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Code Issues Releases Activity

Merge remote-tracking branch 'origin/rel-15.02' into next

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Conflicts:
	ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
This commit is contained in:
Laurent Lalanne 2015-03-09 22:21:55 +01:00
commit 12a81827f8
30 changed files with 17748 additions and 8759 deletions
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8
WHATSNEW.txt
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@ -1,4 +1,4 @@
--- RELEASE-15.02 RC4 --- RELEASE-15.02 RC6
This release introduces major flight performance improvements, enhancements as well as bug fixes. Many enhancements have been made to reducing dead-time of the communication between the flight controller and ESCs. In our testing, we have found this to be not only the best flight performance so far in the OpenPilot project but the best flight performance of any project we have tested against. This is a recommended upgrade for everyone and the more skilled of a pilot you are, the more you will love this release. This release introduces major flight performance improvements, enhancements as well as bug fixes. Many enhancements have been made to reducing dead-time of the communication between the flight controller and ESCs. In our testing, we have found this to be not only the best flight performance so far in the OpenPilot project but the best flight performance of any project we have tested against. This is a recommended upgrade for everyone and the more skilled of a pilot you are, the more you will love this release.
A key improvement that helped achieve this was the addition of the PWMSync code path, this is now enabled by default. Some restrictions applies to CC3D/CC as it needs a compatible input method to enable PWMSync. Compatible input methods are PPM, S.Bus, DSM and OPLink. This release also introduces support for OneShot125 capable ESCs, such as the KISS ESCs and all ESCs supported in BLHeli V13 and above. Note that OneShot125 support has the same restrictions as PWMSync for CC and CC3D. A key improvement that helped achieve this was the addition of the PWMSync code path, this is now enabled by default. Some restrictions applies to CC3D/CC as it needs a compatible input method to enable PWMSync. Compatible input methods are PPM, S.Bus, DSM and OPLink. This release also introduces support for OneShot125 capable ESCs, such as the KISS ESCs and all ESCs supported in BLHeli V13 and above. Note that OneShot125 support has the same restrictions as PWMSync for CC and CC3D.
@ -10,12 +10,12 @@ Other enhancements include key parts of the GCS translated to Chinese and furthe
The full list of features, improvements and bugfixes in this release is accessible here: The full list of features, improvements and bugfixes in this release is accessible here:
https://progress.openpilot.org/issues/?filter=12161 https://progress.openpilot.org/issues/?filter=12161
Release Notes - OpenPilot - Version RELEASE-15.02 Release Notes - OpenPilot - Version RELEASE-15.02
** Bug ** Bug
* [OP-969] - Input Configuration Wizard has scrollbars showing up and next/previous buttons are pushed down out of sight * [OP-969] - Input Configuration Wizard has scrollbars showing up and next/previous buttons are pushed down out of sight
* [OP-1034] - CCPM Config Widget crashes GCS if required boxes aren't set i.e. Channel set to None * [OP-1034] - CCPM Config Widget crashes GCS if required boxes aren't set i.e. Channel set to None
* [OP-1236] - Icons on Welcome tab - moves to the left
* [OP-1466] - Gcs crashes on Helicopter config tab * [OP-1466] - Gcs crashes on Helicopter config tab
* [OP-1522] - Improve Robustness of OPLink radio * [OP-1522] - Improve Robustness of OPLink radio
* [OP-1601] - Still not enough ram on CC for gps to be usable * [OP-1601] - Still not enough ram on CC for gps to be usable
@ -38,6 +38,8 @@ Release Notes - OpenPilot - Version RELEASE-15.02
* [OP-1755] - Add additional path for cloudconfigs * [OP-1755] - Add additional path for cloudconfigs
* [OP-1758] - Upgrade hidapi for all OSs (except windows) to solve mac issue:Fix incorrect device list after device removal * [OP-1758] - Upgrade hidapi for all OSs (except windows) to solve mac issue:Fix incorrect device list after device removal
* [OP-1761] - Wizard bad config when PPM in, RapidESC out and hexa frame with CC/CC3D/Atom * [OP-1761] - Wizard bad config when PPM in, RapidESC out and hexa frame with CC/CC3D/Atom
* [OP-1764] - System should sanity check RC Input Channel value ranges and raise alarm accordingly
* [OP-1768] - PWM Sync and OneShot125 wizard output level and warning are incorrect
** Improvement ** Improvement
@ -60,13 +62,13 @@ Release Notes - OpenPilot - Version RELEASE-15.02
** Task ** Task
* [OP-1721] - C++ enable flight controller and upgrade ARM tools * [OP-1721] - C++ enable flight controller and upgrade ARM tools
* [OP-1738] - change default flight modes and thrust settings * [OP-1738] - change default flight modes and thrust settings
* [OP-1747] - 15.02 rc1 motor end points do not reflect oneshot125 / pwmsync
** Sub task ** Sub task
* [OP-1748] - Chinese translation for 15.02 * [OP-1748] - Chinese translation for 15.02
* [OP-1752] - Add Alarm sub status to SystemHealth * [OP-1752] - Add Alarm sub status to SystemHealth
--- RELEASE-15.01 --- Look Ma, No hands --- --- RELEASE-15.01 --- Look Ma, No hands ---
This release mainly focuses on a new feature, GPSAssist which is a new form of assisted control for multirotors. This release mainly focuses on a new feature, GPSAssist which is a new form of assisted control for multirotors.
Assisted Control provides assistance functions on top of existing flight modes. GPSAssist is the Assisted Control provides assistance functions on top of existing flight modes. GPSAssist is the

