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Code Issues Releases Activity

Merge branch 'next' of bitbucket.org:librepilot/librepilot into filnet/LP-29_osgearth_integration

Browse Source 
Conflicts:
	artwork/3D Model/boards/coptercontrol/coptercontrol.3ds
	artwork/3D Model/multi/easy_quad/easy_quad_x.3ds
	artwork/3D Model/multi/mikrokopter/mk_l4-me.3ds
	artwork/3D Model/multi/ricoo/ricoo.3ds
	artwork/3D Model/multi/test_quad/test_quad_x.3ds
	ground/gcs/src/share/models/boards/coptercontrol/coptercontrol.3ds
	ground/gcs/src/share/models/multi/easy_quad/easy_quad_x.3ds
	ground/gcs/src/share/models/multi/mikrokopter/mk_l4-me.3ds
	ground/gcs/src/share/models/multi/ricoo/ricoo.3ds
	ground/gcs/src/share/models/multi/test_quad/test_quad_x.3ds
This commit is contained in:
Philippe Renon 2015-09-19 14:42:38 +02:00
commit 18725597f4
26 changed files with 1818 additions and 654 deletions
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2
Makefile
View File

@ -93,7 +93,7 @@ $(foreach var, $(SANITIZE_DEPRECATED_VARS), $(eval $(call SANITIZE_VAR,$(var),de
# Make sure this isn't being run as root unless installing (no whoami on Windows, but that is ok here)
ifeq ($(shell whoami 2>/dev/null),root)
ifeq ($(filter install,$(MAKECMDGOALS)),)
ifeq ($(filter install uninstall,$(MAKECMDGOALS)),)
ifndef FAKEROOTKEY
$(error You should not be running this as root)
endif

26
flight/modules/Receiver/receiver.c
View File

@ -10,7 +10,8 @@
* pass it to ManualControl
*
* @file receiver.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Receiver module. Handles safety R/C link and flight mode.
*
* @see The GNU Public License (GPL) Version 3
@ -206,6 +207,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
// this includes not even registering it if not used
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Whenever the configuration changes, make sure it is safe to fly
@ -377,6 +379,10 @@ static void receiverTask(__attribute__((unused)) void *parameters)
valid_input_detected &= validInputRange(settings.ChannelMin.Accessory2,
settings.ChannelMax.Accessory2, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2]);
}
if (settings.ChannelGroups.Accessory3 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
valid_input_detected &= validInputRange(settings.ChannelMin.Accessory3,
settings.ChannelMax.Accessory3, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY3]);
}
// Implement hysteresis loop on connection status
if (valid_input_detected && (++connected_count > 10)) {
@ -436,6 +442,13 @@ static void receiverTask(__attribute__((unused)) void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 3
if (settings.ChannelGroups.Accessory3 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = settings.FailsafeChannel.Accessory3;
if (AccessoryDesiredInstSet(3, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
} else if (valid_input_detected) {
AlarmsClear(SYSTEMALARMS_ALARM_RECEIVER);
@ -545,6 +558,17 @@ static void receiverTask(__attribute__((unused)) void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
// Set Accessory 3
if (settings.ChannelGroups.Accessory3 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY3];
#ifdef USE_INPUT_LPF
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY3, &settings.ResponseTime, settings.Deadband, dT);
#endif
if (AccessoryDesiredInstSet(3, &accessory) != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
}
}
}
// Update cmd object

3
flight/pios/common/pios_mpu6000.c
View File

@ -598,7 +598,8 @@ static bool PIOS_MPU6000_HandleData()
queue_data->sample[0].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Accel_Z));
queue_data->sample[1].z = -1 - (GET_SENSOR_DATA(mpu6000_data, Gyro_Z));
const int16_t temp = GET_SENSOR_DATA(mpu6000_data, Temperature);
queue_data->temperature = 3500 + ((float)(temp + 512)) * (1.0f / 3.4f);
// Temperature in degrees C = (TEMP_OUT Register Value as a signed quantity)/340 + 36.53
queue_data->temperature = 3653 + (temp * 100) / 340;
BaseType_t higherPriorityTaskWoken;
xQueueSendToBackFromISR(dev->queue, (void *)queue_data, &higherPriorityTaskWoken);

