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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into amorale/OP-1058_uavo_named_accessors

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This commit is contained in:
Alessio Morale 2013-08-31 16:03:30 +02:00
commit 11b269f898
43 changed files with 569 additions and 581 deletions
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9
flight/libraries/math/pid.c
View File

@ -69,6 +69,7 @@ float pid_apply(struct pid *pid, const float err, float dT)
/**
* Update the PID computation with setpoint weighting on the derivative
* @param[in] pid The PID struture which stores temporary information
* @param[in] factor A dynamic factor to scale pid's by, to compensate nonlinearities
* @param[in] setpoint The setpoint to use
* @param[in] measured The measured value of output
* @param[in] dT The time step
@ -77,12 +78,12 @@ float pid_apply(struct pid *pid, const float err, float dT)
* This version of apply uses setpoint weighting for the derivative component so the gain
* on the gyro derivative can be different than the gain on the setpoint derivative
*/
float pid_apply_setpoint(struct pid *pid, const float setpoint, const float measured, float dT)
float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT)
{
float err = setpoint - measured;
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000.0f);
pid->iAccumulator += err * (factor * pid->i * dT * 1000.0f);
pid->iAccumulator = bound(pid->iAccumulator, pid->iLim * 1000.0f);
// Calculate DT1 term,
@ -90,11 +91,11 @@ float pid_apply_setpoint(struct pid *pid, const float setpoint, const float meas
float diff = ((deriv_gamma * setpoint - measured) - pid->lastErr);
pid->lastErr = (deriv_gamma * setpoint - measured);
if (pid->d > 0.0f && dT > 0.0f) {
dterm = pid->lastDer + dT / (dT + deriv_tau) * ((diff * pid->d / dT) - pid->lastDer);
dterm = pid->lastDer + dT / (dT + deriv_tau) * ((factor * diff * pid->d / dT) - pid->lastDer);
pid->lastDer = dterm; // ^ set constant to 1/(2*pi*f_cutoff)
} // 7.9577e-3 means 20 Hz f_cutoff
return (err * pid->p) + pid->iAccumulator / 1000.0f + dterm;
return (err * factor * pid->p) + pid->iAccumulator / 1000.0f + dterm;
}
/**

2
flight/libraries/math/pid.h
View File

@ -44,7 +44,7 @@ struct pid {
// ! Methods to use the pid structures
float pid_apply(struct pid *pid, const float err, float dT);
float pid_apply_setpoint(struct pid *pid, const float setpoint, const float measured, float dT);
float pid_apply_setpoint(struct pid *pid, const float factor, const float setpoint, const float measured, float dT);
void pid_zero(struct pid *pid);
void pid_configure(struct pid *pid, float p, float i, float d, float iLim);
void pid_configure_derivative(float cutoff, float gamma);

4
flight/modules/GPS/NMEA.c
View File

@ -249,6 +249,7 @@ static bool NMEA_parse_real(int32_t *whole, uint32_t *fract, uint8_t *fract_unit
PIOS_DEBUG_Assert(whole);
PIOS_DEBUG_Assert(fract);
PIOS_DEBUG_Assert(fract_units);
PIOS_DEBUG_Assert(field);
field_w = strsep(&s, ".");
field_f = s;
@ -274,9 +275,6 @@ static float NMEA_real_to_float(char *nmea_real)
uint32_t fract;
uint8_t fract_units;
/* Sanity checks */
PIOS_DEBUG_Assert(nmea_real);
if (!NMEA_parse_real(&whole, &fract, &fract_units, nmea_real)) {
return false;
}

61
flight/modules/OPLink/oplinkmod.c
View File

@ -149,36 +149,41 @@ static void systemTask(__attribute__((unused)) void *parameters)
struct rfm22b_stats radio_stats;
PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
// Update the status
oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
oplinkStatus.RxGood = radio_stats.rx_good;
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.RxFailure = radio_stats.rx_failure;
oplinkStatus.TxDropped = radio_stats.tx_dropped;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.TxFailure = radio_stats.tx_failure;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;
oplinkStatus.LinkQuality = radio_stats.link_quality;
if (first_time) {
first_time = false;
if (pios_rfm22b_id) {
// Update the status
oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
oplinkStatus.RxGood = radio_stats.rx_good;
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.RxFailure = radio_stats.rx_failure;
oplinkStatus.TxDropped = radio_stats.tx_dropped;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.TxFailure = radio_stats.tx_failure;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;
oplinkStatus.LinkQuality = radio_stats.link_quality;
if (first_time) {
first_time = false;
} else {
uint16_t tx_count = radio_stats.tx_byte_count;
uint16_t rx_count = radio_stats.rx_byte_count;
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
prev_tx_count = tx_count;
prev_rx_count = rx_count;
}
oplinkStatus.TXSeq = radio_stats.tx_seq;
oplinkStatus.RXSeq = radio_stats.rx_seq;
oplinkStatus.LinkState = radio_stats.link_state;
} else {
uint16_t tx_count = radio_stats.tx_byte_count;
uint16_t rx_count = radio_stats.rx_byte_count;
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
prev_tx_count = tx_count;
prev_rx_count = rx_count;
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
}
oplinkStatus.TXSeq = radio_stats.tx_seq;
oplinkStatus.RXSeq = radio_stats.rx_seq;
oplinkStatus.LinkState = radio_stats.link_state;
if (radio_stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
LINK_LED_ON;
} else {