24
flight/libraries/sanitycheck.c
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@ -43,7 +43,8 @@
#include <taskinfo.h> #include <taskinfo.h>
// a number of useful macros // a number of useful macros
#define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL)) #define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
#define ADDEXTENDEDALARMSTATUS(error_code, error_substatus) if ((severity != SYSTEMALARMS_ALARM_OK) && (alarmstatus == SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE)) { alarmstatus = (error_code); alarmsubstatus = (error_substatus); }
// private types // private types
typedef struct SANITYCHECK_CustomHookInstance { typedef struct SANITYCHECK_CustomHookInstance {
@ -178,6 +179,27 @@ int32_t configuration_check()
} }
} }
// Check throttle/collective channel range for valid configuration of input for critical control
SystemSettingsThrustControlOptions thrustType;
SystemSettingsThrustControlGet(&thrustType);
ManualControlSettingsChannelMinData channelMin;
ManualControlSettingsChannelMaxData channelMax;
ManualControlSettingsChannelMinGet(&channelMin);
ManualControlSettingsChannelMaxGet(&channelMax);
switch (thrustType) {
case SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE:
ADDSEVERITY(fabsf(channelMax.Throttle - channelMin.Throttle) > 300.0f);
ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
break;
case SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE:
ADDSEVERITY(fabsf(channelMax.Collective - channelMin.Collective) > 300.0f);
ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
break;
default:
break;
}
// query sanity check hooks // query sanity check hooks
if (severity < SYSTEMALARMS_ALARM_CRITICAL) { if (severity < SYSTEMALARMS_ALARM_CRITICAL) {
SANITYCHECK_CustomHookInstance *instance = NULL; SANITYCHECK_CustomHookInstance *instance = NULL;