111
ground/gcs/src/plugins/config/airframe_multirotor.ui
View File

@ -532,6 +532,13 @@ Typical value is 50% for + or X configuration on quads.</string>
<property name="leftMargin">
<number>0</number>
</property>
<item row="2" column="2">
<widget class="QComboBox" name="rcOutputCurveBox2">
<property name="toolTip">
<string>Select output curve for Accessory1 RcInput</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="rcOutputChannelBox1">
<property name="sizePolicy">
@ -752,13 +759,6 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QComboBox" name="rcOutputCurveBox2">
<property name="toolTip">
<string>Select output curve for Accessory1 RcInput</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QComboBox" name="rcOutputCurveBox3">
<property name="toolTip">
@ -766,6 +766,55 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_11">
<property name="minimumSize">
<size>
<width>90</width>
<height>0</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Accessory3</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="4" column="1">
<widget class="QComboBox" name="rcOutputChannelBox4">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>Select output channel for Accessory3 RcInput</string>
</property>
</widget>
</item>
<item row="4" column="2">
<widget class="QComboBox" name="rcOutputCurveBox4">
<property name="toolTip">
<string>Select output curve for Accessory3 RcInput</string>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="4">
@ -805,6 +854,9 @@ margin:1px;</string>
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<property name="formAlignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="verticalSpacing">
<number>6</number>
</property>
@ -857,6 +909,12 @@ margin:1px;</string>
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
@ -881,6 +939,12 @@ margin:1px;</string>
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
@ -905,6 +969,12 @@ margin:1px;</string>
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
@ -952,6 +1022,9 @@ margin:1px;</string>
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<property name="formAlignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="verticalSpacing">
<number>6</number>
</property>
@ -971,6 +1044,12 @@ margin:1px;</string>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="multiMotorChannelBox1">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
@ -992,6 +1071,12 @@ margin:1px;</string>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="multiMotorChannelBox2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
@ -1013,6 +1098,12 @@ margin:1px;</string>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="multiMotorChannelBox3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>
@ -1034,6 +1125,12 @@ margin:1px;</string>
</item>
<item row="3" column="1">
<widget class="QComboBox" name="multiMotorChannelBox4">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="toolTip">
<string>Assign your motor output channels using the drawing above as a reference. Respect propeller rotation.</string>
</property>