36
flight/modules/Stabilization/stabilization.c
View File

@ -41,6 +41,7 @@
#include "relaytuningsettings.h"
#include "stabilizationdesired.h"
#include "attitudestate.h"
#include "airspeedstate.h"
#include "gyrostate.h"
#include "flightstatus.h"
#include "manualcontrol.h" // Just to get a macro
@ -129,6 +130,9 @@ int32_t StabilizationInitialize()
ActuatorDesiredInitialize();
#ifdef DIAG_RATEDESIRED
RateDesiredInitialize();
#endif
#ifdef REVOLUTION
AirspeedStateInitialize();
#endif
// Code required for relay tuning
sin_lookup_initalize();
@ -156,6 +160,10 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
GyroStateData gyroStateData;
FlightStatusData flightStatus;
#ifdef REVOLUTION
AirspeedStateData airspeedState;
#endif
SettingsUpdatedCb((UAVObjEvent *)NULL);
// Main task loop
@ -183,6 +191,26 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#ifdef DIAG_RATEDESIRED
RateDesiredGet(&rateDesired);
#endif
#ifdef REVOLUTION
float speedScaleFactor;
// Scale PID coefficients based on current airspeed estimation - needed for fixed wing planes
AirspeedStateGet(&airspeedState);
if (settings.ScaleToAirspeed < 0.1f || airspeedState.CalibratedAirspeed < 0.1f) {
// feature has been turned off
speedScaleFactor = 1.0f;
} else {
// scale the factor to be 1.0 at the specified airspeed (for example 10m/s) but scaled by 1/speed^2
speedScaleFactor = (settings.ScaleToAirspeed * settings.ScaleToAirspeed) / (airspeedState.CalibratedAirspeed * airspeedState.CalibratedAirspeed);
if (speedScaleFactor < settings.ScaleToAirspeedLimits[STABILIZATIONSETTINGS_SCALETOAIRSPEEDLIMITS_MIN]) {
speedScaleFactor = settings.ScaleToAirspeedLimits[STABILIZATIONSETTINGS_SCALETOAIRSPEEDLIMITS_MIN];
}
if (speedScaleFactor > settings.ScaleToAirspeedLimits[STABILIZATIONSETTINGS_SCALETOAIRSPEEDLIMITS_MAX]) {
speedScaleFactor = settings.ScaleToAirspeedLimits[STABILIZATIONSETTINGS_SCALETOAIRSPEEDLIMITS_MAX];
}
}
#else
const float speedScaleFactor = 1.0f;
#endif
#if defined(PIOS_QUATERNION_STABILIZATION)
// Quaternion calculation of error in each axis. Uses more memory.
@ -262,7 +290,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
rateDesiredAxis[i] = bound(attitudeDesiredAxis[i], settings.ManualRate.data[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break;
@ -278,7 +306,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.MaximumRate.data[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break;
@ -304,7 +332,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break;
@ -328,7 +356,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
rateDesiredAxis[i] = bound(rateDesiredAxis[i], settings.ManualRate.data[i]);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
break;

18
flight/modules/StateEstimation/filterbaro.c
View File

@ -32,19 +32,16 @@
#include "inc/stateestimation.h"
#include <revosettings.h>
// Private constants
#define STACK_REQUIRED 64
// low pass filter configuration to calculate offset
// of barometric altitude sensor
// reasoning: updates at: 10 Hz, tau= 300 s settle time
// exp(-(1/f) / tau ) ~=~ 0.9997
#define BARO_OFFSET_LOWPASS_ALPHA 0.9997f
// Private types
struct data {
float baroOffset;
float baroGPSOffsetCorrectionAlpha;
float baroAlt;
int16_t first_run;
};
@ -71,6 +68,10 @@ static int32_t init(stateFilter *self)
this->baroOffset = 0.0f;
this->first_run = 100;
RevoSettingsInitialize();
RevoSettingsBaroGPSOffsetCorrectionAlphaGet(&this->baroGPSOffsetCorrectionAlpha);
return 0;
}
@ -90,9 +91,8 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
// Track barometric altitude offset with a low pass filter
// based on GPS altitude if available
if (IS_SET(state->updated, SENSORUPDATES_pos)) {
this->baroOffset = BARO_OFFSET_LOWPASS_ALPHA * this->baroOffset +
(1.0f - BARO_OFFSET_LOWPASS_ALPHA)
* (this->baroAlt + state->pos[2]);
this->baroOffset = this->baroOffset * this->baroGPSOffsetCorrectionAlpha +
(1.0f - this->baroGPSOffsetCorrectionAlpha) * (this->baroAlt + state->pos[2]);
}
// calculate bias corrected altitude
if (IS_SET(state->updated, SENSORUPDATES_baro)) {

