static int
load(const char *devname, const char *fname)
{
// sleep a while to ensure device has been set up
usleep(20000);
int dev;
char buf[2048];
/* open the device */
if ((dev = px4_open(devname, 0)) < 0) {
warnx("can't open %s\n", devname);
return 1;
}
/* reset mixers on the device */
if (px4_ioctl(dev, MIXERIOCRESET, 0)) {
warnx("can't reset mixers on %s", devname);
return 1;
}
if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0) {
warnx("can't load mixer: %s", fname);
return 1;
}
/* XXX pass the buffer to the device */
int ret = px4_ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
if (ret < 0) {
warnx("error loading mixers from %s", fname);
return 1;
}
return 0;
}
bool MixerTest::load_mixer(const char *filename, unsigned expected_count, bool verbose)
{
char buf[2048];
load_mixer_file(filename, &buf[0], sizeof(buf));
unsigned loaded = strlen(buf);
if (verbose) {
PX4_INFO("loaded: \n\"%s\"\n (file: %s, %d chars)", &buf[0], filename, loaded);
}
// Test a number of chunk sizes
for (unsigned chunk_size = 6; chunk_size < PX4IO_MAX_TRANSFER_LEN + 1; chunk_size++) {
bool ret = load_mixer(filename, buf, loaded, expected_count, chunk_size, verbose);
if (!ret) {
PX4_ERR("Mixer load failed with chunk size %u", chunk_size);
return ret;
}
}
return true;
}
static void
load(const char *devname, const char *fname)
{
int dev;
char buf[2048];
/* open the device */
if ((dev = open(devname, 0)) < 0)
err(1, "can't open %s\n", devname);
/* reset mixers on the device */
if (ioctl(dev, MIXERIOCRESET, 0))
err(1, "can't reset mixers on %s", devname);
if (load_mixer_file(fname, &buf[0], sizeof(buf)) < 0)
err(1, "can't load mixer: %s", fname);
/* XXX pass the buffer to the device */
int ret = ioctl(dev, MIXERIOCLOADBUF, (unsigned long)buf);
if (ret < 0)
err(1, "error loading mixers from %s", fname);
exit(0);
}
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");
}
/*
setup mixer on PX4 so that if FMU dies the pilot gets manual control
*/
bool Plane::setup_failsafe_mixing(void)
{
// we create MIXER.MIX regardless of whether we will be using it,
// as it gives a template for the user to modify to create their
// own CUSTOM.MIX file
const char *mixer_filename = "/fs/microsd/APM/MIXER.MIX";
const char *custom_mixer_filename = "/fs/microsd/APM/CUSTOM.MIX";
bool ret = false;
char *buf = NULL;
const uint16_t buf_size = 2048;
if (!create_mixer_file(mixer_filename)) {
return false;
}
struct stat st;
const char *filename;
if (stat(custom_mixer_filename, &st) == 0) {
filename = custom_mixer_filename;
} else {
filename = mixer_filename;
}
enum AP_HAL::Util::safety_state old_state = hal.util->safety_switch_state();
struct pwm_output_values pwm_values = {.values = {0}, .channel_count = 8};
int px4io_fd = open("/dev/px4io", 0);
if (px4io_fd == -1) {
// px4io isn't started, no point in setting up a mixer
return false;
}
buf = (char *)malloc(buf_size);
if (buf == NULL) {
goto failed;
}
if (load_mixer_file(filename, &buf[0], buf_size) != 0) {
hal.console->printf("Unable to load %s\n", filename);
goto failed;
}
if (old_state == AP_HAL::Util::SAFETY_ARMED) {
// make sure the throttle has a non-zero failsafe value before we
// disable safety. This prevents sending zero PWM during switch over
hal.rcout->set_safety_pwm(1UL<<(rcmap.throttle()-1), channel_throttle->radio_min);
}
// we need to force safety on to allow us to load a mixer
hal.rcout->force_safety_on();
/* reset any existing mixer in px4io. This shouldn't be needed,
* but is good practice */
if (ioctl(px4io_fd, MIXERIOCRESET, 0) != 0) {
hal.console->printf("Unable to reset mixer\n");
goto failed;
}
/* pass the buffer to the device */
if (ioctl(px4io_fd, MIXERIOCLOADBUF, (unsigned long)buf) != 0) {
hal.console->printf("Unable to send mixer to IO\n");
goto failed;
}
// setup RC config for each channel based on user specified
// mix/max/trim. We only do the first 8 channels due to
// a RC config limitation in px4io.c limiting to PX4IO_RC_MAPPED_CONTROL_CHANNELS
for (uint8_t i=0; i<8; i++) {
RC_Channel *ch = RC_Channel::rc_channel(i);
if (ch == NULL) {
continue;
}
struct pwm_output_rc_config config;
/*
we use a min/max of 900/2100 to allow for pass-thru of
larger values than the RC min/max range. This mimics the APM
behaviour of pass-thru in manual, which allows for dual-rate
transmitter setups in manual mode to go beyond the ranges
used in stabilised modes
*/
config.channel = i;
config.rc_min = 900;
config.rc_max = 2100;
if (rcmap.throttle()-1 == i) {
// throttle uses a trim of 1500, so we don't get division
// by small numbers near RC3_MIN
config.rc_trim = 1500;
} else {
config.rc_trim = constrain_int16(ch->radio_trim, config.rc_min, config.rc_max);
}
config.rc_dz = 0; // zero for the purposes of manual takeover
config.rc_assignment = i;
// we set reverse as false, as users of ArduPilot will have
// input reversed on transmitter, so from the point of view of
// the mixer the input is never reversed. The one exception is
// the 2nd channel, which is reversed inside the PX4IO code,
// so needs to be unreversed here to give sane behaviour.
if (i == 1) {
config.rc_reverse = true;
} else {
config.rc_reverse = false;
}
if (ioctl(px4io_fd, PWM_SERVO_SET_RC_CONFIG, (unsigned long)&config) != 0) {
hal.console->printf("SET_RC_CONFIG failed\n");
goto failed;
}
}
for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
pwm_values.values[i] = 900;
}
ioctl(px4io_fd, PWM_SERVO_SET_MIN_PWM, (long unsigned int)&pwm_values);
for (uint8_t i = 0; i < pwm_values.channel_count; i++) {
pwm_values.values[i] = 2100;
}
ioctl(px4io_fd, PWM_SERVO_SET_MAX_PWM, (long unsigned int)&pwm_values);
ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_OK, 0);
// setup for immediate manual control if FMU dies
ioctl(px4io_fd, PWM_SERVO_SET_OVERRIDE_IMMEDIATE, 1);
ret = true;
failed:
if (buf != NULL) {
free(buf);
}
if (px4io_fd != -1) {
close(px4io_fd);
}
// restore safety state if it was previously armed
if (old_state == AP_HAL::Util::SAFETY_ARMED) {
hal.rcout->force_safety_off();
}
return ret;
}
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;
}