81
ground/gcs/src/plugins/config/cfg_vehicletypes/configcustomwidget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configcustomwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -123,6 +124,24 @@ QStringList ConfigCustomWidget::getChannelDescriptions()
if (custom.Servo8 > 0 && custom.Servo8 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Servo8 - 1] = QString("Servo8");
}
if (custom.Accessory0 > 0 && custom.Accessory0 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Accessory0 - 1] = QString("Accessory0");
}
if (custom.Accessory1 > 0 && custom.Accessory1 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Accessory1 - 1] = QString("Accessory1");
}
if (custom.Accessory2 > 0 && custom.Accessory2 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Accessory2 - 1] = QString("Accessory2");
}
if (custom.Accessory3 > 0 && custom.Accessory3 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Accessory3 - 1] = QString("Accessory3");
}
if (custom.Accessory4 > 0 && custom.Accessory4 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Accessory4 - 1] = QString("Accessory4");
}
if (custom.Accessory5 > 0 && custom.Accessory5 <= VehicleConfig::CHANNEL_NUMELEM) {
channelDesc[custom.Accessory5 - 1] = QString("Accessory5");
}
return channelDesc;
}
@ -174,30 +193,36 @@ void ConfigCustomWidget::registerWidgets(ConfigTaskWidget &parent)
void ConfigCustomWidget::resetActuators(GUIConfigDataUnion *configData)
{
configData->custom.Motor1 = 0;
configData->custom.Motor2 = 0;
configData->custom.Motor3 = 0;
configData->custom.Motor4 = 0;
configData->custom.Motor5 = 0;
configData->custom.Motor6 = 0;
configData->custom.Motor7 = 0;
configData->custom.Motor8 = 0;
configData->custom.RevMotor1 = 0;
configData->custom.RevMotor2 = 0;
configData->custom.RevMotor3 = 0;
configData->custom.RevMotor4 = 0;
configData->custom.RevMotor5 = 0;
configData->custom.RevMotor6 = 0;
configData->custom.RevMotor7 = 0;
configData->custom.RevMotor8 = 0;
configData->custom.Servo1 = 0;
configData->custom.Servo2 = 0;
configData->custom.Servo3 = 0;
configData->custom.Servo4 = 0;
configData->custom.Servo5 = 0;
configData->custom.Servo6 = 0;
configData->custom.Servo7 = 0;
configData->custom.Servo8 = 0;
configData->custom.Motor1 = 0;
configData->custom.Motor2 = 0;
configData->custom.Motor3 = 0;
configData->custom.Motor4 = 0;
configData->custom.Motor5 = 0;
configData->custom.Motor6 = 0;
configData->custom.Motor7 = 0;
configData->custom.Motor8 = 0;
configData->custom.RevMotor1 = 0;
configData->custom.RevMotor2 = 0;
configData->custom.RevMotor3 = 0;
configData->custom.RevMotor4 = 0;
configData->custom.RevMotor5 = 0;
configData->custom.RevMotor6 = 0;
configData->custom.RevMotor7 = 0;
configData->custom.RevMotor8 = 0;
configData->custom.Servo1 = 0;
configData->custom.Servo2 = 0;
configData->custom.Servo3 = 0;
configData->custom.Servo4 = 0;
configData->custom.Servo5 = 0;
configData->custom.Servo6 = 0;
configData->custom.Servo7 = 0;
configData->custom.Servo8 = 0;
configData->custom.Accessory0 = 0;
configData->custom.Accessory1 = 0;
configData->custom.Accessory2 = 0;
configData->custom.Accessory3 = 0;
configData->custom.Accessory4 = 0;
configData->custom.Accessory5 = 0;
}
/**
@ -377,16 +402,22 @@ QString ConfigCustomWidget::updateConfigObjectsFromWidgets()
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_CAMERAYAW);
} else if (q->currentText() == "Accessory0") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY0);
configData.custom.Accessory0 = channel + 1;
} else if (q->currentText() == "Accessory1") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY1);
configData.custom.Accessory1 = channel + 1;
} else if (q->currentText() == "Accessory2") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY2);
configData.custom.Accessory2 = channel + 1;
} else if (q->currentText() == "Accessory3") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY3);
configData.custom.Accessory3 = channel + 1;
} else if (q->currentText() == "Accessory4") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY4);
configData.custom.Accessory4 = channel + 1;
} else if (q->currentText() == "Accessory5") {
setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_ACCESSORY5);
configData.custom.Accessory5 = channel + 1;
}
setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE1,
m_aircraft->customMixerTable->item(1, channel)->text().toDouble());