22
flight/modules/StateEstimation/filtercf.c
View File

@ -55,6 +55,8 @@ struct data {
bool useMag;
float currentAccel[3];
float currentMag[3];
float accels_filtered[3];
float grot_filtered[3];
float gyroBias[3];
bool accelUpdated;
bool magUpdated;
@ -266,7 +268,12 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
RPY2Quaternion(&attitudeState.Roll, attitude);
this->first_run = 0;
this->accels_filtered[0] = 0.0f;
this->accels_filtered[1] = 0.0f;
this->accels_filtered[2] = 0.0f;
this->grot_filtered[0] = 0.0f;
this->grot_filtered[1] = 0.0f;
this->grot_filtered[2] = 0.0f;
this->timeval = PIOS_DELAY_GetRaw();
this->starttime = this->timeval;
@ -316,9 +323,8 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
// Get the current attitude estimate
quat_copy(&attitudeState.q1, attitude);
float accels_filtered[3];
// Apply smoothing to accel values, to reduce vibration noise before main calculations.
apply_accel_filter(this, accel, accels_filtered);
apply_accel_filter(this, accel, this->accels_filtered);
// Rotate gravity to body frame and cross with accels
float grot[3];
@ -326,13 +332,13 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
grot[1] = -(2.0f * (attitude[2] * attitude[3] + attitude[0] * attitude[1]));
grot[2] = -(attitude[0] * attitude[0] - attitude[1] * attitude[1] - attitude[2] * attitude[2] + attitude[3] * attitude[3]);
float grot_filtered[3];
float accel_err[3];
apply_accel_filter(this, grot, grot_filtered);
CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
apply_accel_filter(this, grot, this->grot_filtered);
CrossProduct((const float *)this->accels_filtered, (const float *)this->grot_filtered, accel_err);
// Account for accel magnitude
float accel_mag = sqrtf(accels_filtered[0] * accels_filtered[0] + accels_filtered[1] * accels_filtered[1] + accels_filtered[2] * accels_filtered[2]);
float accel_mag = sqrtf(this->accels_filtered[0] * this->accels_filtered[0] + this->accels_filtered[1] * this->accels_filtered[1] + this->accels_filtered[2] * this->accels_filtered[2]);
if (accel_mag < 1.0e-3f) {
return 2; // safety feature copied from CC
}
@ -340,7 +346,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel
// Account for filtered gravity vector magnitude
float grot_mag;
if (this->accel_filter_enabled) {
grot_mag = sqrtf(grot_filtered[0] * grot_filtered[0] + grot_filtered[1] * grot_filtered[1] + grot_filtered[2] * grot_filtered[2]);
grot_mag = sqrtf(this->grot_filtered[0] * this->grot_filtered[0] + this->grot_filtered[1] * this->grot_filtered[1] + this->grot_filtered[2] * this->grot_filtered[2]);
} else {
grot_mag = 1.0f;
}

79
flight/modules/System/systemmod.c
View File

@ -253,51 +253,58 @@ static void systemTask(__attribute__((unused)) void *parameters)
int delayTime = SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2);
#if defined(PIOS_INCLUDE_RFM22B)
// Update the OPLinkStatus UAVO
OPLinkStatusData oplinkStatus;
OPLinkStatusGet(&oplinkStatus);
// Get the other device stats.
PIOS_RFM2B_GetPairStats(pios_rfm22b_id, oplinkStatus.PairIDs, oplinkStatus.PairSignalStrengths, OPLINKSTATUS_PAIRIDS_NUMELEM);
if (pios_rfm22b_id) {
// Get the other device stats.
PIOS_RFM2B_GetPairStats(pios_rfm22b_id, oplinkStatus.PairIDs, oplinkStatus.PairSignalStrengths, OPLINKSTATUS_PAIRIDS_NUMELEM);
// Get the stats from the radio device
struct rfm22b_stats radio_stats;
PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
// Get the stats from the radio device
struct rfm22b_stats radio_stats;
PIOS_RFM22B_GetStats(pios_rfm22b_id, &radio_stats);
// Update the OPLInk status
static bool first_time = true;
static uint16_t prev_tx_count = 0;
static uint16_t prev_rx_count = 0;
oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
oplinkStatus.RxGood = radio_stats.rx_good;
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.RxFailure = radio_stats.rx_failure;
oplinkStatus.TxDropped = radio_stats.tx_dropped;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.TxFailure = radio_stats.tx_failure;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;
oplinkStatus.LinkQuality = radio_stats.link_quality;
if (first_time) {
first_time = false;
// Update the OPLInk status
static bool first_time = true;
static uint16_t prev_tx_count = 0;
static uint16_t prev_rx_count = 0;
oplinkStatus.HeapRemaining = xPortGetFreeHeapSize();
oplinkStatus.DeviceID = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
oplinkStatus.RxGood = radio_stats.rx_good;
oplinkStatus.RxCorrected = radio_stats.rx_corrected;
oplinkStatus.RxErrors = radio_stats.rx_error;
oplinkStatus.RxMissed = radio_stats.rx_missed;
oplinkStatus.RxFailure = radio_stats.rx_failure;
oplinkStatus.TxDropped = radio_stats.tx_dropped;
oplinkStatus.TxResent = radio_stats.tx_resent;
oplinkStatus.TxFailure = radio_stats.tx_failure;
oplinkStatus.Resets = radio_stats.resets;
oplinkStatus.Timeouts = radio_stats.timeouts;
oplinkStatus.RSSI = radio_stats.rssi;
oplinkStatus.LinkQuality = radio_stats.link_quality;
if (first_time) {
first_time = false;
} else {
uint16_t tx_count = radio_stats.tx_byte_count;
uint16_t rx_count = radio_stats.rx_byte_count;
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
prev_tx_count = tx_count;
prev_rx_count = rx_count;
}
oplinkStatus.TXSeq = radio_stats.tx_seq;
oplinkStatus.RXSeq = radio_stats.rx_seq;
oplinkStatus.LinkState = radio_stats.link_state;
} else {
uint16_t tx_count = radio_stats.tx_byte_count;
uint16_t rx_count = radio_stats.rx_byte_count;
uint16_t tx_bytes = (tx_count < prev_tx_count) ? (0xffff - prev_tx_count + tx_count) : (tx_count - prev_tx_count);
uint16_t rx_bytes = (rx_count < prev_rx_count) ? (0xffff - prev_rx_count + rx_count) : (rx_count - prev_rx_count);
oplinkStatus.TXRate = (uint16_t)((float)(tx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
oplinkStatus.RXRate = (uint16_t)((float)(rx_bytes * 1000) / SYSTEM_UPDATE_PERIOD_MS);
prev_tx_count = tx_count;
prev_rx_count = rx_count;
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
}
oplinkStatus.TXSeq = radio_stats.tx_seq;
oplinkStatus.RXSeq = radio_stats.rx_seq;
oplinkStatus.LinkState = radio_stats.link_state;
OPLinkStatusSet(&oplinkStatus);
#endif /* if defined(PIOS_INCLUDE_RFM22B) */
if (xQueueReceive(objectPersistenceQueue, &ev, delayTime) == pdTRUE) {

