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Code Issues Releases Activity

Merge remote-tracking branch 'origin/Brian-Metadata-Mods' into next

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This commit is contained in:
James Cotton 2012-05-03 08:50:24 -05:00
commit 07a5d98020
64 changed files with 629 additions and 258 deletions
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2
flight/Modules/ManualControl/manualcontrol.c
View File

@ -197,7 +197,7 @@ static void manualControlTask(void *parameters)
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
ManualControlCommandGetMetadata(&metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetAccess(&metadata, ACCESS_READWRITE);
ManualControlCommandSetMetadata(&metadata);
}
}

56
flight/Modules/Telemetry/telemetry.c
View File

@ -73,7 +73,7 @@ static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static void registerObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj);
static void updateObject(UAVObjHandle obj, int32_t eventType);
static int32_t addObject(UAVObjHandle obj);
static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs);
static void processObjEvent(UAVObjEvent * ev);
@ -158,32 +158,34 @@ static void registerObject(UAVObjHandle obj)
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
updateObject(obj, EV_NONE);
}
/**
* Update object's queue connections and timer, depending on object's settings
* \param[in] obj Object to updates
*/
static void updateObject(UAVObjHandle obj)
static void updateObject(UAVObjHandle obj, int32_t eventType)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
int32_t eventMask;
// Get metadata
UAVObjGetMetadata(obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
// Setup object depending on update mode
if (metadata.telemetryUpdateMode == UPDATEMODE_PERIODIC) {
if (updateMode == UPDATEMODE_PERIODIC) {
// Set update period
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
// Connect queue
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_ONCHANGE) {
} else if (updateMode == UPDATEMODE_ONCHANGE) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
@ -192,7 +194,22 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_MANUAL) {
} else if (updateMode == UPDATEMODE_THROTTLED) {
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// If we received a periodic update, we can change back to update on change
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
// Set update period on initialization and metadata change
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.telemetryUpdatePeriod);
} else {
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
eventMask = EV_UPDATED_PERIODIC | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if (UAVObjIsMetaobject(obj)) {
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (updateMode == UPDATEMODE_MANUAL) {
// Set update period
setUpdatePeriod(obj, 0);
// Connect queue
@ -201,11 +218,6 @@ static void updateObject(UAVObjHandle obj)
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
UAVObjConnectQueue(obj, priorityQueue, eventMask);
} else if (metadata.telemetryUpdateMode == UPDATEMODE_NEVER) {
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect queue
UAVObjDisconnectQueue(obj, priorityQueue);
}
}
@ -215,6 +227,7 @@ static void updateObject(UAVObjHandle obj)
static void processObjEvent(UAVObjEvent * ev)
{
UAVObjMetadata metadata;
UAVObjUpdateMode updateMode;
FlightTelemetryStatsData flightStats;
int32_t retries;
int32_t success;
@ -226,16 +239,17 @@ static void processObjEvent(UAVObjEvent * ev)
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle()) {
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL) {
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, metadata.telemetryAcked, REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
@ -257,9 +271,13 @@ static void processObjEvent(UAVObjEvent * ev)
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj)); // linked object will be the actual object the metadata are for
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);
}
}
}
@ -376,7 +394,7 @@ static int32_t addObject(UAVObjHandle obj)
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueCreate(&ev, queue, 0);
}
@ -394,7 +412,7 @@ static int32_t setUpdatePeriod(UAVObjHandle obj, int32_t updatePeriodMs)
// Add object for periodic updates
ev.obj = obj;
ev.instId = UAVOBJ_ALL_INSTANCES;
ev.event = EV_UPDATED_MANUAL;
ev.event = EV_UPDATED_PERIODIC;
return EventPeriodicQueueUpdate(&ev, queue, updatePeriodMs);
}

24
flight/UAVObjects/eventdispatcher.c
View File

@ -59,7 +59,7 @@ typedef struct {
*/
struct PeriodicObjectListStruct {
EventCallbackInfo evInfo; /** Event callback information */
int32_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
uint16_t updatePeriodMs; /** Update period in ms or 0 if no periodic updates are needed */
int32_t timeToNextUpdateMs; /** Time delay to the next update */
struct PeriodicObjectListStruct* next; /** Needed by linked list library (utlist.h) */
};
@ -75,9 +75,9 @@ static EventStats stats;
// Private functions
static int32_t processPeriodicUpdates();
static void eventTask();
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs);
static uint32_t randomizePeriod(uint32_t periodMs);
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs);
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs);
static uint16_t randomizePeriod(uint16_t periodMs);
/**
@ -151,7 +151,7 @@ int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb)
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs)
{
return eventPeriodicCreate(ev, cb, 0, periodMs);
}
@ -163,7 +163,7 @@ int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs)
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs)
{
return eventPeriodicUpdate(ev, cb, 0, periodMs);
}
@ -175,7 +175,7 @@ int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs)
{
return eventPeriodicCreate(ev, 0, queue, periodMs);
}
@ -187,7 +187,7 @@ int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t pe
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs)
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs)
{
return eventPeriodicUpdate(ev, 0, queue, periodMs);
}
@ -200,7 +200,7 @@ int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t pe
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs)
{
PeriodicObjectList* objEntry;
// Get lock
@ -244,7 +244,7 @@ static int32_t eventPeriodicCreate(UAVObjEvent* ev, UAVObjEventCallback cb, xQue
* \param[in] periodMs The period the event is generated
* \return Success (0), failure (-1)
*/
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, int32_t periodMs)
static int32_t eventPeriodicUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, xQueueHandle queue, uint16_t periodMs)
{
PeriodicObjectList* objEntry;
// Get lock
@ -372,7 +372,7 @@ static int32_t processPeriodicUpdates()
* Based on the Park-Miller-Carta Pseudo-Random Number Generator
* http://www.firstpr.com.au/dsp/rand31/
*/
static uint32_t randomizePeriod(uint32_t periodMs)
static uint16_t randomizePeriod(uint16_t periodMs)
{
static uint32_t seed = 1;
uint32_t hi, lo;
@ -382,6 +382,6 @@ static uint32_t randomizePeriod(uint32_t periodMs)
lo += hi >> 15;
if (lo > 0x7FFFFFFF) lo -= 0x7FFFFFFF;
seed = lo;
return (uint32_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
return (uint16_t)( ((float)periodMs * (float)lo) / (float)0x7FFFFFFF );
}