32
ground/gcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configmultirotorwidget.cpp
* @author E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* E. Lafargue & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -120,6 +121,9 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
if (multi.Accessory2 > 0 && multi.Accessory2 <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.Accessory2 - 1] = QString("Accessory2");
}
if (multi.Accessory3 > 0 && multi.Accessory3 <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.Accessory3 - 1] = QString("Accessory3");
}
return channelDesc;
}
@ -136,6 +140,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
m_aircraft->rcOutputCurveBox1->addItems(mixerCurveList);
m_aircraft->rcOutputCurveBox2->addItems(mixerCurveList);
m_aircraft->rcOutputCurveBox3->addItems(mixerCurveList);
m_aircraft->rcOutputCurveBox4->addItems(mixerCurveList);
// Setup the Multirotor picture in the Quad settings interface
m_aircraft->quadShape->setHorizontalScrollBarPolicy(Qt::ScrollBarAlwaysOff);
@ -332,9 +337,11 @@ void ConfigMultiRotorWidget::registerWidgets(ConfigTaskWidget &parent)
parent.addWidget(m_aircraft->rcOutputChannelBox1);
parent.addWidget(m_aircraft->rcOutputChannelBox2);
parent.addWidget(m_aircraft->rcOutputChannelBox3);
parent.addWidget(m_aircraft->rcOutputChannelBox4);
parent.addWidget(m_aircraft->rcOutputCurveBox1);
parent.addWidget(m_aircraft->rcOutputCurveBox2);
parent.addWidget(m_aircraft->rcOutputCurveBox3);
parent.addWidget(m_aircraft->rcOutputCurveBox4);
}
void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
@ -363,6 +370,7 @@ void ConfigMultiRotorWidget::resetRcOutputs(GUIConfigDataUnion *configData)
configData->multi.Accessory0 = 0;
configData->multi.Accessory1 = 0;
configData->multi.Accessory2 = 0;
configData->multi.Accessory3 = 0;
}
void ConfigMultiRotorWidget::resetMixers()
@ -386,6 +394,7 @@ void ConfigMultiRotorWidget::updateRcCurvesUsed()
setComboCurrentIndex(m_aircraft->rcOutputCurveBox1, VehicleConfig::MIXER_THROTTLECURVE1);
setComboCurrentIndex(m_aircraft->rcOutputCurveBox2, VehicleConfig::MIXER_THROTTLECURVE1);
setComboCurrentIndex(m_aircraft->rcOutputCurveBox3, VehicleConfig::MIXER_THROTTLECURVE1);
setComboCurrentIndex(m_aircraft->rcOutputCurveBox4, VehicleConfig::MIXER_THROTTLECURVE1);
for (int channel = 0; channel < (int)ConfigMultiRotorWidget::CHANNEL_NUMELEM; channel++) {
QString mixerType = getMixerType(mixer, channel);
@ -395,6 +404,8 @@ void ConfigMultiRotorWidget::updateRcCurvesUsed()
setComboCurrentIndex(m_aircraft->rcOutputCurveBox2, VehicleConfig::MIXER_THROTTLECURVE2);
} else if (mixerType == "Accessory2" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
setComboCurrentIndex(m_aircraft->rcOutputCurveBox3, VehicleConfig::MIXER_THROTTLECURVE2);
} else if (mixerType == "Accessory3" && getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_THROTTLECURVE2)) {
setComboCurrentIndex(m_aircraft->rcOutputCurveBox4, VehicleConfig::MIXER_THROTTLECURVE2);
}
}
}
@ -511,6 +522,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
setComboCurrentIndex(m_aircraft->rcOutputChannelBox1, multi.Accessory0);
setComboCurrentIndex(m_aircraft->rcOutputChannelBox2, multi.Accessory1);
setComboCurrentIndex(m_aircraft->rcOutputChannelBox3, multi.Accessory2);
setComboCurrentIndex(m_aircraft->rcOutputChannelBox4, multi.Accessory3);
updateRcCurvesUsed();
@ -537,7 +549,7 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
resetMixers();
QList<QString> rcOutputList;
rcOutputList << "Accessory0" << "Accessory1" << "Accessory2";
rcOutputList << "Accessory0" << "Accessory1" << "Accessory2" << "Accessory3";
setupRcOutputs(rcOutputList);
// Curve is also common to all quads:
@ -880,7 +892,8 @@ void ConfigMultiRotorWidget::setupQuadMotor(int channel, double pitch, double ro
void ConfigMultiRotorWidget::setupRcOutputs(QList<QString> rcOutputList)
{
QList<QComboBox *> rcList;
rcList << m_aircraft->rcOutputChannelBox1 << m_aircraft->rcOutputChannelBox2 << m_aircraft->rcOutputChannelBox3;
rcList << m_aircraft->rcOutputChannelBox1 << m_aircraft->rcOutputChannelBox2
<< m_aircraft->rcOutputChannelBox3 << m_aircraft->rcOutputChannelBox4;
GUIConfigDataUnion configData = getConfigData();
resetRcOutputs(&configData);
@ -891,6 +904,7 @@ void ConfigMultiRotorWidget::setupRcOutputs(QList<QString> rcOutputList)
int curveAccessory0 = m_aircraft->rcOutputCurveBox1->currentIndex();
int curveAccessory1 = m_aircraft->rcOutputCurveBox2->currentIndex();
int curveAccessory2 = m_aircraft->rcOutputCurveBox3->currentIndex();
int curveAccessory3 = m_aircraft->rcOutputCurveBox4->currentIndex();
foreach(QString rc_output, rcOutputList) {
int index = rcList.takeFirst()->currentIndex();
@ -925,6 +939,16 @@ void ConfigMultiRotorWidget::setupRcOutputs(QList<QString> rcOutputList)
setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
}
}
} else if (rc_output == QString("Accessory3")) {
configData.multi.Accessory3 = index;
if (index) {
setMixerType(mixer, index - 1, VehicleConfig::MIXERTYPE_ACCESSORY3);
if (curveAccessory3) {
setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE2, 127);
} else {
setMixerVectorValue(mixer, index - 1, VehicleConfig::MIXERVECTOR_THROTTLECURVE1, 127);
}
}
}
}
setConfigData(configData);
@ -1196,7 +1220,7 @@ bool ConfigMultiRotorWidget::throwConfigError(int numMotors)
}
// Iterate through all instances of rcOutputChannelBox
for (int i = 0; i < 3; i++) {
for (int i = 0; i < 5; i++) {
// Find widgets with his name "rcOutputChannelBox.x", where x is an integer
QComboBox *combobox = this->findChild<QComboBox *>("rcOutputChannelBox" + QString::number(i + 1));
if (combobox) {