81
flight/pios/common/pios_led.c Normal file
View File

@ -0,0 +1,81 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_LED LED Functions
* @brief STM32 Hardware LED handling code
* @{
*
* @file pios_led.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief LED functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_LED
#include <pios_gpio_priv.h>
#include <pios_gpio.h>
static uint32_t pios_led_gpios_id;
/**
* Initialises all the LED's
*/
int32_t PIOS_LED_Init(const struct pios_gpio_cfg *cfg)
{
PIOS_Assert(cfg);
return PIOS_GPIO_Init(&pios_led_gpios_id, cfg);
}
/**
* Turn on LED
* \param[in] LED LED id
*/
void PIOS_LED_On(uint32_t led_id)
{
PIOS_GPIO_On(pios_led_gpios_id, led_id);
}
/**
* Turn off LED
* \param[in] LED LED id
*/
void PIOS_LED_Off(uint32_t led_id)
{
PIOS_GPIO_Off(pios_led_gpios_id, led_id);
}
/**
* Toggle LED on/off
* \param[in] LED LED id
*/
void PIOS_LED_Toggle(uint32_t led_id)
{
PIOS_GPIO_Toggle(pios_led_gpios_id, led_id);
}
#endif /* PIOS_INCLUDE_LED */
/**
* @}
* @}
*/

8
flight/pios/inc/pios_gpio.h
View File

@ -32,11 +32,9 @@
#define PIOS_GPIO_H
/* Public Functions */
extern void PIOS_GPIO_Init(void);
extern void PIOS_GPIO_Enable(uint8_t Pin);
extern void PIOS_GPIO_On(uint8_t Pin);
extern void PIOS_GPIO_Off(uint8_t Pin);
extern void PIOS_GPIO_Toggle(uint8_t Pin);
extern void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id);
extern void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id);
extern void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id);
#endif /* PIOS_GPIO_H */

55
flight/pios/inc/pios_gpio_priv.h Normal file
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@ -0,0 +1,55 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_GPIO GPIO Functions
* @brief PIOS interface for GPIOss
* @{
*
* @file pios_gpio_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief GPIO private definitions.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_GPIO_PRIV_H
#define PIOS_GPIO_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
struct pios_gpio {
struct stm32_gpio pin;
uint32_t remap;
bool active_low;
};
struct pios_gpio_cfg {
const struct pios_gpio *gpios;
uint8_t num_gpios;
};
extern int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg);
#endif /* PIOS_GPIO_PRIV_H */
/**
* @}
* @}
*/

16
flight/pios/inc/pios_led_priv.h
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@ -31,21 +31,9 @@
#ifndef PIOS_LED_PRIV_H
#define PIOS_LED_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
#include <pios_gpio_priv.h>
struct pios_led {
struct stm32_gpio pin;
uint32_t remap;
bool active_high;
};
struct pios_led_cfg {
const struct pios_led *leds;
uint8_t num_leds;
};
extern int32_t PIOS_LED_Init(const struct pios_led_cfg *cfg);
extern int32_t PIOS_LED_Init(const struct pios_gpio_cfg *cfg);
#endif /* PIOS_LED_PRIV_H */

2
flight/pios/pios.h
View File

@ -81,6 +81,8 @@
#include "semphr.h"
#endif
#include <stdbool.h>
#include <pios_architecture.h>
#ifdef PIOS_INCLUDE_TASK_MONITOR

136
flight/pios/stm32f10x/pios_gpio.c
View File

@ -2,12 +2,12 @@
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @defgroup PIOS_GPIO GPIO Functions
* @brief GPIO hardware code for STM32
* @addtogroup PIOS_GPIO GPIO Functions
* @brief STM32 Hardware GPIO handling code
* @{
*
* @file pios_gpio.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2013.
* @brief GPIO functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*
@ -32,65 +32,125 @@
#ifdef PIOS_INCLUDE_GPIO
/* Private Function Prototypes */
/* Local Variables */
static GPIO_TypeDef *GPIO_PORT[PIOS_GPIO_NUM] = PIOS_GPIO_PORTS;
static const uint32_t GPIO_PIN[PIOS_GPIO_NUM] = PIOS_GPIO_PINS;
static const uint32_t GPIO_CLK[PIOS_GPIO_NUM] = PIOS_GPIO_CLKS;
#include <pios_gpio_priv.h>
/**
* Initialises all the GPIO's
*/
void PIOS_GPIO_Init(void)
int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
{
/* Do nothing */
PIOS_Assert(cfg);
*gpios_dev_id = (uint32_t)cfg;
for (uint8_t i = 0; i < cfg->num_gpios; i++) {
const struct pios_gpio *gpio = &(cfg->gpios[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)gpio->pin.gpio) {
case (uint32_t)GPIOA:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
break;
case (uint32_t)GPIOB:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
break;
case (uint32_t)GPIOC:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
if (gpio->remap) {
GPIO_PinRemapConfig(gpio->remap, ENABLE);
}
GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
PIOS_GPIO_Off(*gpios_dev_id, i);
}
return 0;
}
/**
* Enable a GPIO Pin
* \param[in] Pin Pin Number
* Turn on GPIO
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_Enable(uint8_t Pin)
void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
{
// RCC_APB2PeriphClockCmd(GPIO_CLK[Pin], ENABLE);
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
GPIO_InitTypeDef GPIO_InitStructure;
PIOS_Assert(gpio_cfg);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Pin = GPIO_PIN[Pin];
GPIO_Init(GPIO_PORT[Pin], &GPIO_InitStructure);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
/* GPIO's Off */
GPIO_PORT[Pin]->BSRR = GPIO_PIN[Pin];
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (gpio->active_low) {
GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
} else {
GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
}
}
/**
* Turn on Pin
* \param[in] Pin Pin Number
* Turn off GPIO
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_On(uint8_t Pin)
void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
{
GPIO_PORT[Pin]->BRR = GPIO_PIN[Pin];
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (gpio->active_low) {
GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
} else {
GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
}
}
/**
* Turn off Pin
* \param[in] Pin Pin Number
* Toggle GPIO on/off
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_Off(uint8_t Pin)
void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
{
GPIO_PORT[Pin]->BSRR = GPIO_PIN[Pin];
}
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
/**
* Toggle Pin on/off
* \param[in] Pin Pin Number
*/
void PIOS_GPIO_Toggle(uint8_t Pin)
{
GPIO_PORT[Pin]->ODR ^= GPIO_PIN[Pin];
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
if (gpio->active_low) {
PIOS_GPIO_On(gpios_dev_id, gpio_id);
} else {
PIOS_GPIO_Off(gpios_dev_id, gpio_id);
}
} else {
if (gpio->active_low) {
PIOS_GPIO_Off(gpios_dev_id, gpio_id);
} else {
PIOS_GPIO_On(gpios_dev_id, gpio_id);
}
}
}
#endif /* PIOS_INCLUDE_GPIO */

