int test_mixer(int argc, char *argv[]) { warnx("testing mixer"); char *filename = "/etc/mixers/IO_pass.mix"; if (argc > 1) filename = argv[1]; warnx("loading: %s", filename); char buf[2048]; load_mixer_file(filename, &buf[0], sizeof(buf)); unsigned loaded = strlen(buf); warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); /* load the mixer in chunks, like * in the case of a remote load, * e.g. on PX4IO. */ unsigned nused = 0; const unsigned chunk_size = 64; MixerGroup mixer_group(mixer_callback, 0); /* load at once test */ unsigned xx = loaded; mixer_group.load_from_buf(&buf[0], xx); warnx("complete buffer load: loaded %u mixers", mixer_group.count()); if (mixer_group.count() != 8) return 1; unsigned empty_load = 2; char empty_buf[2]; empty_buf[0] = ' '; empty_buf[1] = '\0'; mixer_group.reset(); mixer_group.load_from_buf(&empty_buf[0], empty_load); warnx("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load); if (empty_load != 0) return 1; /* FIRST mark the mixer as invalid */ bool mixer_ok = false; /* THEN actually delete it */ mixer_group.reset(); char mixer_text[256]; /* large enough for one mixer */ unsigned mixer_text_length = 0; unsigned transmitted = 0; warnx("transmitted: %d, loaded: %d", transmitted, loaded); while (transmitted < loaded) { unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted; /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { bool mixer_ok = false; return 1; } /* append mixer text and nul-terminate */ memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length); mixer_text_length += text_length; mixer_text[mixer_text_length] = '\0'; warnx("buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]); /* process the text buffer, adding new mixers as their descriptions can be parsed */ unsigned resid = mixer_text_length; mixer_group.load_from_buf(&mixer_text[0], resid); /* if anything was parsed */ if (resid != mixer_text_length) { /* only set mixer ok if no residual is left over */ if (resid == 0) { mixer_ok = true; } else { /* not yet reached the end of the mixer, set as not ok */ mixer_ok = false; } warnx("used %u", mixer_text_length - resid); /* copy any leftover text to the base of the buffer for re-use */ if (resid > 0) memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); mixer_text_length = resid; } transmitted += text_length; } warnx("chunked load: loaded %u mixers", mixer_group.count()); if (mixer_group.count() != 8) return 1; /* execute the mixer */ float outputs[output_max]; unsigned mixed; const int jmax = 5; pwm_limit_init(&pwm_limit); should_arm = true; /* run through arming phase */ for (int i = 0; i < output_max; i++) { actuator_controls[i] = 0.1f; r_page_servo_disarmed[i] = PWM_LOWEST_MIN; r_page_servo_control_min[i] = PWM_DEFAULT_MIN; r_page_servo_control_max[i] = PWM_DEFAULT_MAX; } warnx("ARMING TEST: STARTING RAMP"); unsigned sleep_quantum_us = 10000; hrt_abstime starttime = hrt_absolute_time(); unsigned sleepcount = 0; while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US) { /* mix */ mixed = mixer_group.mix(&outputs[0], output_max); pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (int i = 0; i < mixed; i++) { /* check mixed outputs to be zero during init phase */ if (hrt_elapsed_time(&starttime) < INIT_TIME_US && r_page_servos[i] != r_page_servo_disarmed[i]) { warnx("disarmed servo value mismatch"); return 1; } if (hrt_elapsed_time(&starttime) >= INIT_TIME_US && r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) { warnx("ramp servo value mismatch"); return 1; } //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); } usleep(sleep_quantum_us); sleepcount++; if (sleepcount % 10 == 0) { printf("."); fflush(stdout); } } printf("\n"); warnx("ARMING