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Code Issues Releases Activity

OP-493: Populate the Accessory Desired from TX

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This commit is contained in:
James Cotton 2011-06-04 12:36:33 -05:00
parent 54d9977eb1
commit 1365542103
5 changed files with 23 additions and 2 deletions
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1
flight/CopterControl/Makefile
View File

@ -140,6 +140,7 @@ endif
## UAVOBJECTS
ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c

15
flight/Modules/ManualControl/manualcontrol.c
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@ -42,6 +42,7 @@
#include "stabilizationdesired.h"
#include "flighttelemetrystats.h"
#include "flightstatus.h"
#include "accessorydesired.h"
// Private constants
#if defined(PIOS_MANUAL_STACK_SIZE)
@ -75,6 +76,7 @@ static ArmState_t armState;
static portTickType lastSysTime;
// Private functions
static void updateAccessoryDesired(ManualControlCommandData * cmd);
static void updateActuatorDesired(ManualControlCommandData * cmd);
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
@ -294,17 +296,30 @@ static void manualControlTask(void *parameters)
break;
case FLIGHTMODE_MANUAL:
updateActuatorDesired(&cmd);
updateAccessoryDesired(&cmd);
break;
case FLIGHTMODE_STABILIZED:
updateStabilizationDesired(&cmd, &settings);
updateAccessoryDesired(&cmd);
break;
case FLIGHTMODE_GUIDANCE:
updateAccessoryDesired(&cmd);
// TODO: Implement
break;
}
}
}
static void updateAccessoryDesired(ManualControlCommandData * cmd)
{
AccessoryDesiredData accessory;
AccessoryDesiredGet(&accessory);
accessory.Accessory1 = cmd->Accessory1;
accessory.Accessory2 = cmd->Accessory2;
accessory.Accessory3 = cmd->Accessory3;
AccessoryDesiredSet(&accessory);
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;

1
flight/OpenPilot/UAVObjects.inc
View File

@ -24,6 +24,7 @@
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += accessorydesired
UAVOBJSRCFILENAMES += actuatorcommand
UAVOBJSRCFILENAMES += actuatordesired
UAVOBJSRCFILENAMES += actuatorsettings

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -2738,6 +2738,7 @@
65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
65E8C788139AA2A800E1F979 /* accessorydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = accessorydesired.xml; sourceTree = "<group>"; };
65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
65E8EF5C11EEA61E00BBF654 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = alarms.c; path = ../../OpenPilot/System/alarms.c; sourceTree = SOURCE_ROOT; };
@ -7418,6 +7419,7 @@
65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
isa = PBXGroup;
children = (
65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */,

6
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -23,7 +23,8 @@ SOURCES += uavobject.cpp \
OTHER_FILES += UAVObjects.pluginspec
# Add in all of the synthetic/generated uavobject files
HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
$$UAVOBJECT_SYNTHETICS/ahrscalibration.h \
$$UAVOBJECT_SYNTHETICS/baroaltitude.h \
$$UAVOBJECT_SYNTHETICS/attitudeactual.h \
@ -69,7 +70,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
$$UAVOBJECT_SYNTHETICS/attitudesettings.h
SOURCES += $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
$$UAVOBJECT_SYNTHETICS/ahrscalibration.cpp \
$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
$$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \