Proper mag rotation handling #1772

LorenzMeier · 2015-02-10T21:31:21Z

@DonLakeFlyer This finishes the multi-mag support properly, thanks for pointing out the earlier problems. Its not tested yet, so it'll need to wait until tomorrow morning.

LorenzMeier · 2015-02-14T10:56:38Z

@DonLakeFlyer If the CAL_MAG0_ROT param exists it should be used for the mag orientation. For now I don't want to expose MAG1 and MAG2, since it will confuse users and those are likely internal.

LorenzMeier · 2015-02-14T11:10:15Z

@DonLakeFlyer I think I worked this one out. I will reset the param CAL_MAG0_ROT to -1 as default if the mag is internal, and I will reset it if a GCS sets it. If its zero the mag is external. So please scan CAL_MAG0-2 and display a config pane for each one which is >= 0.

LorenzMeier · 2015-02-14T19:40:20Z

@bansiesta @thomasgubler Code review would be heavily appreciated. This is a housekeeping PR addressing a bunch of small nuisances: Functionality:

Allow to set a mag rotation for all connected mags
Copy the SENS_MAG_ROT param to CAL_MAG0_ROT if CAL_MAG0_ROT is zero
Set CAL_MAGX_ROT to -1 if the mag is internal to allow the GCS to hide the settings box for internal mags.
Drive by: Fix IO update when safety off circuit breaker is set
Drive by: More retries when booting RGB led

This is intensely bench tested, and I think it can be merged without requiring flight tests.

LorenzMeier · 2015-02-14T19:41:05Z

ROMFS/px4fmu_common/init.d/rcS

@@ -23,6 +23,7 @@ set TUNE_ERR ML<<CP4CP4CP4CP4CP4
 #
 # Try to mount the microSD card.
 #
+# REBOOTWORK this needs to start after the flight control loop


I plan to speed up in-air reboot, and these comments mark locations to be reviewed.

bansiesta · 2015-02-15T12:34:35Z

src/modules/sensors/sensors.cpp

@@ -1542,6 +1506,39 @@ Sensors::parameter_update_poll(bool forced)
 					(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);


Is setting failed bitwise intentional?

It was, but I do realize that it can look odd. I've changed to the more verbose logical or style, thanks!

LorenzMeier · 2015-02-15T15:25:16Z

@bansiesta Good for another pass. I introduced param_set_no_notification because the loop setting the parameter is also responding to param sets and is the only location this param is used. It means that notifying turns it into a perpetuum mobile as its calling itself constantly. Some more context:
https://groups.google.com/forum/#!topic/px4users/VecH3KXdudA

…annot be rotated as it is internal.

…tion.

…or is fixed to the autopilot assembly.

bansiesta · 2015-02-15T15:50:55Z

@LorenzMeier Ah ok thanks for the explanation. Now, how am I supposed to see your additional commits? This is just commit chaos now...

LorenzMeier · 2015-02-15T16:45:30Z

That commit chaos is called rebase :-). The last 5 commits are new, but it might be easier to just run through the diff.

bansiesta · 2015-02-15T17:56:53Z

Why are you rebasing now? Wouldn't it be better to rebase in the end before merging? Otherwise github gets confused (and so do I).

I want to see what you changed after the last review and I really don't want to review everything again.

LorenzMeier · 2015-02-15T18:51:35Z

There is no way to bring back the Github state, sorry. I can hold off from rebasing next time until its good to merge - since it sounds there will be no further comments, I'm merging this now.

LorenzMeier · 2015-02-15T18:52:29Z

Applied via rebase.

- mavlink in PX4/Firmware (df3fdaa): mavlink/mavlink@4b0558d - mavlink current upstream: mavlink/mavlink@79e9545 - Changes: mavlink/mavlink@4b0558d...79e9545 79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802) fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774) 2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772) a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800) 5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml 4ee1eebb 2022-02-15 Thomas-Li-AVSS - AVSS dialect version 2 (#1795) 51441f82 2022-02-16 Julian Oes - PREFLIGHT_STORAGE: use lowercase, don't shout (#1797) 4071353f 2022-02-16 Beat Küng - actuators.schema.json: add optional title and help url (#1798) b724aab5 2022-02-16 Hamish Willee - Reinstate MAV_PROTOCOL_CAPABILITY_PARAM_UNION

- mavlink in PX4/Firmware (6f90bd7): mavlink/mavlink@4b0558d - mavlink current upstream: mavlink/mavlink@b568a60 - Changes: mavlink/mavlink@4b0558d...b568a60 b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (#1805) b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (#1803) 79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802) fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774) 2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772) a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800) 5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml 4ee1eebb 2022-02-15 Thomas-Li-AVSS - AVSS dialect version 2 (#1795) 51441f82 2022-02-16 Julian Oes - PREFLIGHT_STORAGE: use lowercase, don't shout (#1797) 4071353f 2022-02-16 Beat Küng - actuators.schema.json: add optional title and help url (#1798) b724aab5 2022-02-16 Hamish Willee - Reinstate MAV_PROTOCOL_CAPABILITY_PARAM_UNION