TEST: NORMAL OPERATION"); for (int j = -jmax; j <= jmax; j++) { for (int i = 0; i < output_max; i++) { actuator_controls[i] = j/10.0f + 0.1f * i; r_page_servo_disarmed[i] = PWM_LOWEST_MIN; r_page_servo_control_min[i] = PWM_DEFAULT_MIN; r_page_servo_control_max[i] = PWM_DEFAULT_MAX; } /* mix */ mixed = mixer_group.mix(&outputs[0], output_max); pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); warnx("mixed %d outputs (max %d)", mixed, output_max); for (int i = 0; i < mixed; i++) { servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; if (fabsf(servo_predicted[i] - r_page_servos[i]) > 2) { printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]); warnx("mixer violated predicted value"); return 1; } } } warnx("ARMING TEST: DISARMING"); starttime = hrt_absolute_time(); sleepcount = 0; should_arm = false; while (hrt_elapsed_time(&starttime) < 600000) { /* mix */ mixed = mixer_group.mix(&outputs[0], output_max); pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (int i = 0; i < mixed; i++) { /* check mixed outputs to be zero during init phase */ if (r_page_servos[i] != r_page_servo_disarmed[i]) { warnx("disarmed servo value mismatch"); return 1; } //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); } usleep(sleep_quantum_us); sleepcount++; if (sleepcount % 10 == 0) { printf("."); fflush(stdout); } } printf("\n"); warnx("ARMING TEST: REARMING: STARTING RAMP"); starttime = hrt_absolute_time(); sleepcount = 0; should_arm = true; while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) { /* mix */ mixed = mixer_group.mix(&outputs[0], output_max); pwm_limit_calc(should_arm, mixed, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (int i = 0; i < mixed; i++) { /* predict value */ servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; /* check ramp */ if (hrt_elapsed_time(&starttime) < RAMP_TIME_US && (r_page_servos[i] + 1 <= r_page_servo_disarmed[i] || r_page_servos[i] > servo_predicted[i])) { warnx("ramp servo value mismatch"); return 1; } /* check post ramp phase */ if (hrt_elapsed_time(&starttime) > RAMP_TIME_US && fabsf(servo_predicted[i] - r_page_servos[i]) > 2) { printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, outputs[i], servo_predicted[i], (int)r_page_servos[i]); warnx("mixer violated predicted value"); return 1; } //printf("\t %d: %8.4f limited: %8.4f, servo: %d\n", i, outputs_unlimited[i], outputs[i], (int)r_page_servos[i]); } usleep(sleep_quantum_us); sleepcount++; if (sleepcount % 10 == 0) { printf("."); fflush(stdout); } } printf("\n"); /* load multirotor at once test */ mixer_group.reset(); if (argc > 2) filename = argv[2]; else filename = "/etc/mixers/FMU_quad_w.mix"; load_mixer_file(filename, &buf[0], sizeof(buf)); loaded = strlen(buf); warnx("loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); unsigned mc_loaded = loaded; mixer_group.load_from_buf(&buf[0], mc_loaded); warnx("complete buffer load: loaded %u mixers", mixer_group.count()); if (mixer_group.count() != 5) { warnx("FAIL: Quad W mixer load failed"); return 1; } warnx("SUCCESS: No errors in mixer test"); }
int test_mixer(int argc, char *argv[]) { /* * PWM limit structure */ pwm_limit_t pwm_limit; bool should_arm = false; uint16_t r_page_servo_disarmed[output_max]; uint16_t r_page_servo_control_min[output_max]; uint16_t r_page_servo_control_max[output_max]; uint16_t r_page_servos[output_max]; uint16_t servo_predicted[output_max]; int16_t reverse_pwm_mask = 0; //PX4_INFO("testing mixer"); #if !defined(CONFIG_ARCH_BOARD_SITL) const char *filename = "/etc/mixers/IO_pass.mix"; #else const char *filename = "ROMFS/px4fmu_test/mixers/IO_pass.mix"; #endif //PX4_INFO("loading: %s", filename); char