Swing integration #2085
Swing integration #2085
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- 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
conf/boards/swing.makefile
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| # ----------------------------------------------------------------------- | ||
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| # default LED configuration | ||
| RADIO_CONTROL_LED ?= none |
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| pwm_delos_quadruplet m = {{ 1, 1, 1, 1 }}; | ||
| int ret __attribute__((unused)) = ioctl(actuators_fd, PWM_DELOS_SET_SPEEDS, &m); | ||
| #if ACTUATORS_SWING_DEBUG |
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are the debug values still relevant? Assuming this code works as it should?
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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
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| #include <sys/ioctl.h> | ||
| #include <fcntl.h> | ||
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| #define PWM_MAGIC 'p' |
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a more descriptive name would be useful
sw/airborne/boards/swing/board.c
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| #include <linux/input.h> | ||
| #include "subsystems/electrical.h" | ||
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| #if 0 |
sw/airborne/boards/swing/board.c
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| } | ||
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| // Wait 100ms | ||
| usleep(100000); |
sw/airborne/boards/swing/board.c
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| static void *bat_read(void *data __attribute__((unused))) | ||
| { | ||
| FILE *fp; | ||
| char path[1035]; |
sw/airborne/boards/swing/board.c
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| /** | ||
| * Battery reading thread | ||
| * TODO something better ? |
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is this working satisfactory as is? If yes, remove TODO comment, if not it should be improved.
sw/airborne/boards/swing/board.c
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| printf("Stopping Paparazzi from power button and rebooting\n"); | ||
| usleep(1000); | ||
| int ret __attribute__((unused)); | ||
| //ret = system("pstart delosd"); |
sw/airborne/boards/swing/board.c
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| * - /usr/bin/dragon-prog | ||
| * | ||
| */ | ||
| //stop_gracefull("delosd"); |
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Also, I don't have a way to actually test it - so I am assuming you are taking care of that part:) |
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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 FAILED 'make -C /home/titus/test/paparazzi -f Makefile.ac AIRCRAFT=ARDrone2_opticflow ap.upload' with code 2 |
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Can you test the branch |
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Confirmed fix: #pragma message: Succesfully started "ap.elf" on Ardrone 2 ======================== Filesystem Status ======================== DONE 'make -C /home/titus/test/paparazzi -f Makefile.ac AIRCRAFT=ARDrone2_opticflow ap.upload' |
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fixed with 407bc0d |
At the moment, it is using a firmware provided by Parrot, we need to see if it works with the default official firmware.