8
flight/UAVObjects/inc/eventdispatcher.h
View File

@ -39,9 +39,9 @@ int32_t EventDispatcherInitialize();
void EventGetStats(EventStats* statsOut);
void EventClearStats();
int32_t EventCallbackDispatch(UAVObjEvent* ev, UAVObjEventCallback cb);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, int32_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, int32_t periodMs);
int32_t EventPeriodicCallbackCreate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs);
int32_t EventPeriodicCallbackUpdate(UAVObjEvent* ev, UAVObjEventCallback cb, uint16_t periodMs);
int32_t EventPeriodicQueueCreate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs);
int32_t EventPeriodicQueueUpdate(UAVObjEvent* ev, xQueueHandle queue, uint16_t periodMs);
#endif // EVENTDISPATCHER_H

69
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -35,6 +35,17 @@
#define UAVOBJ_ALL_INSTANCES 0xFFFF
#define UAVOBJ_MAX_INSTANCES 1000
/*
* Shifts and masks used to read/write metadata flags.
*/
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// FIXME: All this typedef for SDCARD needs to be abstracted away
#if !defined(PIOS_INCLUDE_SDCARD)
@ -50,42 +61,50 @@ typedef void* UAVObjHandle;
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_MANUAL = 2, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER = 3 /** Object is never updated */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
} UAVObjUpdateMode;
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
uint8_t access; /** Defines the access level for the local transactions (readonly and readwrite) */
uint8_t gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite), not used in the flight s/w */
uint8_t telemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t telemetryUpdateMode; /** Update mode used by the telemetry module (UAVObjUpdateMode) */
uint32_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint8_t gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
uint8_t gcsTelemetryUpdateMode; /** Update mode used by the GCS (UAVObjUpdateMode) */
uint32_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint8_t loggingUpdateMode; /** Update mode used by the logging module (UAVObjUpdateMode) */
uint32_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t telemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) UAVObjMetadata;
/**
* Event types generated by the objects.
*/
typedef enum {
EV_NONE = 0x00, /** No event */
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATED_PERIODIC = 0x08, /** Object update from periodic event */
EV_UPDATE_REQ = 0x10 /** Request to update object data */
} UAVObjEventType;
/**
* Helper macros for event masks
*/
#define EV_MASK_ALL 0
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL)
#define EV_MASK_ALL_UPDATES (EV_UNPACKED | EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATED_PERIODIC)
/**
* Access types
@ -162,10 +181,24 @@ int32_t UAVObjGetInstanceData(UAVObjHandle obj, uint16_t instId, void* dataOut);
int32_t UAVObjGetInstanceDataField(UAVObjHandle obj, uint16_t instId, void* dataOut, uint32_t offset, uint32_t size);
int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata* dataIn);
int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata* dataOut);
uint8_t UAVObjGetMetadataAccess(const UAVObjMetadata* dataOut);
void UAVObjMetadataInitialize(UAVObjMetadata* dataOut);
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* dataOut);
void UAVObjSetAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* dataOut);
void UAVObjSetGcsAccess(UAVObjMetadata* dataOut, UAVObjAccessType mode);
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryAcked( UAVObjMetadata* dataOut, uint8_t val);
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* dataOut);
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* dataOut, uint8_t val);
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* dataOut);
void UAVObjSetTelemetryGcsUpdateMode(UAVObjMetadata* dataOut, UAVObjUpdateMode val);
int8_t UAVObjReadOnly(UAVObjHandle obj);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, int32_t eventMask);
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue, uint8_t eventMask);
int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, int32_t eventMask);
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb, uint8_t eventMask);
int32_t UAVObjDisconnectCallback(UAVObjHandle obj, UAVObjEventCallback cb);
void UAVObjRequestUpdate(UAVObjHandle obj);
void UAVObjRequestInstanceUpdate(UAVObjHandle obj, uint16_t instId);