59
ground/gcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -56,7 +56,8 @@ typedef struct {
uint Accessory0 : 4;
uint Accessory1 : 4;
uint Accessory2 : 4;
quint32 padding : 16; // 96 bits
uint Accessory3 : 4;
quint32 padding : 12; // 96 bits
quint32 padding1; // 128 bits
} __attribute__((packed)) multiGUISettingsStruct;
@ -106,31 +107,37 @@ typedef struct {
} __attribute__((packed)) groundGUISettingsStruct;
typedef struct {
uint Motor1 : 4;
uint Motor2 : 4;
uint Motor3 : 4;
uint Motor4 : 4;
uint Motor5 : 4;
uint Motor6 : 4;
uint Motor7 : 4;
uint Motor8 : 4; // 32 bits
uint Servo1 : 4;
uint Servo2 : 4;
uint Servo3 : 4;
uint Servo4 : 4;
uint Servo5 : 4;
uint Servo6 : 4;
uint Servo7 : 4;
uint Servo8 : 4; // 64 bits
uint RevMotor1 : 4;
uint RevMotor2 : 4;
uint RevMotor3 : 4;
uint RevMotor4 : 4;
uint RevMotor5 : 4;
uint RevMotor6 : 4;
uint RevMotor7 : 4;
uint RevMotor8 : 4; // 96 bits
quint32 padding; // 128 bits
uint Motor1 : 4;
uint Motor2 : 4;
uint Motor3 : 4;
uint Motor4 : 4;
uint Motor5 : 4;
uint Motor6 : 4;
uint Motor7 : 4;
uint Motor8 : 4; // 32 bits
uint Servo1 : 4;
uint Servo2 : 4;
uint Servo3 : 4;
uint Servo4 : 4;
uint Servo5 : 4;
uint Servo6 : 4;
uint Servo7 : 4;
uint Servo8 : 4; // 64 bits
uint RevMotor1 : 4;
uint RevMotor2 : 4;
uint RevMotor3 : 4;
uint RevMotor4 : 4;
uint RevMotor5 : 4;
uint RevMotor6 : 4;
uint RevMotor7 : 4;
uint RevMotor8 : 4; // 96 bits
uint Accessory0 : 4;
uint Accessory1 : 4;
uint Accessory2 : 4;
uint Accessory3 : 4;
uint Accessory4 : 4;
uint Accessory5 : 4;
uint padding : 8; // 128 bits
} __attribute__((packed)) customGUISettingsStruct;

