from sensor: %d", ret);
+		perf_count(_comms_errors);
 		return ret;
 	}
 
 	uint16_t diff_pres_pa = val[1] << 8 | val[0];
         if (diff_pres_pa == 0) {
-            // a zero value means the pressure sensor cannot give us a
-            // value. We need to return, and not report a value or the
-            // caller could end up using this value as part of an
-            // average
-            log("zero value from sensor"); 
-            return -1;
+		// a zero value means the pressure sensor cannot give us a
+		// value. We need to return, and not report a value or the
+		// caller could end up using this value as part of an
+		// average
+		perf_count(_comms_errors);
+		log("zero value from sensor"); 
+		return -1;
         }
 
 	if (diff_pres_pa < _diff_pres_offset + MIN_ACCURATE_DIFF_PRES_PA) {
 		diff_pres_pa = 0;
-
 	} else {
 		diff_pres_pa -= _diff_pres_offset;
 	}
 
 	// Track maximum differential pressure measured (so we can work out top speed).
 	if (diff_pres_pa > _max_differential_pressure_pa) {
-	    _max_differential_pressure_pa = diff_pres_pa;
+		_max_differential_pressure_pa = diff_pres_pa;
 	}
 
 	// XXX we may want to smooth out the readings to remove noise.
 	differential_pressure_s report;
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 	report.differential_pressure_pa = diff_pres_pa;
 	report.voltage = 0;
 	report.max_differential_pressure_pa = _max_differential_pressure_pa;
@@ -209,7 +210,7 @@ ETSAirspeed::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
+			perf_count(_comms_errors);
 			/* restart the measurement state machine */
 			start();
 			return;

src/drivers/hmc5883/hmc5883.cpp

@@ -791,6 +791,7 @@ HMC5883::collect()
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
 	new_report.timestamp = hrt_absolute_time();
+        new_report.error_count = perf_event_count(_comms_errors);
 
 	/*
 	 * @note  We could read the status register here, which could tell us that

src/drivers/l3gd20/l3gd20.cpp

@@ -771,6 +771,7 @@ L3GD20::measure()
 	 *		  74 from all measurements centers them around zero.
 	 */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = 0; // not recorded
 
 	switch (_orientation) {
 

src/drivers/lsm303d/lsm303d.cpp

@@ -1248,6 +1248,7 @@ LSM303D::measure()
 
 
 	accel_report.timestamp = hrt_absolute_time();
+        accel_report.error_count = 0; // not reported
 
 	accel_report.x_raw = raw_accel_report.x;
 	accel_report.y_raw = raw_accel_report.y;

src/drivers/mb12xx/mb12xx.cpp

@@ -490,6 +490,7 @@ MB12XX::collect()
 
 	/* this should be fairly close to the end of the measurement, so the best approximation of the time */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 	report.distance = si_units;
 	report.valid = si_units > get_minimum_distance() && si_units < get_maximum_distance() ? 1 : 0;
 

src/drivers/meas_airspeed/meas_airspeed.cpp

@@ -138,7 +138,6 @@ MEASAirspeed::measure()
 
 	if (OK != ret) {
 		perf_count(_comms_errors);
-		log("i2c::transfer returned %d", ret);
 		return ret;
 	}
 
@@ -161,7 +160,6 @@ MEASAirspeed::collect()
 	ret = transfer(nullptr, 0, &val[0], 4);
 
 	if (ret < 0) {
-		log("error reading from sensor: %d", ret);
                 perf_count(_comms_errors);
                 perf_end(_sample_perf);
 		return ret;
@@ -207,6 +205,7 @@ MEASAirspeed::collect()
 	}
 
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 	report.temperature = temperature;
 	report.differential_pressure_pa = diff_press_pa;
 	report.voltage = 0;
@@ -235,7 +234,6 @@ MEASAirspeed::cycle()
 
 		/* perform collection */
 		if (OK != collect()) {
-			log("collection error");
 			/* restart the measurement state machine */
 			start();
 			return;

src/drivers/mpu6000/mpu6000.cpp

@@ -1186,7 +1186,7 @@ MPU6000::measure()
 	 * Adjust and scale results to m/s^2.
 	 */
 	grb.timestamp = arb.timestamp = hrt_absolute_time();
-
+        grb.error_count = arb.error_count = 0; // not reported
 
 	/*
 	 * 1) Scale raw value to SI units using scaling from datasheet.

src/drivers/ms5611/ms5611.cpp

@@ -573,6 +573,7 @@ MS5611::collect()
 	struct baro_report report;
 	/* this should be fairly close to the end of the conversion, so the best approximation of the time */
 	report.timestamp = hrt_absolute_time();
+        report.error_count = perf_event_count(_comms_errors);
 
 	/* read the most recent measurement - read offset/size are hardcoded in the interface */
 	ret = _interface->read(0, (void *)&raw, 0);