159
flight/pios/stm32f10x/pios_led.c
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@ -1,159 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_LED LED Functions
* @brief STM32 Hardware LED handling code
* @{
*
* @file pios_led.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief LED functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_LED
#include <pios_led_priv.h>
static const struct pios_led_cfg *led_cfg;
/**
* Initialises all the LED's
*/
int32_t PIOS_LED_Init(const struct pios_led_cfg *cfg)
{
PIOS_Assert(cfg);
/* Store away the config in a global used by API functions */
led_cfg = cfg;
for (uint8_t i = 0; i < cfg->num_leds; i++) {
const struct pios_led *led = &(cfg->leds[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)led->pin.gpio) {
case (uint32_t)GPIOA:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
break;
case (uint32_t)GPIOB:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
break;
case (uint32_t)GPIOC:
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOC, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
if (led->remap) {
GPIO_PinRemapConfig(led->remap, ENABLE);
}
GPIO_Init(led->pin.gpio, &led->pin.init);
PIOS_LED_Off(i);
}
return 0;
}
/**
* Turn on LED
* \param[in] LED LED id
*/
void PIOS_LED_On(uint32_t led_id)
{
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led *led = &(led_cfg->leds[led_id]);
if (led->active_high) {
GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
} else {
GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
}
/**
* Turn off LED
* \param[in] LED LED id
*/
void PIOS_LED_Off(uint32_t led_id)
{
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led *led = &(led_cfg->leds[led_id]);
if (led->active_high) {
GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
} else {
GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
}
/**
* Toggle LED on/off
* \param[in] LED LED id
*/
void PIOS_LED_Toggle(uint32_t led_id)
{
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led *led = &(led_cfg->leds[led_id]);
if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
if (led->active_high) {
PIOS_LED_Off(led_id);
} else {
PIOS_LED_On(led_id);
}
} else {
if (led->active_high) {
PIOS_LED_On(led_id);
} else {
PIOS_LED_Off(led_id);
}
}
}
#endif /* PIOS_INCLUDE_LED */
/**
* @}
* @}
*/

153
flight/pios/stm32f4xx/pios_gpio.c
View File

@ -2,8 +2,8 @@
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @defgroup PIOS_GPIO GPIO Functions
* @brief GPIO hardware code for STM32F4xx
* @addtogroup PIOS_GPIO GPIO Functions
* @brief STM32 Hardware GPIO handling code
* @{
*
* @file pios_gpio.c
@ -32,64 +32,143 @@
#ifdef PIOS_INCLUDE_GPIO
/* Private Function Prototypes */
/* Local Variables */
static GPIO_TypeDef *GPIO_PORT[PIOS_GPIO_NUM] = PIOS_GPIO_PORTS;
static const uint32_t GPIO_PIN[PIOS_GPIO_NUM] = PIOS_GPIO_PINS;
#include <pios_gpio_priv.h>
/**
* Initialises all the GPIO's
*/
void PIOS_GPIO_Init(void)
int32_t PIOS_GPIO_Init(uint32_t *gpios_dev_id, const struct pios_gpio_cfg *cfg)
{
/* Do nothing */
PIOS_Assert(cfg);
*gpios_dev_id = (uint32_t)cfg;
for (uint8_t i = 0; i < cfg->num_gpios; i++) {
const struct pios_gpio *gpio = &(cfg->gpios[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)gpio->pin.gpio) {
case (uint32_t)GPIOA:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
break;
case (uint32_t)GPIOB:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
break;
case (uint32_t)GPIOC:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
break;
case (uint32_t)GPIOD:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
break;
case (uint32_t)GPIOE:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
break;
case (uint32_t)GPIOF:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
break;
case (uint32_t)GPIOG:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
break;
case (uint32_t)GPIOH:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
break;
case (uint32_t)GPIOI:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
if (gpio->remap) {
GPIO_PinAFConfig(gpio->pin.gpio, gpio->pin.init.GPIO_Pin, gpio->remap);
}
GPIO_Init(gpio->pin.gpio, &gpio->pin.init);
PIOS_GPIO_Off(*gpios_dev_id, i);
}
return 0;
}
/**
* Enable a GPIO Pin
* \param[in] Pin Pin Number
* Turn on GPIO
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_Enable(uint8_t Pin)
void PIOS_GPIO_On(uint32_t gpios_dev_id, uint8_t gpio_id)
{
GPIO_InitTypeDef GPIO_InitStructure;
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
GPIO_InitStructure.GPIO_Pin = GPIO_PIN[Pin];
GPIO_Init(GPIO_PORT[Pin], &GPIO_InitStructure);
PIOS_Assert(gpio_cfg);
/* GPIO's Off */
PIOS_GPIO_Off(Pin);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (gpio->active_low) {
GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
} else {
GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
}
}
/**
* Turn on Pin
* \param[in] Pin Pin Number
* Turn off GPIO
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_On(uint8_t Pin)
void PIOS_GPIO_Off(uint32_t gpios_dev_id, uint8_t gpio_id)
{
GPIO_ResetBits(GPIO_PORT[Pin], GPIO_PIN[Pin]);
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (gpio->active_low) {
GPIO_SetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
} else {
GPIO_ResetBits(gpio->pin.gpio, gpio->pin.init.GPIO_Pin);
}
}
/**
* Turn off Pin
* \param[in] Pin Pin Number
* Toggle GPIO on/off
* \param[in] GPIO GPIO id
*/
void PIOS_GPIO_Off(uint8_t Pin)
void PIOS_GPIO_Toggle(uint32_t gpios_dev_id, uint8_t gpio_id)
{
GPIO_SetBits(GPIO_PORT[Pin], GPIO_PIN[Pin]);
}
const struct pios_gpio_cfg *gpio_cfg = (const struct pios_gpio_cfg *)gpios_dev_id;
/**
* Toggle Pin on/off
* \param[in] Pin Pin Number
*/
void PIOS_GPIO_Toggle(uint8_t Pin)
{
GPIO_ToggleBits(GPIO_PORT[Pin], GPIO_PIN[Pin]);
PIOS_Assert(gpio_cfg);
if (gpio_id >= gpio_cfg->num_gpios) {
/* GPIO index out of range */
return;
}
const struct pios_gpio *gpio = &(gpio_cfg->gpios[gpio_id]);
if (GPIO_ReadOutputDataBit(gpio->pin.gpio, gpio->pin.init.GPIO_Pin) == Bit_SET) {
if (gpio->active_low) {
PIOS_GPIO_On(gpios_dev_id, gpio_id);
} else {
PIOS_GPIO_Off(gpios_dev_id, gpio_id);
}
} else {
if (gpio->active_low) {
PIOS_GPIO_Off(gpios_dev_id, gpio_id);
} else {
PIOS_GPIO_On(gpios_dev_id, gpio_id);
}
}
}
#endif /* PIOS_INCLUDE_GPIO */