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ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/(RACE)FPV260HobbyKin-Multirotor-QuadrocopterX-0482b7a25f7.optmpl Normal file
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ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/(STOCK)HobbyKingFPV2-Multirotor-QuadrocopterX-0bb44b68883.optmpl Normal file
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ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/BlackOutB330-Multirotor-QuadrocopterX-e9980c55302.optmpl Normal file
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@ -0,0 +1,2185 @@
{
"battery": "2200 4s 60c",
"comment": "Bank 1 Acro + \nBank 2 Attitude mode\npids set for Blheli 13.xx and oneshot enabled",
"controller": "CC3D",
"esc": "Afro 30 Blheli 13.01",
"motor": "Blackout 2208 2000kv",
"name": "BlackOut B330 ",
"nick": "Failsafe",
"objects": [
{
"fields": [
{
"name": "VbarSensitivity",
"type": "float32",
"unit": "frac",
"values": [
{
"name": "Roll",
"value": 0.5
},
{
"name": "Pitch",
"value": 0.5
},
{
"name": "Yaw",
"value": 0.5
}
]
},
{
"name": "VbarRollPI",
"type": "float32",
"unit": "1/(deg/s)",
"values": [
{
"name": "Kp",
"value": 0.004999999888241291
},
{
"name": "Ki",
"value": 0.0020000000949949026
}
]
},
{
"name": "VbarPitchPI",
"type": "float32",
"unit": "1/(deg/s)",
"values": [
{
"name": "Kp",
"value": 0.004999999888241291
},
{
"name": "Ki",
"value": 0.0020000000949949026
}
]
},
{
"name": "VbarYawPI",
"type": "float32",
"unit": "1/(deg/s)",
"values": [
{
"name": "Kp",
"value": 0.004999999888241291
},
{
"name": "Ki",
"value": 0.0020000000949949026
}
]
},
{
"name": "VbarTau",
"type": "float32",
"unit": "sec",
"values": [
{
"name": "0",
"value": 0.5
}
]
},
{
"name": "GyroTau",
"type": "float32",
"unit": "",
"values": [
{
"name": "0",
"value": 0.004999999888241291
}
]
},
{
"name": "DerivativeGamma",
"type": "float32",
"unit": "",
"values": [
{
"name": "0",
"value": 1
}
]
},
{
"name": "AxisLockKp",
"type": "float32",
"unit": "",
"values": [
{
"name": "0",
"value": 2.5
}
]
},
{
"name": "WeakLevelingKp",
"type": "float32",
"unit": "(deg/s)/deg",
"values": [
{
"name": "0",
"value": 0.10000000149011612
}
]
},
{
"name": "CruiseControlMaxPowerFactor",
"type": "float32",
"unit": "x",
"values": [
{
"name": "0",
"value": 3
}
]
},
{
"name": "CruiseControlPowerTrim",
"type": "float32",
"unit": "%",
"values": [
{
"name": "0",
"value": 100
}
]
},
{
"name": "CruiseControlPowerDelayComp",
"type": "float32",
"unit": "sec",
"values": [
{
"name": "0",
"value": 0.25
}
]
},
{
"name": "ScaleToAirspeed",
"type": "float32",
"unit": "m/s",
"values": [
{
"name": "0",
"value": 0
}
]
},
{
"name": "ScaleToAirspeedLimits",
"type": "float32",
"unit": "",
"values": [
{
"name": "Min",
"value": 0.05000000074505806
},
{
"name": "Max",
"value": 3
}
]
},
{
"name": "FlightModeMap",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "Bank1"
},
{
"name": "1",
"value": "Bank2"
},
{
"name": "2",
"value": "Bank1"
},
{
"name": "3",
"value": "Bank1"
},
{
"name": "4",
"value": "Bank1"
},
{
"name": "5",
"value": "Bank1"
}
]
},
{
"name": "VbarGyroSuppress",
"type": "int8",
"unit": "%",
"values": [
{
"name": "0",
"value": 30
}
]
},
{
"name": "VbarPiroComp",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "FALSE"
}
]
},
{
"name": "VbarMaxAngle",
"type": "uint8",
"unit": "deg",
"values": [
{
"name": "0",
"value": 10
}
]
},
{
"name": "DerivativeCutoff",
"type": "uint8",
"unit": "Hz",
"values": [
{
"name": "0",
"value": 20
}
]
},
{
"name": "MaxAxisLock",
"type": "uint8",
"unit": "deg",
"values": [
{
"name": "0",
"value": 30
}
]
},
{
"name": "MaxAxisLockRate",
"type": "uint8",
"unit": "deg/s",
"values": [
{
"name": "0",
"value": 2
}
]
},
{
"name": "MaxWeakLevelingRate",
"type": "uint8",
"unit": "deg/s",
"values": [
{
"name": "0",
"value": 5
}
]
},
{
"name": "RattitudeModeTransition",
"type": "uint8",
"unit": "%",
"values": [
{
"name": "0",
"value": 80
}
]
},
{
"name": "CruiseControlMinThrust",
"type": "int8",
"unit": "%",
"values": [
{
"name": "0",
"value": 5
}
]
},
{
"name": "CruiseControlMaxThrust",
"type": "uint8",
"unit": "%",
"values": [
{
"name": "0",
"value": 90
}
]
},
{
"name": "CruiseControlMaxAngle",
"type": "uint8",
"unit": "deg",
"values": [
{
"name": "0",
"value": 105
}
]
},
{
"name": "CruiseControlFlightModeSwitchPosEnable",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "FALSE"
},
{
"name": "1",
"value": "FALSE"
},
{
"name": "2",
"value": "FALSE"
},
{
"name": "3",
"value": "FALSE"
},
{
"name": "4",
"value": "FALSE"
},
{
"name": "5",
"value": "FALSE"
}
]
},
{
"name": "CruiseControlInvertedThrustReversing",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "Unreversed"
}
]
},
{
"name": "CruiseControlInvertedPowerOutput",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "Zero"
}
]
},
{
"name": "LowThrottleZeroIntegral",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "TRUE"
}
]
},
{
"name": "FlightModeAssistMap",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "None"
},
{
"name": "1",
"value": "None"
},
{
"name": "2",
"value": "None"
},
{
"name": "3",
"value": "None"
},
{
"name": "4",
"value": "None"
},
{
"name": "5",
"value": "None"
}
]
}
],
"id": "73603180",
"instance": 0,
"name": "StabilizationSettings",
"setting": true
},
{
"fields": [
{
"name": "ManualRate",
"type": "float32",
"unit": "degrees/sec",
"values": [
{
"name": "Roll",
"value": 200
},
{
"name": "Pitch",
"value": 200
},
{
"name": "Yaw",
"value": 220
}
]
},
{
"name": "MaximumRate",
"type": "float32",