buf[2048]; load_mixer_file(filename, &buf[0], sizeof(buf)); unsigned loaded = strlen(buf); //fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); /* load the mixer in chunks, like * in the case of a remote load, * e.g. on PX4IO. */ const unsigned chunk_size = 64; MixerGroup mixer_group(mixer_callback, 0); /* load at once test */ unsigned xx = loaded; mixer_group.load_from_buf(&buf[0], xx); //ASSERT_EQ(mixer_group.count(), 8); unsigned empty_load = 2; char empty_buf[2]; empty_buf[0] = ' '; empty_buf[1] = '\0'; mixer_group.reset(); mixer_group.load_from_buf(&empty_buf[0], empty_load); //PX4_INFO("empty buffer load: loaded %u mixers, used: %u", mixer_group.count(), empty_load); //ASSERT_NE(empty_load, 0); if (empty_load != 0) { return 1; } /* FIRST mark the mixer as invalid */ /* THEN actually delete it */ mixer_group.reset(); char mixer_text[256]; /* large enough for one mixer */ unsigned mixer_text_length = 0; unsigned transmitted = 0; //PX4_INFO("transmitted: %d, loaded: %d", transmitted, loaded); while (transmitted < loaded) { unsigned text_length = (loaded - transmitted > chunk_size) ? chunk_size : loaded - transmitted; /* check for overflow - this would be really fatal */ if ((mixer_text_length + text_length + 1) > sizeof(mixer_text)) { return 1; } /* append mixer text and nul-terminate */ memcpy(&mixer_text[mixer_text_length], &buf[transmitted], text_length); mixer_text_length += text_length; mixer_text[mixer_text_length] = '\0'; //fprintf(stderr, "buflen %u, text:\n\"%s\"", mixer_text_length, &mixer_text[0]); /* process the text buffer, adding new mixers as their descriptions can be parsed */ unsigned resid = mixer_text_length; mixer_group.load_from_buf(&mixer_text[0], resid); /* if anything was parsed */ if (resid != mixer_text_length) { //fprintf(stderr, "used %u", mixer_text_length - resid); /* copy any leftover text to the base of the buffer for re-use */ if (resid > 0) { memcpy(&mixer_text[0], &mixer_text[mixer_text_length - resid], resid); } mixer_text_length = resid; } transmitted += text_length; } //PX4_INFO("chunked load: loaded %u mixers", mixer_group.count()); if (mixer_group.count() != 8) { return 1; } /* execute the mixer */ float outputs[output_max]; unsigned mixed; const int jmax = 5; pwm_limit_init(&pwm_limit); /* run through arming phase */ for (unsigned i = 0; i < output_max; i++) { actuator_controls[i] = 0.1f; r_page_servo_disarmed[i] = PWM_MOTOR_OFF; r_page_servo_control_min[i] = PWM_DEFAULT_MIN; r_page_servo_control_max[i] = PWM_DEFAULT_MAX; } //PX4_INFO("PRE-ARM TEST: DISABLING SAFETY"); /* mix */ should_prearm = true; mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { //fprintf(stderr, "pre-arm:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]); if (i != actuator_controls_s::INDEX_THROTTLE) { if (r_page_servos[i] < r_page_servo_control_min[i]) { warnx("active servo < min"); return 1; } } else { if (r_page_servos[i] != r_page_servo_disarmed[i]) { warnx("throttle output != 0 (this check assumed the IO pass mixer!)"); return 1; } } } should_arm = true; should_prearm = false; /* simulate another orb_copy() from actuator controls */ for (unsigned i = 0; i < output_max; i++) { actuator_controls[i] = 0.1f; } //PX4_INFO("ARMING TEST: STARTING RAMP"); unsigned sleep_quantum_us = 10000; hrt_abstime starttime = hrt_absolute_time(); unsigned sleepcount = 0; while (hrt_elapsed_time(&starttime) < INIT_TIME_US + RAMP_TIME_US + 2 * sleep_quantum_us) { /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { //fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]); /* check mixed outputs to be zero during init phase */ if (hrt_elapsed_time(&starttime) < INIT_TIME_US && r_page_servos[i] != r_page_servo_disarmed[i]) { PX4_ERR("disarmed servo value mismatch: %d vs %d", r_page_servos[i], r_page_servo_disarmed[i]); return 1; } if (hrt_elapsed_time(&starttime) >= INIT_TIME_US && r_page_servos[i] + 1 <= r_page_servo_disarmed[i]) { PX4_ERR("ramp servo value mismatch"); return 1; } } usleep(sleep_quantum_us); sleepcount++; if (sleepcount % 10 == 0) { fflush(stdout); } } //PX4_INFO("ARMING TEST: NORMAL OPERATION"); for (int j = -jmax; j <= jmax; j++) { for (unsigned i = 0; i < output_max; i++) { actuator_controls[i] = j / 10.0f + 0.1f * i; r_page_servo_disarmed[i] = PWM_LOWEST_MIN; r_page_servo_control_min[i] = PWM_DEFAULT_MIN; r_page_servo_control_max[i] = PWM_DEFAULT_MAX; } /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //fprintf(stderr, "mixed %d outputs (max %d)", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; if (abs(servo_predicted[i] - r_page_servos[i]) > MIXER_DIFFERENCE_THRESHOLD) { fprintf(stderr, "\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); PX4_ERR("mixer violated predicted value"); return 1; } } } //PX4_INFO("ARMING TEST: DISARMING"); starttime = hrt_absolute_time(); sleepcount = 0; should_arm = false; while (hrt_elapsed_time(&starttime) < 600000) { /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { //fprintf(stderr, "disarmed:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]); /* check mixed outputs to be zero during init phase */ if (r_page_servos[i] != r_page_servo_disarmed[i]) { PX4_ERR("disarmed servo value mismatch"); return 1; } } usleep(sleep_quantum_us); sleepcount++; if (sleepcount % 10 == 0) { //printf("."); //fflush(stdout); } } //printf("\n"); //PX4_INFO("ARMING TEST: REARMING: STARTING RAMP"); starttime = hrt_absolute_time(); sleepcount = 0; should_arm = true; while (hrt_elapsed_time(&starttime) < 600000 + RAMP_TIME_US) { /* mix */ mixed = mixer_group.mix(&outputs[0], output_max, NULL); pwm_limit_calc(should_arm, should_prearm, mixed, reverse_pwm_mask, r_page_servo_disarmed, r_page_servo_control_min, r_page_servo_control_max, outputs, r_page_servos, &pwm_limit); //warnx("mixed %d outputs (max %d), values:", mixed, output_max); for (unsigned i = 0; i < mixed; i++) { /* predict value */ servo_predicted[i] = 1500 + outputs[i] * (r_page_servo_control_max[i] - r_page_servo_control_min[i]) / 2.0f; /* check ramp */ //fprintf(stderr, "ramp:\t %d: out: %8.4f, servo: %d \n", i, (double)outputs[i], (int)r_page_servos[i]); if (hrt_elapsed_time(&starttime) < RAMP_TIME_US && (r_page_servos[i] + 1 <= r_page_servo_disarmed[i] || r_page_servos[i] > servo_predicted[i])) { PX4_ERR("ramp servo value mismatch"); return 1; } /* check post ramp phase */ if (hrt_elapsed_time(&starttime) > RAMP_TIME_US && abs(servo_predicted[i] - r_page_servos[i]) > 2) { printf("\t %d: %8.4f predicted: %d, servo: %d\n", i, (double)outputs[i], servo_predicted[i], (int)r_page_servos[i]); PX4_ERR("mixer violated predicted value"); return 1; } } usleep(sleep_quantum_us); sleepcount++; if (sleepcount % 10 == 0) { // printf("."); // fflush(stdout); } } //printf("\n"); /* load multirotor at once test */ mixer_group.reset(); #if !defined(CONFIG_ARCH_BOARD_SITL) filename = "/etc/mixers/quad_test.mix"; #else filename = "ROMFS/px4fmu_test/mixers/quad_test.mix"; #endif load_mixer_file(filename, &buf[0], sizeof(buf)); loaded = strlen(buf); //fprintf(stderr, "loaded: \n\"%s\"\n (%d chars)", &buf[0], loaded); unsigned mc_loaded = loaded; mixer_group.load_from_buf(&buf[0], mc_loaded); //PX4_INFO("complete buffer load: loaded %u mixers", mixer_group.count()); if (mixer_group.count() != 5) { PX4_ERR("FAIL: Quad test mixer load failed"); return 1; } //PX4_INFO("SUCCESS: No errors in mixer test"); return 0; }