224
flight/UAVObjects/uavobjectmanager.c
View File

@ -37,13 +37,22 @@
// Private types
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
#define OLGetIsMetaobject(olp) ((olp)->flags & OL_IS_METAOBJECT)
#define OLSetIsMetaobject(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_METAOBJECT) : ((olp)->flags | OL_IS_METAOBJECT)))
#define OLGetIsSingleInstance(olp) ((olp)->flags & OL_IS_SINGLE_INSTANCE)
#define OLSetIsSingleInstance(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SINGLE_INSTANCE) : ((olp)->flags | OL_IS_SINGLE_INSTANCE)))
#define OLGetIsSettings(olp) ((olp)->flags & OL_IS_SETTINGS)
#define OLSetIsSettings(olp, val) ((olp)->flags = (((val) == 0) ? ((olp)->flags & ~OL_IS_SETTINGS) : ((olp)->flags | OL_IS_SETTINGS)))
/**
* List of event queues and the eventmask associated with the queue.
*/
struct ObjectEventListStruct {
xQueueHandle queue;
UAVObjEventCallback cb;
int32_t eventMask;
uint8_t eventMask;
struct ObjectEventListStruct *next;
};
typedef struct ObjectEventListStruct ObjectEventList;
@ -58,6 +67,12 @@ struct ObjectInstListStruct {
};
typedef struct ObjectInstListStruct ObjectInstList;
typedef enum {
OL_IS_METAOBJECT = 0x01, /** Set if this is a metaobject */
OL_IS_SINGLE_INSTANCE = 0x02, /** Set if this object has a single instance */
OL_IS_SETTINGS = 0x04 /** Set if this object is a settings object */
} ObjectListFlags;
/**
* List of objects registered in the object manager
*/
@ -66,12 +81,8 @@ struct ObjectListStruct {
/** The object ID */
const char *name;
/** The object name */
int8_t isMetaobject;
/** Set to 1 if this is a metaobject */
int8_t isSingleInstance;
/** Set to 1 if this object has a single instance */
int8_t isSettings;
/** Set to 1 if this object is a settings object */
ObjectListFlags flags;
/** The object list mode flags */
uint16_t numBytes;
/** Number of data bytes contained in the object (for a single instance) */
uint16_t numInstances;
@ -93,7 +104,7 @@ static int32_t sendEvent(ObjectList * obj, uint16_t instId,
static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId);
static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId);
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask);
UAVObjEventCallback cb, uint8_t eventMask);
static int32_t disconnectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb);
@ -125,16 +136,7 @@ int32_t UAVObjInitialize()
return -1;
// Initialize default metadata structure (metadata of metaobjects)
defMetadata.access = ACCESS_READWRITE;
defMetadata.gcsAccess = ACCESS_READWRITE;
defMetadata.telemetryAcked = 1;
defMetadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.telemetryUpdatePeriod = 0;
defMetadata.gcsTelemetryAcked = 1;
defMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.gcsTelemetryUpdatePeriod = 0;
defMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
defMetadata.loggingUpdatePeriod = 0;
UAVObjMetadataInitialize(&defMetadata);
// Done
return 0;
@ -204,9 +206,9 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
}
objEntry->id = id;
objEntry->name = name;
objEntry->isMetaobject = (int8_t) isMetaobject;
objEntry->isSingleInstance = (int8_t) isSingleInstance;
objEntry->isSettings = (int8_t) isSettings;
OLSetIsMetaobject(objEntry, isMetaobject);
OLSetIsSingleInstance(objEntry, isSingleInstance);
OLSetIsSettings(objEntry, isSettings);
objEntry->numBytes = numBytes;
objEntry->events = NULL;
objEntry->numInstances = 0;
@ -243,11 +245,11 @@ UAVObjHandle UAVObjRegister(uint32_t id, const char *name,
initCb((UAVObjHandle) objEntry, 0);
}
// Attempt to load object's metadata from the SD card (not done directly on the metaobject, but through the object)
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry->linkedObj, 0);
}
// If this is a settings object, attempt to load from SD card
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
UAVObjLoad((UAVObjHandle) objEntry, 0);
}
// Release lock
@ -403,7 +405,7 @@ uint16_t UAVObjCreateInstance(UAVObjHandle obj,
*/
int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSingleInstance;
return OLGetIsSingleInstance((ObjectList *) obj);
}
/**
@ -413,7 +415,7 @@ int32_t UAVObjIsSingleInstance(UAVObjHandle obj)
*/
int32_t UAVObjIsMetaobject(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isMetaobject;
return OLGetIsMetaobject((ObjectList *) obj);
}
/**
@ -423,7 +425,7 @@ int32_t UAVObjIsMetaobject(UAVObjHandle obj)
*/
int32_t UAVObjIsSettings(UAVObjHandle obj)
{
return ((ObjectList *) obj)->isSettings;
return OLGetIsSettings((ObjectList *) obj);
}
/**
@ -539,7 +541,7 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj, uint16_t instId,
&bytesWritten);
// Write the instance ID
if (!objEntry->isSingleInstance) {
if (!OLGetIsSingleInstance(objEntry)) {
PIOS_FWRITE(file, &instEntry->instId,
sizeof(instEntry->instId), &bytesWritten);
}
@ -658,7 +660,7 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
// Get the instance ID
instId = 0;
if (!objEntry->isSingleInstance) {
if (!OLGetIsSingleInstance(objEntry)) {
if (PIOS_FREAD
(file, &instId, sizeof(instId), &bytesRead)) {
xSemaphoreGiveRecursive(mutex);
@ -822,7 +824,7 @@ int32_t UAVObjSaveSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -851,7 +853,7 @@ int32_t UAVObjLoadSettings()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -880,7 +882,7 @@ int32_t UAVObjDeleteSettings()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isSettings) {
if (OLGetIsSettings(objEntry)) {
// Save object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -909,7 +911,7 @@ int32_t UAVObjSaveMetaobjects()
// Save all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Save object
if (UAVObjSave((UAVObjHandle) objEntry, 0) ==
-1) {
@ -938,7 +940,7 @@ int32_t UAVObjLoadMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjLoad((UAVObjHandle) objEntry, 0) ==
-1) {
@ -967,7 +969,7 @@ int32_t UAVObjDeleteMetaobjects()
// Load all settings objects
LL_FOREACH(objList, objEntry) {
// Check if this is a settings object
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
// Load object
if (UAVObjDelete((UAVObjHandle) objEntry, 0)
== -1) {
@ -1047,11 +1049,11 @@ int32_t UAVObjSetInstanceData(UAVObjHandle obj, uint16_t instId,
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
if (mdata->access == ACCESS_READONLY) {
if (UAVObjGetAccess(mdata) == ACCESS_READONLY) {
xSemaphoreGiveRecursive(mutex);
return -1;
}
@ -1094,10 +1096,10 @@ int32_t UAVObjSetInstanceDataField(UAVObjHandle obj, uint16_t instId, const void
objEntry = (ObjectList*)obj;
// Check access level
if ( !objEntry->isMetaobject )
if ( !OLGetIsMetaobject(objEntry) )
{
mdata = (UAVObjMetadata*)(objEntry->linkedObj->instances.data);
if ( mdata->access == ACCESS_READONLY )
if ( UAVObjGetAccess(mdata) == ACCESS_READONLY )
{
xSemaphoreGiveRecursive(mutex);
return -1;
@ -1223,7 +1225,7 @@ int32_t UAVObjSetMetadata(UAVObjHandle obj, const UAVObjMetadata * dataIn)
// Set metadata (metadata of metaobjects can not be modified)
objEntry = (ObjectList *) obj;
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
UAVObjSetData((UAVObjHandle) objEntry->linkedObj,
dataIn);
} else {
@ -1250,7 +1252,7 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
// Get metadata
objEntry = (ObjectList *) obj;
if (objEntry->isMetaobject) {
if (OLGetIsMetaobject(objEntry)) {
memcpy(dataOut, &defMetadata, sizeof(UAVObjMetadata));
} else {
UAVObjGetData((UAVObjHandle) objEntry->linkedObj,
@ -1262,6 +1264,136 @@ int32_t UAVObjGetMetadata(UAVObjHandle obj, UAVObjMetadata * dataOut)
return 0;
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObjMetadataInitialize(UAVObjMetadata* metadata)
{
metadata->flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata->telemetryUpdatePeriod = 0;
metadata->gcsTelemetryUpdatePeriod = 0;
metadata->loggingUpdatePeriod = 0;
}
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObjAccessType UAVObjGetAccess(const UAVObjMetadata* metadata)
{
return (metadata->flags >> UAVOBJ_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetAccess(UAVObjMetadata* metadata, UAVObjAccessType mode)
{
SET_BITS(metadata->flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObjAccessType UAVObjGetGcsAccess(const UAVObjMetadata* metadata)
{
return (metadata->flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObjSetGcsAccess(UAVObjMetadata* metadata, UAVObjAccessType mode) {
SET_BITS(metadata->flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetTelemetryAcked(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObjSetTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObjGetGcsTelemetryAcked(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObjSetGcsTelemetryAcked(UAVObjMetadata* metadata, uint8_t val) {
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObjUpdateMode UAVObjGetTelemetryUpdateMode(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObjSetTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
SET_BITS(metadata->flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObjUpdateMode UAVObjGetGcsTelemetryUpdateMode(const UAVObjMetadata* metadata) {
return (metadata->flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK;
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObjSetGcsTelemetryUpdateMode(UAVObjMetadata* metadata, UAVObjUpdateMode val) {
SET_BITS(metadata->flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Check if an object is read only
* \param[in] obj The object handle
@ -1279,11 +1411,11 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
objEntry = (ObjectList *) obj;
// Check access level
if (!objEntry->isMetaobject) {
if (!OLGetIsMetaobject(objEntry)) {
mdata =
(UAVObjMetadata *) (objEntry->linkedObj->instances.
data);
return mdata->access == ACCESS_READONLY;
return UAVObjGetAccess(mdata) == ACCESS_READONLY;
}
return -1;
}
@ -1297,7 +1429,7 @@ int8_t UAVObjReadOnly(UAVObjHandle obj)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectQueue(UAVObjHandle obj, xQueueHandle queue,
int32_t eventMask)
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1330,7 +1462,7 @@ int32_t UAVObjDisconnectQueue(UAVObjHandle obj, xQueueHandle queue)
* \return 0 if success or -1 if failure
*/
int32_t UAVObjConnectCallback(UAVObjHandle obj, UAVObjEventCallback cb,
int32_t eventMask)
uint8_t eventMask)
{
int32_t res;
xSemaphoreTakeRecursive(mutex, portMAX_DELAY);
@ -1467,7 +1599,7 @@ static ObjectInstList *createInstance(ObjectList * obj, uint16_t instId)
int32_t n;
// For single instance objects, only instance zero is allowed
if (obj->isSingleInstance && instId != 0) {
if (OLGetIsSingleInstance(obj) && instId != 0) {
return NULL;
}
// Make sure that the instance ID is within limits
@ -1541,7 +1673,7 @@ static ObjectInstList *getInstance(ObjectList * obj, uint16_t instId)
* \return 0 if success or -1 if failure
*/
static int32_t connectObj(UAVObjHandle obj, xQueueHandle queue,
UAVObjEventCallback cb, int32_t eventMask)
UAVObjEventCallback cb, uint8_t eventMask)
{
ObjectEventList *eventEntry;
ObjectList *objEntry;