"unit": "degrees/sec",
"values": [
{
"name": "Roll",
"value": 500
},
{
"name": "Pitch",
"value": 500
},
{
"name": "Yaw",
"value": 300
}
]
},
{
"name": "RollRatePID",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 0.002899999963119626
},
{
"name": "Ki",
"value": 0.0065000001341104507
},
{
"name": "Kd",
"value": 3.4000000596279278e-05
},
{
"name": "ILimit",
"value": 0.30000001192092896
}
]
},
{
"name": "PitchRatePID",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 0.004120000172406435
},
{
"name": "Ki",
"value": 0.0082999998703598976
},
{
"name": "Kd",
"value": 4.1999999666586518e-05
},
{
"name": "ILimit",
"value": 0.30000001192092896
}
]
},
{
"name": "YawRatePID",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 0.0086000002920627594
},
{
"name": "Ki",
"value": 0.014299999922513962
},
{
"name": "Kd",
"value": 4.9999998736893758e-05
},
{
"name": "ILimit",
"value": 0.30000001192092896
}
]
},
{
"name": "RollPI",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 2.9000000953674316
},
{
"name": "Ki",
"value": 0
},
{
"name": "ILimit",
"value": 50
}
]
},
{
"name": "PitchPI",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 3.2999999523162842
},
{
"name": "Ki",
"value": 0
},
{
"name": "ILimit",
"value": 50
}
]
},
{
"name": "YawPI",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 2.5
},
{
"name": "Ki",
"value": 0
},
{
"name": "ILimit",
"value": 50
}
]
},
{
"name": "AcroInsanityFactor",
"type": "float32",
"unit": "percent",
"values": [
{
"name": "0",
"value": 0.4699999988079071
}
]
},
{
"name": "ThrustPIDScaleCurve",
"type": "float32",
"unit": "percent",
"values": [
{
"name": "0",
"value": 0.0042716437019407749
},
{
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},
{
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{
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{
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]
},
{
"name": "RollMax",
"type": "uint8",
"unit": "degrees",
"values": [
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}
]
},
{
"name": "PitchMax",
"type": "uint8",
"unit": "degrees",
"values": [
{
"name": "0",
"value": 55
}
]
},
{
"name": "YawMax",
"type": "uint8",
"unit": "degrees",
"values": [
{
"name": "0",
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}
]
},
{
"name": "StickExpo",
"type": "int8",
"unit": "percent",
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{
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"value": 12
},
{
"name": "Yaw",
"value": -5
}
]
},
{
"name": "EnablePiroComp",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "FALSE"
}
]
},
{
"name": "EnableThrustPIDScaling",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "TRUE"
}
]
},
{
"name": "ThrustPIDScaleSource",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "ActuatorDesiredThrust"
}
]
},
{
"name": "ThrustPIDScaleTarget",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "PD"
}
]
},
{
"name": "ThrustPIDScaleAxes",
"type": "enum",
"unit": "",
"values": [
{
"name": "0",
"value": "Roll Pitch"
}
]
}
],
"id": "E8EBBD48",
"instance": 0,
"name": "StabilizationSettingsBank1",
"setting": true
},
{
"fields": [
{
"name": "ManualRate",
"type": "float32",
"unit": "degrees/sec",
"values": [
{
"name": "Roll",
"value": 200
},
{
"name": "Pitch",
"value": 200
},
{
"name": "Yaw",
"value": 220
}
]
},
{
"name": "MaximumRate",
"type": "float32",
"unit": "degrees/sec",
"values": [
{
"name": "Roll",
"value": 500
},
{
"name": "Pitch",
"value": 500
},
{
"name": "Yaw",
"value": 300
}
]
},
{
"name": "RollRatePID",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 0.00279999990016222
},
{
"name": "Ki",
"value": 0.0054999999701976776
},
{
"name": "Kd",
"value": 2.9000000722589903e-05
},
{
"name": "ILimit",
"value": 0.30000001192092896
}
]
},
{
"name": "PitchRatePID",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 0.0036200000904500484
},
{
"name": "Ki",
"value": 0.0086000002920627594
},
{
"name": "Kd",
"value": 3.600000127335079e-05
},
{
"name": "ILimit",
"value": 0.30000001192092896
}
]
},
{
"name": "YawRatePID",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 0.0086000002920627594
},
{
"name": "Ki",
"value": 0.014299999922513962
},
{
"name": "Kd",
"value": 4.9999998736893758e-05
},
{
"name": "ILimit",
"value": 0.30000001192092896
}
]
},
{
"name": "RollPI",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 3
},
{
"name": "Ki",
"value": 0
},
{
"name": "ILimit",
"value": 50
}
]
},
{
"name": "PitchPI",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 3.4000000953674316
},
{
"name": "Ki",
"value": 0
},
{
"name": "ILimit",
"value": 50
}
]
},
{
"name": "YawPI",
"type": "float32",
"unit": "",
"values": [
{
"name": "Kp",
"value": 2.5
},
{
"name": "Ki",
"value": 0
},
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ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/ZMR250-ChineseQAV250-Multirotor-QuadrocopterX-5d318c0526c (1).optmpl → ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/ZMR250( Attitude mode)-ChineseQAV250-Multirotor-QuadrocopterX-5d318c0526c (1).optmpl
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0
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0
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/ZMR250-Multirotor-QuadrocopterX-895b222d670.optmpl → ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/ZMR250(Race acro +)-Multirotor-QuadrocopterX-895b222d670.optmpl
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20
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
View File