- mavlink in PX4/Firmware (95358ae501e92687b00d2786bc8eadf28ff93930): mavlink/mavlink@4ee1eeb - mavlink current upstream: mavlink/mavlink@b568a60 - Changes: mavlink/mavlink@4ee1eeb...b568a60 b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (#1805) b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (#1803) 79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (#1802) fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (#1774) 2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (#1772) a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (#1800) 5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml

- mavlink in PX4/Firmware (95358ae501e92687b00d2786bc8eadf28ff93930): mavlink/mavlink@4ee1eeb - mavlink current upstream: mavlink/mavlink@b568a60 - Changes: mavlink/mavlink@4ee1eeb...b568a60 b568a60f 2022-02-24 Hamish Willee - Update pymavlink to latest (PX4#1805) b86834e0 2022-02-23 Hamish Willee - Component info - tidy descriptiosn (PX4#1803) 79e9545a 2022-02-23 Hamish Willee - Remove external dialect doc and improve dialect pages (PX4#1802) fd7ccfbe 2022-02-23 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_TERMINATION - improve linking to command (PX4#1774) 2b7de26c 2022-02-23 Hamish Willee - [Discuss.] MAV_PROTOCOL_CAPABILITY_FTP - supports FTP protocol not specific message (PX4#1772) a7541658 2022-02-18 Alessandro Ros - fix common.xml include in AVSSUAS (PX4#1800) 5b4482fe 2022-02-17 Hamish Willee - RFC 0016 - Mavlink Standard Modes - Add to development.xml

LorenzMeier force-pushed the magrot branch from 596e561 to ce8d1ca Compare February 10, 2015 22:34

LorenzMeier force-pushed the magrot branch from ce8d1ca to 5de5035 Compare February 14, 2015 11:11

LorenzMeier reviewed Feb 14, 2015
View reviewed changes

LorenzMeier force-pushed the magrot branch from 3dddcac to 1d371b1 Compare February 15, 2015 09:18

bansiesta reviewed Feb 15, 2015
View reviewed changes

LorenzMeier force-pushed the magrot branch 2 times, most recently from 863feb1 to e506a47 Compare February 15, 2015 14:34

LorenzMeier added 12 commits February 15, 2015 16:35

Proper mag rotation handling

97b05b9

sensors app: Use -1 in rotation parameter to indicate that a sensor c…

2fe8a7c

…annot be rotated as it is internal.

Sensor app: Formatting, documentation and cleanup

11e566f

Syslib: Add support for setting parameters without global notification

6caa3fe

PX4IO driver: better feedback

e80d5d2

Auto-update IO also when safety off

79dfe22

RGB led driver: More retries on boot

acf2cb4

sensors: Set up mag rotation parameters correctly

34bb69e

sdlog2: Be less verbose

307a36b

sensors: Update param name

01033b9

px4io driver: Clean up log / warn style

3ef9a36

Rsensors app: Programming style: rely on logical orr for failed evalu…

75c62b6

…tion.

LorenzMeier added 3 commits February 15, 2015 16:35

sensors app: Comment handling of old param values properly

02e0536

HMC5883: Always report as internal sensor in SPI mode, since the sens…

2e3cb7f

…or is fixed to the autopilot assembly.

LSM303D: Update comment why we report as internal always

93236dc

LorenzMeier force-pushed the magrot branch from a3ac3f3 to 93236dc Compare February 15, 2015 15:35

LorenzMeier closed this Feb 15, 2015

LorenzMeier deleted the magrot branch February 15, 2015 18:52

dagar mentioned this pull request Feb 26, 2022

Update submodule mavlink to latest Sat Feb 26 16:47:38 UTC 2022 #19263

Merged

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Proper mag rotation handling #1772

Proper mag rotation handling #1772

LorenzMeier commented Feb 10, 2015

LorenzMeier commented Feb 14, 2015

LorenzMeier commented Feb 14, 2015

LorenzMeier commented Feb 14, 2015

LorenzMeier Feb 14, 2015

bansiesta Feb 15, 2015

LorenzMeier Feb 15, 2015

LorenzMeier commented Feb 15, 2015

bansiesta commented Feb 15, 2015

LorenzMeier commented Feb 15, 2015

bansiesta commented Feb 15, 2015

LorenzMeier commented Feb 15, 2015

LorenzMeier commented Feb 15, 2015

		@@ -1542,6 +1506,39 @@ Sensors::parameter_update_poll(bool forced)
		(void)sprintf(str, "CAL_MAG%u_ZSCALE", i);

Proper mag rotation handling #1772

Proper mag rotation handling #1772

Conversation

LorenzMeier commented Feb 10, 2015

LorenzMeier commented Feb 14, 2015

LorenzMeier commented Feb 14, 2015

LorenzMeier commented Feb 14, 2015

LorenzMeier Feb 14, 2015

Choose a reason for hiding this comment

bansiesta Feb 15, 2015

Choose a reason for hiding this comment

LorenzMeier Feb 15, 2015

Choose a reason for hiding this comment

LorenzMeier commented Feb 15, 2015

bansiesta commented Feb 15, 2015

LorenzMeier commented Feb 15, 2015

bansiesta commented Feb 15, 2015

LorenzMeier commented Feb 15, 2015

LorenzMeier commented Feb 15, 2015