14
flight/UAVObjects/uavobjecttemplate.c
View File

@ -85,15 +85,15 @@ $(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.telemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.telemetryUpdateMode = $(FLIGHTTELEM_UPDATEMODE);
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
metadata.gcsTelemetryUpdateMode = $(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = $(LOGGING_UPDATEMODE);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
}

8
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp
View File

@ -1703,10 +1703,10 @@ void ConfigccpmWidget::enableSwashplateLevellingControl(bool state)
if (state)
{
SwashLvlaccInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
SwashLvlConfigurationInProgress=1;
m_ccpm->TabObject->setTabEnabled(0,0);

6
ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
View File

@ -298,7 +298,7 @@ void ConfigAHRSWidget::launchAccelBiasCalibration()
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);
@ -380,7 +380,7 @@ void ConfigAHRSWidget::launchGyroDriftCalibration()
obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);
@ -998,7 +998,7 @@ void ConfigAHRSWidget::multiPointCalibrationMode()
obj = getObjectManager()->getObject(QString("AttitudeRaw"));
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);

2
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -149,7 +149,7 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
// Speed up updates
initialMdata = obj->getMetadata();
UAVObject::Metadata mdata = initialMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);

2
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -604,7 +604,7 @@ void ConfigInputWidget::fastMdata()
{
manualControlMdata = manualCommandObj->getMetadata();
UAVObject::Metadata mdata = manualControlMdata;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 150;
manualCommandObj->setMetadata(mdata);
}

12
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -89,7 +89,7 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
}
@ -152,10 +152,10 @@ void ConfigOutputWidget::runChannelTests(bool state)
{
wasItMe=true;
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}
else
@ -382,7 +382,7 @@ void ConfigOutputWidget::stopTests()
void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
{
if(obj->getMetadata().gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE)
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
{
if(!wasItMe)
this->setEnabled(false);

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -110,7 +110,7 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
//Generate list of channels
QStringList channels;
channels << "None";
for (int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
for (unsigned int i = 0; i < ActuatorSettings::CHANNELADDR_NUMELEM; i++) {
mixerTypes << QString("Mixer%1Type").arg(i+1);
mixerVectors << QString("Mixer%1Vector").arg(i+1);
channels << QString("Channel%1").arg(i+1);
@ -353,7 +353,7 @@ void ConfigVehicleTypeWidget::enableFFTest()
UAVDataObject* obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("ManualControlCommand")));
UAVObject::Metadata mdata = obj->getMetadata();
accInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
obj->setMetadata(mdata);
}
// Depending on phase, either move actuator or send FF settings:

10
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -49,7 +49,7 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
UAVObject::Metadata mdata = obj->getMetadata();
m_gcscontrol->checkBoxGcsControl->setChecked(mdata.flightAccess == UAVObject::ACCESS_READONLY);
m_gcscontrol->checkBoxGcsControl->setChecked(UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READONLY);
// Set up the drop down box for the flightmode
UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
@ -117,10 +117,10 @@ void GCSControlGadgetWidget::toggleControl(int state)
if (state)
{
mccInitialData = mdata;
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
}