@ -30,7 +30,7 @@
inkscape:zoom="6.5977991" inkscape:zoom="6.5977991"
inkscape:cx="55.083588" inkscape:cx="55.083588"
inkscape:cy="24.071773" inkscape:cy="24.071773"
inkscape:current-layer="layer45" inkscape:current-layer="layer46"
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inkscape:window-width="1280" inkscape:window-width="1280"
@ -1685,6 +1685,20 @@
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<g
inkscape:groupmode="layer"
id="layer46"
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style="fill:#d40000;fill-opacity:1;stroke:none;display:inline"
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inkscape:groupmode="layer" inkscape:groupmode="layer"
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sodipodi:rx="0.5" sodipodi:rx="0.5"
sodipodi:ry="0.5" sodipodi:ry="0.5"
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Width:  |  Height:  |  Size: 109 KiB

After

Width:  |  Height:  |  Size: 109 KiB

29
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -549,6 +549,8 @@ void ConfigInputWidget::wzNext()
// Force flight mode neutral to middle and Throttle neutral at 4% // Force flight mode neutral to middle and Throttle neutral at 4%
adjustSpecialNeutrals(); adjustSpecialNeutrals();
throttleError = false;
checkThrottleRange();
manualSettingsObj->setData(manualSettingsData); manualSettingsObj->setData(manualSettingsData);
// move to Arming Settings tab // move to Arming Settings tab
@ -1593,6 +1595,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
ui->saveRCInputToRAM->setEnabled(false); ui->saveRCInputToRAM->setEnabled(false);
ui->saveRCInputToSD->setEnabled(false); ui->saveRCInputToSD->setEnabled(false);
ui->runCalibration->setText(tr("Stop Manual Calibration")); ui->runCalibration->setText(tr("Stop Manual Calibration"));
throttleError = false;
QMessageBox msgBox; QMessageBox msgBox;
msgBox.setText(tr("<p>Arming Settings are now set to 'Always Disarmed' for your safety.</p>" msgBox.setText(tr("<p>Arming Settings are now set to 'Always Disarmed' for your safety.</p>"
@ -1628,11 +1631,6 @@ void ConfigInputWidget::simpleCalibration(bool enable)
connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration())); connect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
} else { } else {
ui->configurationWizard->setEnabled(true);
ui->saveRCInputToRAM->setEnabled(true);
ui->saveRCInputToSD->setEnabled(true);
ui->runCalibration->setText(tr("Start Manual Calibration"));
manualCommandData = manualCommandObj->getData(); manualCommandData = manualCommandObj->getData();
manualSettingsData = manualSettingsObj->getData(); manualSettingsData = manualSettingsObj->getData();
@ -1641,16 +1639,21 @@ void ConfigInputWidget::simpleCalibration(bool enable)
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) { for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++) {
if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) { if ((i == ManualControlSettings::CHANNELNUMBER_FLIGHTMODE) || (i == ManualControlSettings::CHANNELNUMBER_THROTTLE)) {
adjustSpecialNeutrals(); adjustSpecialNeutrals();
checkThrottleRange();
} else { } else {
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i]; manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
} }
} }
manualSettingsObj->setData(manualSettingsData); manualSettingsObj->setData(manualSettingsData);
// Load actuator settings back from beginning of manual calibration // Load actuator settings back from beginning of manual calibration
actuatorSettingsObj->setData(previousActuatorSettingsData); actuatorSettingsObj->setData(previousActuatorSettingsData);
ui->configurationWizard->setEnabled(true);
ui->saveRCInputToRAM->setEnabled(true);
ui->saveRCInputToSD->setEnabled(true);
ui->runCalibration->setText(tr("Start Manual Calibration"));
disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration())); disconnect(manualCommandObj, SIGNAL(objectUnpacked(UAVObject *)), this, SLOT(updateCalibration()));
} }
} }
@ -1671,6 +1674,20 @@ void ConfigInputWidget::adjustSpecialNeutrals()
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04); manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]) * 0.04);
} }
void ConfigInputWidget::checkThrottleRange()
{
int throttleRange = abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]);
if (!throttleError && (throttleRange < 300)) {
throttleError = true;
QMessageBox::warning(this, tr("Warning"), tr("<p>There is something wrong with Throttle range. Please redo calibration and move <b>ALL sticks</b>, Throttle stick included.</p>"), QMessageBox::Ok);
// Set Throttle neutral to max value so Throttle can't be positive
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE] =
manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE];
}
}
bool ConfigInputWidget::shouldObjectBeSaved(UAVObject *object) bool ConfigInputWidget::shouldObjectBeSaved(UAVObject *object)
{ {
// ManualControlCommand no need to be saved // ManualControlCommand no need to be saved