49
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -65,7 +65,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
nextDelayedLatestActivityTick(0),
accessoryDesiredObj0(NULL),
accessoryDesiredObj1(NULL),
accessoryDesiredObj2(NULL)
accessoryDesiredObj2(NULL),
accessoryDesiredObj3(NULL)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
@ -75,6 +76,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
accessoryDesiredObj0 = AccessoryDesired::GetInstance(getObjectManager(), 0);
accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(), 1);
accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(), 2);
accessoryDesiredObj3 = AccessoryDesired::GetInstance(getObjectManager(), 3);
actuatorSettingsObj = ActuatorSettings::GetInstance(getObjectManager());
systemSettingsObj = SystemSettings::GetInstance(getObjectManager());
@ -140,6 +142,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
case ManualControlSettings::CHANNELGROUPS_ACCESSORY0:
case ManualControlSettings::CHANNELGROUPS_ACCESSORY1:
case ManualControlSettings::CHANNELGROUPS_ACCESSORY2:
case ManualControlSettings::CHANNELGROUPS_ACCESSORY3:
addWidgetBinding("ManualControlSettings", "ResponseTime", form->ui->channelResponseTime, indexRT);
++indexRT;
break;
@ -262,6 +265,11 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
m_txAccess2->setSharedRenderer(m_renderer);
m_txAccess2->setElementId("access2");
m_txAccess3 = new QGraphicsSvgItem();
m_txAccess3->setParentItem(m_txBackground);
m_txAccess3->setSharedRenderer(m_renderer);
m_txAccess3->setElementId("access3");
m_txFlightMode = new QGraphicsSvgItem();
m_txFlightMode->setParentItem(m_txBackground);
m_txFlightMode->setSharedRenderer(m_renderer);
@ -330,6 +338,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
orig = Matrix.mapRect(orig);
m_txAccess2Orig.translate(orig.x(), orig.y());
m_txAccess2->setTransform(m_txAccess2Orig, true);
orig = m_renderer->boundsOnElement("access3");
Matrix = m_renderer->matrixForElement("access3");
orig = Matrix.mapRect(orig);
m_txAccess3Orig.translate(orig.x(), orig.y());
m_txAccess3->setTransform(m_txAccess3Orig, true);
}
wizardUi->graphicsView->fitInView(m_txMainBody, Qt::KeepAspectRatio);
animate = new QTimer(this);
@ -343,7 +357,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
ManualControlSettings::CHANNELGROUPS_ACCESSORY2 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY3;
acroChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_ROLL <<
@ -352,7 +367,8 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
ManualControlSettings::CHANNELGROUPS_FLIGHTMODE <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY0 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY1 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY2;
ManualControlSettings::CHANNELGROUPS_ACCESSORY2 <<
ManualControlSettings::CHANNELGROUPS_ACCESSORY3;
groundChannelOrder << ManualControlSettings::CHANNELGROUPS_THROTTLE <<
ManualControlSettings::CHANNELGROUPS_YAW <<
