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Swing integration #2085

Merged

gautierhattenberger merged 3 commits into master from swing-integration

Jul 11, 2017

Member

gautierhattenberger commented Jul 6, 2017

dedicated swing without mag
strip code before upload
read battery and baro from sysfs
read power button by hand and restart
needs to be plugged to enable telnet, can be disconnected after upload

factorize Parrot tools (based on Freek work)

At the moment, it is using a firmware provided by Parrot, we need to see if it works with the default official firmware.

gautierhattenberger added 2 commits

July 6, 2017 10:17


          [board] initial support for Swing

6b128d2

- dedicated swing without mag
- strip code before upload
- read battery and baro from sysfs
- read power button by hand and restart
- needs to be plugged to enable telnet, can be disconnected after upload


          [parrot] factorize Parrot tools

4b65a35

gautierhattenberger added Airborne Parrot Drones Rotorcraft labels

gautierhattenberger added this to the v5.12 milestone

gautierhattenberger requested review from dewagter and fvantienen

July 6, 2017 08:26

podhrmic requested changes

View reviewed changes

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podhrmic left a comment

Looks good, just minor issues with commented out code, see my comments.

conf/boards/swing.makefile Outdated

+              # -----------------------------------------------------------------------
+              # default LED configuration
+              RADIO_CONTROL_LED				?= none

Member

podhrmic Jul 7, 2017

identation

sw/airborne/boards/swing/actuators.c

+                pwm_delos_quadruplet m = {{ 1, 1, 1, 1 }};
+                int ret __attribute__((unused)) = ioctl(actuators_fd, PWM_DELOS_SET_SPEEDS, &m);
+              #if ACTUATORS_SWING_DEBUG

Member

podhrmic Jul 7, 2017

are the debug values still relevant? Assuming this code works as it should?

Member Author

gautierhattenberger Jul 10, 2017

this might still be useful in the future for people doing advance control to check everything is correct here

sw/airborne/boards/swing/actuators.c Outdated

+              #include <sys/ioctl.h>
+              #include <fcntl.h>
+              #define PWM_MAGIC 'p'

Member

podhrmic Jul 7, 2017

a more descriptive name would be useful

sw/airborne/boards/swing/board.c Outdated

+              #include <linux/input.h>
+              #include "subsystems/electrical.h"
+              #if 0

Member

podhrmic Jul 7, 2017

remove if not used

sw/airborne/boards/swing/board.c Outdated

+                  }
+                  // Wait 100ms
+                  usleep(100000);

Member

podhrmic Jul 7, 2017

make configurable ?

sw/airborne/boards/swing/board.c Outdated

+              static void *bat_read(void *data __attribute__((unused)))
+              {
+                FILE *fp;
+                char path[1035];

Member

podhrmic Jul 7, 2017

excessively large array?

sw/airborne/boards/swing/board.c Outdated

+              /**
+               * Battery reading thread
+               * TODO something better ?

Member

podhrmic Jul 7, 2017

is this working satisfactory as is? If yes, remove TODO comment, if not it should be improved.

sw/airborne/boards/swing/board.c Outdated

+                    printf("Stopping Paparazzi from power button and rebooting\n");
+                    usleep(1000);
+                    int ret __attribute__((unused));
+                    //ret = system("pstart delosd");

Member

podhrmic Jul 7, 2017

remove commented lines

sw/airborne/boards/swing/board.c Outdated

+                 * -  /usr/bin/dragon-prog
+                 *
+                 */
+                //stop_gracefull("delosd");

Member

podhrmic Jul 7, 2017

again, remove unused code

Member

podhrmic commented Jul 7, 2017

Also, I don't have a way to actually test it - so I am assuming you are taking care of that part:)


          [swing] addressing comments from pull request

39b2d0b

podhrmic approved these changes

View reviewed changes

gautierhattenberger merged commit c0836b4 into master

gautierhattenberger deleted the swing-integration branch

July 11, 2017 14:20

Contributor

TitusBraber commented Jul 28, 2017

Not entirely sure this is the right place @gautierhattenberger @podhrmic, I just pulled master and got a strange error upon uploading to an ARDrone2. Tracking back it seems something has changed here that causes the following error. It is possible that the error did not exist in the code for this pull request, but happened in 6d60a2c

I couldn't find a pull request for that commit. Note that I can 'upload', get this error, and start the gcs regardless. Thus I am not sure what is wrong exactly, it might just be an error in the output data.

The error:

#pragma message: Succesfully started "ap.elf" on Ardrone 2
======================== Ardrone 2 Status ========================
Parrot version: 2.4.8.0
Traceback (most recent call last):
File "/home/titus/test/paparazzi/sw/tools/parrot/ardrone2.py", line 345, in
ardrone2.parse_args()
File "/home/titus/test/paparazzi/sw/tools/parrot/parrot_utils.py", line 357, in parse_args
self.status()
File "/home/titus/test/paparazzi/sw/tools/parrot/parrot_utils.py", line 224, in status
self.uav_status()
File "/home/titus/test/paparazzi/sw/tools/parrot/ardrone2.py", line 59, in uav_status
self.read_from_config('static_ip_address_probe') + ' after boot)')
TypeError: cannot concatenate 'str' and 'NoneType' objects
/home/titus/test/paparazzi/conf/Makefile.ardrone2:32: recipe for target 'upload' failed
make[1]: *** [upload] Error 1
make[1]: Leaving directory '/home/titus/test/paparazzi/sw/airborne'
Makefile.ac:263: recipe for target 'ap.upload' failed
make: *** [ap.upload] Error 2
make: Leaving directory '/home/titus/test/paparazzi'

FAILED 'make -C /home/titus/test/paparazzi -f Makefile.ac AIRCRAFT=ARDrone2_opticflow ap.upload' with code 2

Member Author

gautierhattenberger commented Jul 28, 2017

Can you test the branch fix_ardrone_tool in the paparazzi repository ? It should fix the problem.

Contributor

TitusBraber commented Jul 31, 2017

Confirmed fix:

#pragma message: Succesfully started "ap.elf" on Ardrone 2
======================== Ardrone 2 Status ========================
Parrot version: 2.4.8.0
Host address: 192.168.1.1 (UnknownUnknown after boot)
Serial number: PS721800BJ4F039081
Network id: TUAR60
Motor software: 1.43 1.43 1.43 1.43
Motor hardware: 6.0 6.0 6.0 6.0
Currently running: Paparazzi (ap.elf)
Autorun at start: Not installed
Vision framework:

======================== Filesystem Status ========================
Filesystem Size Used Available Use% Mounted on
ubi1:system 26.3M 14.1M 10.9M 56% /
tmp 57.7M 640.0K 57.1M 1% /tmp
dev 57.7M 0 57.7M 0% /dev
ubi0:factory 4.8M 76.0K 4.5M 2% /factory
ubi2:update 13.2M 28.0K 12.5M 0% /update
ubi2:data 53.5M 5.9M 44.9M 12% /data
make[1]: Leaving directory '/home/titus/test/paparazzi/sw/airborne'
make: Leaving directory '/home/titus/test/paparazzi'

DONE 'make -C /home/titus/test/paparazzi -f Makefile.ac AIRCRAFT=ARDrone2_opticflow ap.upload'

Member Author

gautierhattenberger commented Jul 31, 2017

fixed with 407bc0d

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