20
ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
View File

@ -236,12 +236,12 @@ void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READWRITE;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryAcked = false;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryAcked(mdata, false);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = updatePeriod;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
obj->setMetadata(mdata);
}
@ -249,11 +249,11 @@ void Simulator::setupOutputObject(UAVObject* obj, int updatePeriod)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
mdata.flightAccess = UAVObject::ACCESS_READONLY;
mdata.gcsAccess = UAVObject::ACCESS_READWRITE;
mdata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_NEVER;
mdata.gcsTelemetryAcked = false;
mdata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryUpdateMode(mdata,UAVObject::UPDATEMODE_MANUAL);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.gcsTelemetryUpdatePeriod = updatePeriod;
obj->setMetadata(mdata);
}

1
ground/openpilotgcs/src/plugins/uavobjects/tests/uavobjectstest.h
View File

@ -18,6 +18,7 @@ private slots:
void objectUpdated(UAVObject* obj);
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void runTest();

25
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -36,16 +36,7 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
{
this->parent = parent;
// Setup default metadata of metaobject (can not be changed)
ownMetadata.flightAccess = ACCESS_READWRITE;
ownMetadata.gcsAccess = ACCESS_READWRITE;
ownMetadata.flightTelemetryAcked = 1;
ownMetadata.flightTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.flightTelemetryUpdatePeriod = 0;
ownMetadata.gcsTelemetryAcked = 1;
ownMetadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.gcsTelemetryUpdatePeriod = 0;
ownMetadata.loggingUpdateMode = UPDATEMODE_ONCHANGE;
ownMetadata.loggingUpdatePeriod = 0;
UAVObject::MetadataInitialize(ownMetadata);
// Setup fields
QStringList boolEnum;
boolEnum << tr("False") << tr("True");
@ -54,16 +45,10 @@ UAVMetaObject::UAVMetaObject(quint32 objID, const QString& name, UAVObject* pare
QStringList accessModeEnum;
accessModeEnum << tr("Read/Write") << tr("Read Only");
QList<UAVObjectField*> fields;
fields.append( new UAVObjectField(tr("Flight Access Mode"), tr(""), UAVObjectField::ENUM, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("GCS Access Mode"), tr(""), UAVObjectField::ENUM, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Acked"), tr(""), UAVObjectField::ENUM, 1, boolEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Mode"), tr(""), UAVObjectField::ENUM, 1, updateModeEnum) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT32, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Modes"), tr(""), UAVObjectField::UINT8, 1, accessModeEnum) );
fields.append( new UAVObjectField(tr("Flight Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("GCS Telemetry Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
fields.append( new UAVObjectField(tr("Logging Update Period"), tr(""), UAVObjectField::UINT16, 1, QStringList()) );
// Initialize parent
UAVObject::initialize(0);
UAVObject::initializeFields(fields, (quint8*)&parentMetadata, sizeof(Metadata));

141
ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
View File

@ -29,6 +29,18 @@
#include <QtEndian>
#include <QDebug>
// Constants
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
// Macros
#define SET_BITS(var, shift, value, mask) var = (var & ~(mask << shift)) | (value << shift);
/**
* Constructor
* @param objID The object ID
@ -456,3 +468,132 @@ void UAVObject::emitTransactionCompleted(bool success)
{
emit transactionCompleted(this, success);
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
*/
void UAVObject::MetadataInitialize(UAVObject::Metadata& metadata)
{
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
}
/**
* Get the UAVObject metadata access member
* \param[in] metadata The metadata object
* \return the access type
*/
UAVObject::AccessMode UAVObject::GetFlightAccess(const UAVObject::Metadata& metadata)
{
return UAVObject::AccessMode((metadata.flags >> UAVOBJ_ACCESS_SHIFT) & 1);
}
/**
* Set the UAVObject metadata access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObject::SetFlightAccess(UAVObject::Metadata& metadata, UAVObject::AccessMode mode)
{
SET_BITS(metadata.flags, UAVOBJ_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \return the GCS access type
*/
UAVObject::AccessMode UAVObject::GetGcsAccess(const UAVObject::Metadata& metadata)
{
return UAVObject::AccessMode((metadata.flags >> UAVOBJ_GCS_ACCESS_SHIFT) & 1);
}
/**
* Set the UAVObject metadata GCS access member
* \param[in] metadata The metadata object
* \param[in] mode The access mode
*/
void UAVObject::SetGcsAccess(UAVObject::Metadata& metadata, UAVObject::AccessMode mode) {
SET_BITS(metadata.flags, UAVOBJ_GCS_ACCESS_SHIFT, mode, 1);
}
/**
* Get the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObject::GetFlightTelemetryAcked(const UAVObject::Metadata& metadata) {
return (metadata.flags >> UAVOBJ_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The telemetry acked boolean
*/
void UAVObject::SetFlightTelemetryAcked(UAVObject::Metadata& metadata, uint8_t val) {
SET_BITS(metadata.flags, UAVOBJ_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \return the telemetry acked boolean
*/
uint8_t UAVObject::GetGcsTelemetryAcked(const UAVObject::Metadata& metadata) {
return (metadata.flags >> UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT) & 1;
}
/**
* Set the UAVObject metadata GCS telemetry acked member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry acked boolean
*/
void UAVObject::SetGcsTelemetryAcked(UAVObject::Metadata& metadata, uint8_t val) {
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT, val, 1);
}
/**
* Get the UAVObject metadata telemetry update mode
* \param[in] metadata The metadata object
* \return the telemetry update mode
*/
UAVObject::UpdateMode UAVObject::GetFlightTelemetryUpdateMode(const UAVObject::Metadata& metadata) {
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The telemetry update mode
*/
void UAVObject::SetFlightTelemetryUpdateMode(UAVObject::Metadata& metadata, UAVObject::UpdateMode val) {
SET_BITS(metadata.flags, UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata GCS telemetry update mode
* \param[in] metadata The metadata object
* \return the GCS telemetry update mode
*/
UAVObject::UpdateMode UAVObject::GetGcsTelemetryUpdateMode(const UAVObject::Metadata& metadata) {
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata GCS telemetry update mode member
* \param[in] metadata The metadata object
* \param[in] val The GCS telemetry update mode
*/
void UAVObject::SetGcsTelemetryUpdateMode(UAVObject::Metadata& metadata, UAVObject::UpdateMode val) {
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}