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

@ -71,6 +71,7 @@ public:
bool shouldObjectBeSaved(UAVObject *object); bool shouldObjectBeSaved(UAVObject *object);
private: private:
bool throttleError;
bool growing; bool growing;
bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM]; bool reverse[ManualControlSettings::CHANNELNEUTRAL_NUMELEM];
txMovements currentMovement; txMovements currentMovement;
@ -199,6 +200,7 @@ private slots:
void invertControls(); void invertControls();
void simpleCalibration(bool state); void simpleCalibration(bool state);
void adjustSpecialNeutrals(); void adjustSpecialNeutrals();
void checkThrottleRange();
void updateCalibration(); void updateCalibration();
void resetChannelSettings(); void resetChannelSettings();
void resetActuatorSettings(); void resetActuatorSettings();

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

@ -472,7 +472,7 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) { if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) { switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT: case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
setWarning(tr("OneShot only works with Receiver Port settings marked with '+OneShot'<br>" setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
"When using Receiver Port setting 'PPM_PIN8+OneShot' " "When using Receiver Port setting 'PPM_PIN8+OneShot' "
"<b><font color='%1'>Bank %2</font></b> must be set to PWM") "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
.arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text())); .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));

13
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.cpp
View File

@ -85,6 +85,15 @@ void EscCalibrationPage::resetAllSecurityCheckboxes()
ui->securityCheckBox3->setChecked(false); ui->securityCheckBox3->setChecked(false);
} }
int EscCalibrationPage::getHighOutputRate()
{
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
return HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS;
} else {
return HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS;
}
}
void EscCalibrationPage::startButtonClicked() void EscCalibrationPage::startButtonClicked()
{ {
if (!m_isCalibrating) { if (!m_isCalibrating) {
@ -95,7 +104,7 @@ void EscCalibrationPage::startButtonClicked()
ui->outputLow->setEnabled(false); ui->outputLow->setEnabled(false);
ui->nonconnectedLabel->setEnabled(false); ui->nonconnectedLabel->setEnabled(false);
ui->connectedLabel->setEnabled(true); ui->connectedLabel->setEnabled(true);
ui->outputLevel->setText(QString(tr("%1 µs")).arg(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS)); ui->outputLevel->setText(QString(tr("%1 µs")).arg(getHighOutputRate()));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *uavoManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(uavoManager); Q_ASSERT(uavoManager);
@ -123,7 +132,7 @@ void EscCalibrationPage::startButtonClicked()
} }
m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS); m_outputUtil.startChannelOutput(m_outputChannels, OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS);
QThread::msleep(100); QThread::msleep(100);
m_outputUtil.setChannelOutputValue(HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS); m_outputUtil.setChannelOutputValue(getHighOutputRate());
ui->stopButton->setEnabled(true); ui->stopButton->setEnabled(true);
} }

2
ground/openpilotgcs/src/plugins/setupwizard/pages/esccalibrationpage.h
View File