177
flight/pios/stm32f4xx/pios_led.c
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@ -1,177 +0,0 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_LED LED Functions
* @brief STM32 Hardware LED handling code
* @{
*
* @file pios_led.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief LED functions, init, toggle, on & off.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_LED
#include <pios_led_priv.h>
static const struct pios_led_cfg *led_cfg;
/**
* Initialises all the LED's
*/
int32_t PIOS_LED_Init(const struct pios_led_cfg *cfg)
{
PIOS_Assert(cfg);
/* Store away the config in a global used by API functions */
led_cfg = cfg;
for (uint8_t i = 0; i < cfg->num_leds; i++) {
const struct pios_led *led = &(cfg->leds[i]);
/* Enable the peripheral clock for the GPIO */
switch ((uint32_t)led->pin.gpio) {
case (uint32_t)GPIOA:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
break;
case (uint32_t)GPIOB:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
break;
case (uint32_t)GPIOC:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
break;
case (uint32_t)GPIOD:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
break;
case (uint32_t)GPIOE:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);
break;
case (uint32_t)GPIOF:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOF, ENABLE);
break;
case (uint32_t)GPIOG:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOG, ENABLE);
break;
case (uint32_t)GPIOH:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOH, ENABLE);
break;
case (uint32_t)GPIOI:
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOI, ENABLE);
break;
default:
PIOS_Assert(0);
break;
}
if (led->remap) {
GPIO_PinAFConfig(led->pin.gpio, led->pin.init.GPIO_Pin, led->remap);
}
GPIO_Init(led->pin.gpio, &led->pin.init);
PIOS_LED_Off(i);
}
return 0;
}
/**
* Turn on LED
* \param[in] LED LED id
*/
void PIOS_LED_On(uint32_t led_id)
{
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led *led = &(led_cfg->leds[led_id]);
if (led->active_high) {
GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
} else {
GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
}
/**
* Turn off LED
* \param[in] LED LED id
*/
void PIOS_LED_Off(uint32_t led_id)
{
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led *led = &(led_cfg->leds[led_id]);
if (led->active_high) {
GPIO_ResetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
} else {
GPIO_SetBits(led->pin.gpio, led->pin.init.GPIO_Pin);
}
}
/**
* Toggle LED on/off
* \param[in] LED LED id
*/
void PIOS_LED_Toggle(uint32_t led_id)
{
PIOS_Assert(led_cfg);
if (led_id >= led_cfg->num_leds) {
/* LED index out of range */
return;
}
const struct pios_led *led = &(led_cfg->leds[led_id]);
if (GPIO_ReadOutputDataBit(led->pin.gpio, led->pin.init.GPIO_Pin) == Bit_SET) {
if (led->active_high) {
PIOS_LED_Off(led_id);
} else {
PIOS_LED_On(led_id);
}
} else {
if (led->active_high) {
PIOS_LED_On(led_id);
} else {
PIOS_LED_Off(led_id);
}
}
}
#endif /* PIOS_INCLUDE_LED */
/**
* @}
* @}
*/