58
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -38,6 +38,14 @@
#include <QFile>
#include "uavobjectfield.h"
#define UAVOBJ_ACCESS_SHIFT 0
#define UAVOBJ_GCS_ACCESS_SHIFT 1
#define UAVOBJ_TELEMETRY_ACKED_SHIFT 2
#define UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT 3
#define UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT 4
#define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
#define UAVOBJ_UPDATE_MODE_MASK 0x3
class UAVObjectField;
class UAVOBJECTS_EXPORT UAVObject: public QObject
@ -52,8 +60,8 @@ public:
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE = 1, /** Only update object when its data changes */
UPDATEMODE_MANUAL = 2, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER = 3 /** Object is never updated */
UPDATEMODE_THROTTLED = 2, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL = 3 /** Manually update object, by calling the updated() function */
} UpdateMode;
/**
@ -67,19 +75,25 @@ public:
/**
* Object metadata, each object has a meta object that holds its metadata. The metadata define
* properties for each object and can be used by multiple modules (e.g. telemetry and logger)
*
* The object metadata flags are packed into a single 16 bit integer.
* The bits in the flag field are defined as:
*
* Bit(s) Name Meaning
* ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)
* 6-7 gcsTelemetryUpdateMode Update mode used by the GCS (UAVObjUpdateMode)
*/
typedef struct {
quint8 flightAccess; /** Defines the access level for the local flight transactions (readonly and readwrite) */
quint8 gcsAccess; /** Defines the access level for the local GCS transactions (readonly and readwrite) */
quint8 flightTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 flightTelemetryUpdateMode; /** Update mode used by the autopilot (UpdateMode) */
qint32 flightTelemetryUpdatePeriod; /** Update period used by the autopilot (only if telemetry mode is PERIODIC) */
quint8 gcsTelemetryAcked; /** Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) */
quint8 gcsTelemetryUpdateMode; /** Update mode used by the GCS (UpdateMode) */
qint32 gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
quint8 loggingUpdateMode; /** Update mode used by the logging module (UpdateMode) */
qint32 loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
typedef struct {
uint8_t flags; /** Defines flags for update and logging modes and whether an update should be ACK'd (bits defined above) */
uint16_t flightTelemetryUpdatePeriod; /** Update period used by the telemetry module (only if telemetry mode is PERIODIC) */
uint16_t gcsTelemetryUpdatePeriod; /** Update period used by the GCS (only if telemetry mode is PERIODIC) */
uint16_t loggingUpdatePeriod; /** Update period used by the logging module (only if logging mode is PERIODIC) */
} __attribute__((packed)) Metadata;
UAVObject(quint32 objID, bool isSingleInst, const QString& name);
@ -111,6 +125,21 @@ public:
QString toStringData();
void emitTransactionCompleted(bool success);
// Metadata accessors
static void MetadataInitialize(Metadata& meta);
static AccessMode GetFlightAccess(const Metadata& meta);
static void SetFlightAccess(Metadata& meta, AccessMode mode);
static AccessMode GetGcsAccess(const Metadata& meta);
static void SetGcsAccess(Metadata& meta, AccessMode mode);
static uint8_t GetFlightTelemetryAcked(const Metadata& meta);
static void SetFlightTelemetryAcked(Metadata& meta, uint8_t val);
static uint8_t GetGcsTelemetryAcked(const Metadata& meta);
static void SetGcsTelemetryAcked(Metadata& meta, uint8_t val);
static UpdateMode GetFlightTelemetryUpdateMode(const Metadata& meta);
static void SetFlightTelemetryUpdateMode(Metadata& meta, UpdateMode val);
static UpdateMode GetGcsTelemetryUpdateMode(const Metadata& meta);
static void SetGcsTelemetryUpdateMode(Metadata& meta, UpdateMode val);
public slots:
void requestUpdate();
void updated();
@ -119,6 +148,7 @@ signals:
void objectUpdated(UAVObject* obj);
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void transactionCompleted(UAVObject* obj, bool success);

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
View File

@ -833,7 +833,7 @@ bool UAVObjectField::checkValue(const QVariant& value, quint32 index)
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
if ( UAVObject::GetFlightAccess(mdata) == UAVObject::ACCESS_READWRITE )
{
switch (type)
{
@ -873,7 +873,7 @@ void UAVObjectField::setValue(const QVariant& value, quint32 index)
// Get metadata
UAVObject::Metadata mdata = obj->getMetadata();
// Update value if the access mode permits
if ( mdata.gcsAccess == UAVObject::ACCESS_READWRITE )
if ( UAVObject::GetGcsAccess(mdata) == UAVObject::ACCESS_READWRITE )
{
switch (type)
{

18
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.cpp
View File

@ -61,15 +61,15 @@ $(FIELDSINIT)
UAVObject::Metadata $(NAME)::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = $(FLIGHTACCESS);
metadata.gcsAccess = $(GCSACCESS);
metadata.gcsTelemetryAcked = $(GCSTELEM_ACKED);
metadata.gcsTelemetryUpdateMode = UAVObject::$(GCSTELEM_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.flightTelemetryAcked = $(FLIGHTTELEM_ACKED);
metadata.flightTelemetryUpdateMode = UAVObject::$(FLIGHTTELEM_UPDATEMODE);
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.flightTelemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.loggingUpdateMode = UAVObject::$(LOGGING_UPDATEMODE);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
return metadata;
}
@ -102,7 +102,7 @@ void $(NAME)::setData(const DataFields& data)
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
if ( UAVObject::GetGcsAccess(mdata) == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event

2
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/smartsavebutton.cpp
View File

@ -77,7 +77,7 @@ void smartSaveButton::processOperation(QPushButton * button,bool save)
foreach(UAVDataObject * obj,objects)
{
UAVObject::Metadata mdata= obj->getMetadata();
if(mdata.gcsAccess==UAVObject::ACCESS_READONLY)
if(UAVObject::GetGcsAccess(mdata)==UAVObject::ACCESS_READONLY)
continue;
up_result=false;
current_object=obj;