@ -368,6 +384,7 @@ void ConfigInputWidget::resetTxControls()
m_txAccess0->setTransform(m_txAccess0Orig, false);
m_txAccess1->setTransform(m_txAccess1Orig, false);
m_txAccess2->setTransform(m_txAccess2Orig, false);
m_txAccess3->setTransform(m_txAccess3Orig, false);
m_txFlightMode->setElementId("flightModeCenter");
m_txFlightMode->setTransform(m_txFlightModeCOrig, false);
m_txArrows->setVisible(false);
@ -1133,6 +1150,9 @@ void ConfigInputWidget::setMoveFromCommand(int command)
case ManualControlSettings::CHANNELNUMBER_ACCESSORY2:
movement = moveAccess2;
break;
case ManualControlSettings::CHANNELNUMBER_ACCESSORY3:
movement = moveAccess3;
break;
default:
Q_ASSERT(0);
break;
@ -1186,6 +1206,12 @@ void ConfigInputWidget::setTxMovement(txMovements movement)
currentMovement = moveAccess2;
animate->start(100);
break;
case moveAccess3:
movePos = 0;
growing = true;
currentMovement = moveAccess3;
animate->start(100);
break;
case moveFlightMode:
movePos = 0;
growing = true;
@ -1272,6 +1298,13 @@ void ConfigInputWidget::moveTxControls()
limitMin = ACCESS_MIN_MOVE;
move = horizontal;
break;
case moveAccess3:
item = m_txAccess3;
trans = m_txAccess3Orig;
limitMax = ACCESS_MAX_MOVE;
limitMin = ACCESS_MIN_MOVE;
move = horizontal;
break;
case moveFlightMode:
item = m_txFlightMode;
move = jump;
@ -1325,6 +1358,8 @@ void ConfigInputWidget::moveTxControls()
m_txAccess1->setTransform(trans.translate(movePos * 10 * ACCESS_MAX_MOVE / STICK_MAX_MOVE, 0), false);
trans = m_txAccess2Orig;
m_txAccess2->setTransform(trans.translate(movePos * 10 * ACCESS_MAX_MOVE / STICK_MAX_MOVE, 0), false);
trans = m_txAccess3Orig;
m_txAccess3->setTransform(trans.translate(movePos * 10 * ACCESS_MAX_MOVE / STICK_MAX_MOVE, 0), false);
if (auxFlag) {
trans = m_txLeftStickOrig;
@ -1390,6 +1425,12 @@ AccessoryDesired *ConfigInputWidget::getAccessoryDesiredInstance(int instance)
}
return accessoryDesiredObj2;
case 3:
if (accessoryDesiredObj3 == NULL) {
accessoryDesiredObj3 = AccessoryDesired::GetInstance(getObjectManager(), 3);
}
return accessoryDesiredObj3;
default:
Q_ASSERT(false);
}
@ -1461,6 +1502,7 @@ void ConfigInputWidget::moveSticks()
m_txAccess0->setTransform(QTransform(m_txAccess0Orig).translate(getAccessoryDesiredValue(0) * ACCESS_MAX_MOVE * 10, 0), false);
m_txAccess1->setTransform(QTransform(m_txAccess1Orig).translate(getAccessoryDesiredValue(1) * ACCESS_MAX_MOVE * 10, 0), false);
m_txAccess2->setTransform(QTransform(m_txAccess2Orig).translate(getAccessoryDesiredValue(2) * ACCESS_MAX_MOVE * 10, 0), false);
m_txAccess3->setTransform(QTransform(m_txAccess3Orig).translate(getAccessoryDesiredValue(3) * ACCESS_MAX_MOVE * 10, 0), false);
}
void ConfigInputWidget::dimOtherControls(bool value)
@ -1475,6 +1517,7 @@ void ConfigInputWidget::dimOtherControls(bool value)
m_txAccess0->setOpacity(opac);
m_txAccess1->setOpacity(opac);
m_txAccess2->setOpacity(opac);
m_txAccess3->setOpacity(opac);
m_txFlightMode->setOpacity(opac);
}