@ -56,10 +56,12 @@ private:
static const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1050; static const int LOW_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1050;
static const int OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 900; static const int OFF_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 900;
static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900; static const int HIGH_PWM_OUTPUT_PULSE_LENGTH_MICROSECONDS = 1900;
static const int HIGH_ONESHOT125_OUTPUT_PULSE_LENGTH_MICROSECONDS = 2000;
Ui::EscCalibrationPage *ui; Ui::EscCalibrationPage *ui;
bool m_isCalibrating; bool m_isCalibrating;
OutputCalibrationUtil m_outputUtil; OutputCalibrationUtil m_outputUtil;
QList<quint16> m_outputChannels; QList<quint16> m_outputChannels;
int getHighOutputRate();
}; };
#endif // ESCCALIBRATIONPAGE_H #endif // ESCCALIBRATIONPAGE_H

33
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -77,32 +77,32 @@ void OutputCalibrationPage::setupActuatorMinMaxAndNeutral(int motorChannelStart,
for (int servoid = 0; servoid < 12; servoid++) { for (int servoid = 0; servoid < 12; servoid++) {
if (servoid >= motorChannelStart && servoid <= motorChannelEnd) { if (servoid >= motorChannelStart && servoid <= motorChannelEnd) {
// Set to motor safe values // Set to motor safe values
m_actuatorSettings[servoid].channelMin = 1000; m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = 1000; m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = 1900; m_actuatorSettings[servoid].channelMax = getHighOutputRate();
m_actuatorSettings[servoid].isReversableMotor = false; m_actuatorSettings[servoid].isReversableMotor = false;
// Car and Tank should use reversable Esc/motors // Car and Tank should use reversable Esc/motors
if ((getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_CAR) if ((getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_CAR)
|| (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)) { || (getWizard()->getVehicleSubType() == SetupWizard::GROUNDVEHICLE_DIFFERENTIAL)) {
m_actuatorSettings[servoid].channelNeutral = 1500; m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].isReversableMotor = true; m_actuatorSettings[servoid].isReversableMotor = true;
// Set initial output value // Set initial output value
m_calibrationUtil->startChannelOutput(servoid, 1500); m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
m_calibrationUtil->stopChannelOutput(); m_calibrationUtil->stopChannelOutput();
} }
} else if (servoid < totalUsedChannels) { } else if (servoid < totalUsedChannels) {
// Set to servo safe values // Set to servo safe values
m_actuatorSettings[servoid].channelMin = 1500; m_actuatorSettings[servoid].channelMin = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = 1500; m_actuatorSettings[servoid].channelNeutral = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = 1500; m_actuatorSettings[servoid].channelMax = NEUTRAL_OUTPUT_RATE_MILLISECONDS;
// Set initial servo output value // Set initial servo output value
m_calibrationUtil->startChannelOutput(servoid, 1500); m_calibrationUtil->startChannelOutput(servoid, NEUTRAL_OUTPUT_RATE_MILLISECONDS);
m_calibrationUtil->stopChannelOutput(); m_calibrationUtil->stopChannelOutput();
} else { } else {
// "Disable" these channels // "Disable" these channels
m_actuatorSettings[servoid].channelMin = 1000; m_actuatorSettings[servoid].channelMin = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelNeutral = 1000; m_actuatorSettings[servoid].channelNeutral = LOW_OUTPUT_RATE_MILLISECONDS;
m_actuatorSettings[servoid].channelMax = 1000; m_actuatorSettings[servoid].channelMax = LOW_OUTPUT_RATE_MILLISECONDS;
} }
} }
} }
@ -660,6 +660,15 @@ void OutputCalibrationPage::debugLogChannelValues()
qDebug() << "ChannelMax : " << m_actuatorSettings[currentChannel].channelMax; qDebug() << "ChannelMax : " << m_actuatorSettings[currentChannel].channelMax;
} }
int OutputCalibrationPage::getHighOutputRate()
{
if (getWizard()->getEscType() == SetupWizard::ESC_ONESHOT) {
return HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125;
} else {
return HIGH_OUTPUT_RATE_MILLISECONDS_PWM;
}
}
void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value) void OutputCalibrationPage::on_motorNeutralSlider_valueChanged(int value)
{ {
Q_UNUSED(value); Q_UNUSED(value);

8
ground/openpilotgcs/src/plugins/setupwizard/pages/outputcalibrationpage.h
View File

@ -74,6 +74,11 @@ private slots:
private: private:
enum ElementType { FULL, FRAME, MOTOR, SERVO }; enum ElementType { FULL, FRAME, MOTOR, SERVO };
static const int LOW_OUTPUT_RATE_MILLISECONDS = 1000;
static const int NEUTRAL_OUTPUT_RATE_MILLISECONDS = 1500;
static const int HIGH_OUTPUT_RATE_MILLISECONDS_PWM = 1900;
static const int HIGH_OUTPUT_RATE_MILLISECONDS_ONESHOT125 = 2000;
void setupVehicle(); void setupVehicle();
void startWizard(); void startWizard();
void setupVehicleItems(); void setupVehicleItems();
@ -86,8 +91,11 @@ private:
quint16 value, quint16 safeValue, QSlider *slider); quint16 value, quint16 safeValue, QSlider *slider);
bool checkAlarms(); bool checkAlarms();
void debugLogChannelValues(); void debugLogChannelValues();
void getCurrentChannels(QList<quint16> &channels); void getCurrentChannels(QList<quint16> &channels);
void enableAllMotorsCheckBox(bool enable); void enableAllMotorsCheckBox(bool enable);
int getHighOutputRate();
quint16 getCurrentChannel();
Ui::OutputCalibrationPage *ui; Ui::OutputCalibrationPage *ui;
QSvgRenderer *m_vehicleRenderer; QSvgRenderer *m_vehicleRenderer;

17
ground/openpilotgcs/src/plugins/systemhealth/html/SystemConfiguration-BadThrottleOrCollectiveInputRange.html Normal file
View File

@ -0,0 +1,17 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>System Configuration : BadThrottleOrCollectiveInputRange</h1>
<p>
There is a problem with throttle/collective channel configuration :
<ul>
<li>Redo your input calibration.</li>
<li>The range for the channel between min and max must be more than 300us.</li>
</ul>
</p>
</body>
</html>

17
ground/openpilotgcs/src/plugins/systemhealth/html/fr/SystemConfiguration-BadThrottleOrCollectiveInputRange.html Normal file
View File

@ -0,0 +1,17 @@
<html>
<head>
<title></title>
<meta content="">
<style></style>
</head>
<body>
<h1>Configuration Système : BadThrottleOrCollectiveInputRange</h1>
<p>
Il y a un problème avec la configuration du canal throttle/collective :
<ul>
<li>Relancez la calibration des entrées.</li>
<li>La différence entre la valeur mini et maxi doit faire au moins 300µs.</li>
</ul>
</p>
</body>
</html>

2
ground/openpilotgcs/src/plugins/systemhealth/systemhealth.qrc
View File

@ -33,6 +33,7 @@
<file>html/Stabilization-Critical.html</file> <file>html/Stabilization-Critical.html</file>
<file>html/SystemConfiguration-UnsupportedConfig_OneShot.html</file> <file>html/SystemConfiguration-UnsupportedConfig_OneShot.html</file>
<file>html/SystemConfiguration-FlightMode.html</file> <file>html/SystemConfiguration-FlightMode.html</file>
<file>html/SystemConfiguration-BadThrottleOrCollectiveInputRange.html</file>
<file>html/BootFault-RebootRequired.html</file> <file>html/BootFault-RebootRequired.html</file>
</qresource> </qresource>
<qresource prefix="/systemhealth" lang="fr"> <qresource prefix="/systemhealth" lang="fr">
@ -69,6 +70,7 @@
<file alias="html/Stabilization-Critical.html">html/fr/Stabilization-Critical.html</file> <file alias="html/Stabilization-Critical.html">html/fr/Stabilization-Critical.html</file>
<file alias="html/SystemConfiguration-UnsupportedConfig_OneShot.html">html/fr/SystemConfiguration-UnsupportedConfig_OneShot.html</file> <file alias="html/SystemConfiguration-UnsupportedConfig_OneShot.html">html/fr/SystemConfiguration-UnsupportedConfig_OneShot.html</file>
<file alias="html/SystemConfiguration-FlightMode.html">html/fr/SystemConfiguration-FlightMode.html</file> <file alias="html/SystemConfiguration-FlightMode.html">html/fr/SystemConfiguration-FlightMode.html</file>
<file alias="html/SystemConfiguration-BadThrottleOrCollectiveInputRange.html">html/fr/SystemConfiguration-BadThrottleOrCollectiveInputRange.html</file>
<file alias="html/BootFault-RebootRequired.html">html/fr/BootFault-RebootRequired.html</file> <file alias="html/BootFault-RebootRequired.html">html/fr/BootFault-RebootRequired.html</file>
</qresource> </qresource>

1
shared/uavobjectdefinition/systemalarms.xml
View File

@ -36,6 +36,7 @@
<option>RebootRequired</option> <option>RebootRequired</option>
<option>FlightMode</option> <option>FlightMode</option>
<option>UnsupportedConfig_OneShot</option> <option>UnsupportedConfig_OneShot</option>
<option>BadThrottleOrCollectiveInputRange</option>
</options> </options>
</field> </field>
<field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0"> <field name="ExtendedAlarmSubStatus" units="" type="uint8" defaultvalue="0">