69
ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
View File

@ -77,7 +77,7 @@ void Telemetry::registerObject(UAVObject* obj)
addObject(obj);
// Setup object for telemetry updates
updateObject(obj);
updateObject(obj, EV_NONE);
}
/**
@ -142,6 +142,10 @@ void Telemetry::connectToObjectInstances(UAVObject* obj, quint32 eventMask)
{
connect(objs[n], SIGNAL(objectUpdatedManual(UAVObject*)), this, SLOT(objectUpdatedManual(UAVObject*)));
}
if ( (eventMask&EV_UPDATED_PERIODIC) != 0)
{
connect(objs[n], SIGNAL(objectUpdatedPeriodic(UAVObject*)), this, SLOT(objectUpdatedPeriodic(UAVObject*)));
}
if ( (eventMask&EV_UPDATE_REQ) != 0)
{
connect(objs[n], SIGNAL(updateRequested(UAVObject*)), this, SLOT(updateRequested(UAVObject*)));
@ -152,26 +156,27 @@ void Telemetry::connectToObjectInstances(UAVObject* obj, quint32 eventMask)
/**
* Update an object based on its metadata properties
*/
void Telemetry::updateObject(UAVObject* obj)
void Telemetry::updateObject(UAVObject* obj, quint32 eventType)
{
// Get metadata
UAVObject::Metadata metadata = obj->getMetadata();
UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
// Setup object depending on update mode
qint32 eventMask;
if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_PERIODIC )
if ( updateMode == UAVObject::UPDATEMODE_PERIODIC )
{
// Set update period
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
// Connect signals for all instances
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ;
eventMask = EV_UPDATED_MANUAL | EV_UPDATE_REQ | EV_UPDATED_PERIODIC;
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
else if ( updateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -183,7 +188,29 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_MANUAL )
else if ( updateMode == UAVObject::UPDATEMODE_THROTTLED )
{
// If we received a periodic update, we can change back to update on change
if ((eventType == EV_UPDATED_PERIODIC) || (eventType == EV_NONE)) {
// Set update period
if (eventType == EV_NONE)
setUpdatePeriod(obj, metadata.gcsTelemetryUpdatePeriod);
// Connect signals for all instances
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ | EV_UPDATED_PERIODIC;
}
else
{
// Otherwise, we just received an object update, so switch to periodic for the timeout period to prevent more updates
// Connect signals for all instances
eventMask = EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ;
}
if( dynamic_cast<UAVMetaObject*>(obj) != NULL )
{
eventMask |= EV_UNPACKED; // we also need to act on remote updates (unpack events)
}
connectToObjectInstances(obj, eventMask);
}
else if ( updateMode == UAVObject::UPDATEMODE_MANUAL )
{
// Set update period
setUpdatePeriod(obj, 0);
@ -195,13 +222,6 @@ void Telemetry::updateObject(UAVObject* obj)
}
connectToObjectInstances(obj, eventMask);
}
else if ( metadata.gcsTelemetryUpdateMode == UAVObject::UPDATEMODE_NEVER )
{
// Set update period
setUpdatePeriod(obj, 0);
// Disconnect from object
connectToObjectInstances(obj, 0);
}
}
/**
@ -381,14 +401,16 @@ void Telemetry::processObjectQueue()
}
// Setup transaction (skip if unpack event)
if ( objInfo.event != EV_UNPACKED )
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
UAVObject::UpdateMode updateMode = UAVObject::GetGcsTelemetryUpdateMode(metadata);
if ( ( objInfo.event != EV_UNPACKED ) && ( ( objInfo.event != EV_UPDATED_PERIODIC ) || ( updateMode != UAVObject::UPDATEMODE_THROTTLED ) ) )
{
UAVObject::Metadata metadata = objInfo.obj->getMetadata();
transInfo.obj = objInfo.obj;
transInfo.allInstances = objInfo.allInstances;
transInfo.retriesRemaining = MAX_RETRIES;
transInfo.acked = metadata.gcsTelemetryAcked;
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL )
transInfo.acked = UAVObject::GetGcsTelemetryAcked(metadata);
if ( objInfo.event == EV_UPDATED || objInfo.event == EV_UPDATED_MANUAL || objInfo.event == EV_UPDATED_PERIODIC )
{
transInfo.objRequest = false;
}
@ -408,7 +430,11 @@ void Telemetry::processObjectQueue()
UAVMetaObject* metaobj = dynamic_cast<UAVMetaObject*>(objInfo.obj);
if ( metaobj != NULL )
{
updateObject( metaobj->getParentObject() );
updateObject( metaobj->getParentObject(), EV_NONE );
}
else if ( updateMode != UAVObject::UPDATEMODE_THROTTLED )
{
updateObject( objInfo.obj, objInfo.event );
}
// The fact we received an unpacked event does not mean that
@ -417,7 +443,6 @@ void Telemetry::processObjectQueue()
// stuck:
if ( objInfo.event == EV_UNPACKED )
processObjectQueue();
}
/**
@ -453,7 +478,7 @@ void Telemetry::processPeriodicUpdates()
objinfo->timeToNextUpdateMs = objinfo->updatePeriodMs - offset;
// Send object
time.start();
processObjectUpdates(objinfo->obj, EV_UPDATED_MANUAL, true, false);
processObjectUpdates(objinfo->obj, EV_UPDATED_PERIODIC, true, false);
elapsedMs = time.elapsed();
// Update timeToNextUpdateMs with the elapsed delay of sending the object;
timeToNextUpdateMs += elapsedMs;
@ -522,6 +547,12 @@ void Telemetry::objectUpdatedManual(UAVObject* obj)
processObjectUpdates(obj, EV_UPDATED_MANUAL, false, true);
}
void Telemetry::objectUpdatedPeriodic(UAVObject* obj)
{
QMutexLocker locker(mutex);
processObjectUpdates(obj, EV_UPDATED_PERIODIC, false, true);
}
void Telemetry::objectUnpacked(UAVObject* obj)
{
QMutexLocker locker(mutex);