20
flight/targets/boards/coptercontrol/board_hw_defs.c
View File

@ -31,7 +31,7 @@
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds_cc[] = {
static const struct pios_gpio pios_leds_cc[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOA,
@ -41,15 +41,16 @@ static const struct pios_led pios_leds_cc[] = {
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.active_low = true
},
};
static const struct pios_led_cfg pios_led_cfg_cc = {
.leds = pios_leds_cc,
.num_leds = NELEMENTS(pios_leds_cc),
static const struct pios_gpio_cfg pios_led_cfg_cc = {
.gpios = pios_leds_cc,
.num_gpios = NELEMENTS(pios_leds_cc),
};
static const struct pios_led pios_leds_cc3d[] = {
static const struct pios_gpio pios_leds_cc3d[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOB,
@ -60,15 +61,16 @@ static const struct pios_led pios_leds_cc3d[] = {
},
},
.remap = GPIO_Remap_SWJ_JTAGDisable,
.active_low = true
},
};
static const struct pios_led_cfg pios_led_cfg_cc3d = {
.leds = pios_leds_cc3d,
.num_leds = NELEMENTS(pios_leds_cc3d),
static const struct pios_gpio_cfg pios_led_cfg_cc3d = {
.gpios = pios_leds_cc3d,
.num_gpios = NELEMENTS(pios_leds_cc3d),
};
const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
{
switch (board_revision) {
case BOARD_REVISION_CC: return &pios_led_cfg_cc;

5
flight/targets/boards/coptercontrol/bootloader/pios_board.c
View File

@ -59,13 +59,10 @@ void PIOS_Board_Init(void)
/* Delay system */
PIOS_DELAY_Init();
/* Initialize the PiOS library */
PIOS_GPIO_Init();
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */

4
flight/targets/boards/coptercontrol/firmware/pios_board.c
View File

@ -145,7 +145,7 @@ void PIOS_Board_Init(void)
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
@ -865,8 +865,6 @@ void PIOS_Board_Init(void)
PIOS_Assert(0);
}
PIOS_GPIO_Init();
/* Make sure we have at least one telemetry link configured or else fail initialization */
PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
}

14
flight/targets/boards/oplinkmini/board_hw_defs.c
View File

@ -27,7 +27,7 @@
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
static const struct pios_gpio pios_leds[] = {
[PIOS_LED_USB] = {
.pin = {
.gpio = GPIOA,
@ -37,6 +37,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.active_low = true
},
[PIOS_LED_LINK] = {
.pin = {
@ -47,6 +48,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.active_low = true
},
[PIOS_LED_RX] = {
.pin = {
@ -57,6 +59,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.active_low = true
},
[PIOS_LED_TX] = {
.pin = {
@ -67,6 +70,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_Speed = GPIO_Speed_50MHz,
},
},
.active_low = true
},
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
[PIOS_LED_D1] = {
@ -112,12 +116,12 @@ static const struct pios_led pios_leds[] = {
#endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
static const struct pios_gpio_cfg pios_led_cfg = {
.gpios = pios_leds,
.num_gpios = NELEMENTS(pios_leds),
};
const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_led_cfg;
}

3
flight/targets/boards/oplinkmini/bootloader/pios_board.c
View File

@ -59,9 +59,6 @@ void PIOS_Board_Init(void)
/* Delay system */
PIOS_DELAY_Init();
/* Initialize the PiOS library */
PIOS_GPIO_Init();
#if defined(PIOS_INCLUDE_LED)
PIOS_LED_Init(&pios_led_cfg);
#endif /* PIOS_INCLUDE_LED */

1
flight/targets/boards/oplinkmini/firmware/pios_board.c
View File

@ -485,7 +485,6 @@ void PIOS_Board_Init(void)
#ifdef PIOS_INCLUDE_ADC
PIOS_ADC_Init();
#endif
PIOS_GPIO_Init();
}
static void PIOS_Board_PPM_callback(const int16_t *channels)

12
flight/targets/boards/osd/board_hw_defs.c
View File

@ -30,7 +30,7 @@
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
static const struct pios_gpio pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOB,
@ -42,6 +42,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
[PIOS_LED_ALARM] = {
.pin = {
@ -54,15 +55,16 @@ static const struct pios_led pios_leds[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
static const struct pios_gpio_cfg pios_led_cfg = {
.gpios = pios_leds,
.num_gpios = NELEMENTS(pios_leds),
};
const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_led_cfg;
}

1
flight/targets/boards/osd/bootloader/inc/pios_config.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_BL_HELPER

2
flight/targets/boards/osd/firmware/inc/pios_config.h
View File

@ -61,7 +61,7 @@
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_SPI
/* #define PIOS_INCLUDE_GPIO */
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG

22
flight/targets/boards/revolution/board_hw_defs.c
View File

@ -28,7 +28,7 @@
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
static const struct pios_gpio pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOB,
@ -40,6 +40,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
[PIOS_LED_ALARM] = {
.pin = {
@ -52,6 +53,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
[PIOS_LED_D1] = {
@ -105,12 +107,12 @@ static const struct pios_led pios_leds[] = {
#endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
static const struct pios_gpio_cfg pios_led_cfg = {
.gpios = pios_leds,
.num_gpios = NELEMENTS(pios_leds),
};
static const struct pios_led pios_leds_v2[] = {
static const struct pios_gpio pios_leds_v2[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOB,
@ -122,6 +124,7 @@ static const struct pios_led pios_leds_v2[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
[PIOS_LED_ALARM] = {
.pin = {
@ -134,6 +137,7 @@ static const struct pios_led pios_leds_v2[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
#ifdef PIOS_RFM22B_DEBUG_ON_TELEM
[PIOS_LED_D1] = {
@ -187,12 +191,12 @@ static const struct pios_led pios_leds_v2[] = {
#endif /* ifdef PIOS_RFM22B_DEBUG_ON_TELEM */
};
static const struct pios_led_cfg pios_led_v2_cfg = {
.leds = pios_leds_v2,
.num_leds = NELEMENTS(pios_leds_v2),
static const struct pios_gpio_cfg pios_led_v2_cfg = {
.gpios = pios_leds_v2,
.num_gpios = NELEMENTS(pios_leds_v2),
};
const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
{
switch (board_revision) {
case 2:

1
flight/targets/boards/revolution/bootloader/inc/pios_config.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_BL_HELPER