7
ground/openpilotgcs/src/plugins/uavtalk/telemetry.h
View File

@ -63,6 +63,7 @@ signals:
private slots:
void objectUpdatedAuto(UAVObject* obj);
void objectUpdatedManual(UAVObject* obj);
void objectUpdatedPeriodic(UAVObject* obj);
void objectUnpacked(UAVObject* obj);
void updateRequested(UAVObject* obj);
void newObject(UAVObject* obj);
@ -84,10 +85,12 @@ private:
* Events generated by objects
*/
typedef enum {
EV_NONE = 0x00, /** No event */
EV_UNPACKED = 0x01, /** Object data updated by unpacking */
EV_UPDATED = 0x02, /** Object data updated by changing the data structure */
EV_UPDATED_MANUAL = 0x04, /** Object update event manually generated */
EV_UPDATE_REQ = 0x08 /** Request to update object data */
EV_UPDATED_PERIODIC = 0x8, /** Object update event generated by timer */
EV_UPDATE_REQ = 0x010 /** Request to update object data */
} EventMask;
typedef struct {
@ -132,7 +135,7 @@ private:
void addObject(UAVObject* obj);
void setUpdatePeriod(UAVObject* obj, qint32 periodMs);
void connectToObjectInstances(UAVObject* obj, quint32 eventMask);
void updateObject(UAVObject* obj);
void updateObject(UAVObject* obj, quint32 eventMask);
void processObjectUpdates(UAVObject* obj, EventMask event, bool allInstances, bool priority);
void processObjectTransaction();
void processObjectQueue();

19
ground/openpilotgcs/src/plugins/uavtalk/telemetrymonitor.cpp
View File

@ -77,25 +77,22 @@ void TelemetryMonitor::startRetrievingObjects()
UAVMetaObject* mobj = dynamic_cast<UAVMetaObject*>(obj);
UAVDataObject* dobj = dynamic_cast<UAVDataObject*>(obj);
UAVObject::Metadata mdata = obj->getMetadata();
if ( mdata.gcsTelemetryUpdateMode != UAVObject::UPDATEMODE_NEVER )
if ( mobj != NULL )
{
if ( mobj != NULL )
queue.enqueue(obj);
}
else if ( dobj != NULL )
{
if ( dobj->isSettings() )
{
queue.enqueue(obj);
}
else if ( dobj != NULL )
else
{
if ( dobj->isSettings() )
if ( UAVObject::GetFlightTelemetryUpdateMode(mdata) == UAVObject::UPDATEMODE_ONCHANGE )
{
queue.enqueue(obj);
}
else
{
if ( mdata.flightTelemetryUpdateMode == UAVObject::UPDATEMODE_ONCHANGE )
{
queue.enqueue(obj);
}
}
}
}
}

2
ground/uavobjgenerator/generators/generator_common.cpp
View File

@ -38,7 +38,7 @@ void replaceCommonTags(QString& out, ObjectInfo* info)
QStringList updateModeStr,accessModeStr;
updateModeStr << "UPDATEMODE_PERIODIC" << "UPDATEMODE_ONCHANGE"
<< "UPDATEMODE_MANUAL" << "UPDATEMODE_NEVER";
<< "UPDATEMODE_THROTTLED" << "UPDATEMODE_MANUAL";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

2
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -34,7 +34,7 @@ UAVObjectParser::UAVObjectParser()
fieldTypeStrXML << "int8" << "int16" << "int32" << "uint8"
<< "uint16" << "uint32" <<"float" << "enum";
updateModeStrXML << "periodic" << "onchange" << "manual" << "never";
updateModeStrXML << "periodic" << "onchange" << "throttled" << "manual";
accessModeStr << "ACCESS_READWRITE" << "ACCESS_READONLY";

4
ground/uavobjgenerator/uavobjectparser.h
View File

@ -66,8 +66,8 @@ typedef struct {
typedef enum {
UPDATEMODE_PERIODIC = 0, /** Automatically update object at periodic intervals */
UPDATEMODE_ONCHANGE, /** Only update object when its data changes */
UPDATEMODE_MANUAL, /** Manually update object, by calling the updated() function */
UPDATEMODE_NEVER /** Object is never updated */
UPDATEMODE_THROTTLED, /** Object is updated on change, but not more often than the interval time */
UPDATEMODE_MANUAL /** Manually update object, by calling the updated() function */
} UpdateMode;

2
shared/uavobjectdefinition/accessorydesired.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/actuatorcommand.xml
View File

@ -8,6 +8,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/actuatordesired.xml
View File

@ -10,6 +10,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -30,6 +30,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/ahrscalibration.xml
View File

@ -18,6 +18,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/ahrssettings.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/attitudeactual.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="100"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/attituderaw.xml
View File

@ -8,6 +8,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -14,6 +14,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/baroaltitude.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/cameradesired.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/faultsettings.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/firmwareiapobj.xml
View File

@ -11,7 +11,7 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightbatterysettings.xml
View File

@ -14,6 +14,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightbatterystate.xml
View File

@ -10,6 +10,6 @@
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightplancontrol.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightplansettings.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightplanstatus.xml
View File

@ -9,6 +9,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/flightstatus.xml
View File

@ -9,6 +9,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="5000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

4
shared/uavobjectdefinition/gcsreceiver.xml
View File

@ -4,7 +4,7 @@
<field name="Channel" units="us" type="uint16" elements="6"/>
<access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="never" period="0"/>
<logging updatemode="never" period="0"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/gcstelemetrystats.xml
View File

@ -10,6 +10,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="periodic" period="5000"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/guidancesettings.xml
View File

@ -14,6 +14,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/homelocation.xml
View File

@ -12,6 +12,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/hwsettings.xml
View File

@ -22,6 +22,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/manualcontrolcommand.xml
View File

@ -11,6 +11,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -29,6 +29,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/mixersettings.xml
View File

@ -31,6 +31,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/nedaccel.xml
View File

@ -7,6 +7,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="10001"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/objectpersistence.xml
View File

@ -8,6 +8,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/receiveractivity.xml
View File

@ -9,6 +9,6 @@
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/sonaraltitude.xml
View File

@ -5,6 +5,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -10,6 +10,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -27,6 +27,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -6,6 +6,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -24,6 +24,6 @@
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>