2
flight/targets/boards/revolution/bootloader/pios_board.c
View File

@ -51,7 +51,7 @@ void PIOS_Board_Init()
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */

2
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -61,7 +61,7 @@
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_SPI
/* #define PIOS_INCLUDE_GPIO */
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG

2
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -346,7 +346,7 @@ void PIOS_Board_Init(void)
const struct pios_board_info *bdinfo = &pios_board_info_blob;
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */

12
flight/targets/boards/revoproto/board_hw_defs.c
View File

@ -28,7 +28,7 @@
#if defined(PIOS_INCLUDE_LED)
#include <pios_led_priv.h>
static const struct pios_led pios_leds[] = {
static const struct pios_gpio pios_leds[] = {
[PIOS_LED_HEARTBEAT] = {
.pin = {
.gpio = GPIOE,
@ -40,6 +40,7 @@ static const struct pios_led pios_leds[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
[PIOS_LED_ALARM] = {
.pin = {
@ -52,15 +53,16 @@ static const struct pios_led pios_leds[] = {
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.active_low = true
},
};
static const struct pios_led_cfg pios_led_cfg = {
.leds = pios_leds,
.num_leds = NELEMENTS(pios_leds),
static const struct pios_gpio_cfg pios_led_cfg = {
.gpios = pios_leds,
.num_gpios = NELEMENTS(pios_leds),
};
const struct pios_led_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision)
{
return &pios_led_cfg;
}

1
flight/targets/boards/revoproto/bootloader/inc/pios_config.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_IAP
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_COM_MSG
#define PIOS_INCLUDE_BL_HELPER

2
flight/targets/boards/revoproto/firmware/inc/pios_config.h
View File

@ -61,7 +61,7 @@
#define PIOS_INCLUDE_ADC
#define PIOS_INCLUDE_I2C
#define PIOS_INCLUDE_SPI
/* #define PIOS_INCLUDE_GPIO */
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_EXTI
#define PIOS_INCLUDE_WDG

1
flight/targets/common/bootloader_updater/Makefile
View File

@ -39,6 +39,7 @@ HWDEFSINC = ../../boards/$(BOARD_NAME)
# Use file-extension c for "c-only"-files
SRC += $(OPSYSTEM)/main.c
SRC += $(OPSYSTEM)/pios_board.c
SRC += $(PIOSCOMMON)/pios_led.c
## PIOS Hardware
ifeq ($(MCU),cortex-m3)
include $(PIOS)/stm32f10x/library.mk

1
flight/targets/common/bootloader_updater/inc/pios_config.h
View File

@ -35,6 +35,7 @@
#define PIOS_INCLUDE_SYS
#define PIOS_INCLUDE_IRQ
#define PIOS_INCLUDE_LED
#define PIOS_INCLUDE_GPIO
#define PIOS_INCLUDE_BL_HELPER
#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT

7
flight/targets/common/bootloader_updater/pios_board.c
View File

@ -41,13 +41,8 @@ void PIOS_Board_Init(void)
/* LEDs */
#if defined(PIOS_INCLUDE_LED)
const struct pios_led_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
PIOS_Assert(led_cfg);
PIOS_LED_Init(led_cfg);
#endif /* PIOS_INCLUDE_LED */
/* Initialize the PiOS library */
#if defined(PIOS_INCLUDE_GPIO)
PIOS_GPIO_Init();
#endif /* PIOS_INCLUDE_GPIO */
}

2
ground/openpilotgcs/src/plugins/systemhealth/html/Attitude-Critical.html
View File

@ -1,4 +1,4 @@
html>
<html>
<head>
<title></title>
<meta content="">

1
make/apps-defs.mk
View File

@ -86,6 +86,7 @@ SRC += $(PIOSCOMMON)/pios_rfm22b.c
SRC += $(PIOSCOMMON)/pios_rfm22b_com.c
SRC += $(PIOSCOMMON)/pios_sbus.c
SRC += $(PIOSCOMMON)/pios_sdcard.c
SRC += $(PIOSCOMMON)/pios_led.c
## PIOS USB related files
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_cdc.c

1
make/boot-defs.mk
View File

@ -55,6 +55,7 @@ SRC += $(PIOSCOMMON)/pios_com_msg.c
SRC += $(PIOSCOMMON)/pios_iap.c
SRC += $(PIOSCOMMON)/pios_usb_desc_hid_only.c
SRC += $(PIOSCOMMON)/pios_usb_util.c
SRC += $(PIOSCOMMON)/pios_led.c
## Misc library functions
SRC += $(FLIGHTLIB)/op_dfu.c

4
shared/uavobjectdefinition/groundtruth.xml
View File

@ -11,8 +11,8 @@
<field name="AngleOfAttack" units="deg" type="float" elements="1"/>
<field name="AngleOfSlip" units="deg" type="float" elements="1"/>
<access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="false" updatemode="periodic" period="1000"/>
<telemetryflight acked="false" updatemode="manual" period="50000"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

6
shared/uavobjectdefinition/revosettings.xml
View File

@ -2,6 +2,12 @@
<object name="RevoSettings" singleinstance="true" settings="true" category="State">
<description>Settings for the revo to control the algorithm and what is updated</description>
<field name="FusionAlgorithm" units="" type="enum" elements="1" options="None,Complementary,Complementary+Mag,INS13Indoor,INS13Outdoor" defaultvalue="Complementary"/>
<!-- Low pass filter configuration to calculate offset of barometric altitude sensor.
Defaults: updates at 5 Hz, tau = 300s settle time, exp(-(1/f)/tau) ~= 0.9993335555062
Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. -->
<field name="BaroGPSOffsetCorrectionAlpha" units="" type="float" elements="1" defaultvalue="0.9993335555062"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

3
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -37,6 +37,9 @@
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>