8
ground/gcs/src/plugins/config/configinputwidget.h
View File

@ -2,7 +2,8 @@
******************************************************************************
*
* @file configservowidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup ConfigPlugin Config Plugin
@ -61,7 +62,7 @@ public:
~ConfigInputWidget();
enum wizardSteps { wizardWelcome, wizardChooseMode, wizardChooseType, wizardIdentifySticks, wizardIdentifyCenter, wizardIdentifyLimits, wizardIdentifyInverted, wizardFinish, wizardNone };
enum txMode { mode1, mode2, mode3, mode4 };
enum txMovements { moveLeftVerticalStick, moveRightVerticalStick, moveLeftHorizontalStick, moveRightHorizontalStick, moveAccess0, moveAccess1, moveAccess2, moveFlightMode, centerAll, moveAll, nothing };
enum txMovements { moveLeftVerticalStick, moveRightVerticalStick, moveLeftHorizontalStick, moveRightHorizontalStick, moveAccess0, moveAccess1, moveAccess2, moveAccess3, moveFlightMode, centerAll, moveAll, nothing };
enum txMovementType { vertical, horizontal, jump, mix };
enum txType { acro, heli, ground };
void startInputWizard()
@ -125,6 +126,7 @@ private:
AccessoryDesired *accessoryDesiredObj0;
AccessoryDesired *accessoryDesiredObj1;
AccessoryDesired *accessoryDesiredObj2;
AccessoryDesired *accessoryDesiredObj3;
ManualControlSettings *manualSettingsObj;
ManualControlSettings::DataFields manualSettingsData;
@ -157,6 +159,7 @@ private:
QGraphicsSvgItem *m_txAccess0;
QGraphicsSvgItem *m_txAccess1;
QGraphicsSvgItem *m_txAccess2;
QGraphicsSvgItem *m_txAccess3;
QGraphicsSvgItem *m_txFlightMode;
QGraphicsSvgItem *m_txBackground;
QGraphicsSvgItem *m_txArrows;
@ -165,6 +168,7 @@ private:
QTransform m_txAccess0Orig;
QTransform m_txAccess1Orig;
QTransform m_txAccess2Orig;
QTransform m_txAccess3Orig;
QTransform m_txFlightModeCOrig;
QTransform m_txFlightModeLOrig;
QTransform m_txFlightModeROrig;

499
ground/gcs/src/plugins/config/images/TX2.svg
View File

File diff suppressed because one or more lines are too long
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 424 KiB

After

Width:  |  Height:  |  Size: 424 KiB

21
ground/gcs/src/plugins/setupwizard/pages/escpage.cpp
View File

@ -79,7 +79,26 @@ bool EscPage::isSynchOrOneShotAvailable()
case SetupWizard::CONTROLLER_NANO:
case SetupWizard::CONTROLLER_CC:
case SetupWizard::CONTROLLER_CC3D:
available = getWizard()->getInputType() != SetupWizard::INPUT_PWM;
switch (getWizard()->getVehicleType()) {
case SetupWizard::VEHICLE_MULTI:
switch (getWizard()->getVehicleSubType()) {
case SetupWizard::MULTI_ROTOR_TRI_Y:
case SetupWizard::MULTI_ROTOR_QUAD_X:
case SetupWizard::MULTI_ROTOR_QUAD_H:
case SetupWizard::MULTI_ROTOR_QUAD_PLUS:
available = getWizard()->getInputType() != SetupWizard::INPUT_PWM;
break;
default:
available = false;
break;
}
break;
default:
break;
}
break;
case SetupWizard::CONTROLLER_REVO:
available = true;
break;
default:
break;

24
ground/gcs/src/plugins/setupwizard/pages/outputcalibrationpage.cpp
View File

@ -212,9 +212,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "aileron" << "aileron-frame" << "aileron-motor" << "aileron-ail-left" << "aileron-ail-right" << "aileron-elevator" << "aileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 1 << 3;
m_channelIndex << 0 << 3 << 0 << 5 << 1 << 2;
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
setupActuatorMinMaxAndNeutral(3, 3, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -224,9 +224,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "singleaileron" << "singleaileron-frame" << "singleaileron-motor" << "singleaileron-aileron" << "singleaileron-elevator" << "singleaileron-rudder";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4;
m_channelIndex << 0 << 2 << 0 << 1 << 3;
m_channelIndex << 0 << 3 << 0 << 1 << 2;
setupActuatorMinMaxAndNeutral(2, 2, 4);
setupActuatorMinMaxAndNeutral(3, 3, 4);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -236,9 +236,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "elevon" << "elevon-frame" << "elevon-motor" << "elevon-left" << "elevon-right";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3;
m_channelIndex << 0 << 2 << 0 << 1;
m_channelIndex << 0 << 3 << 0 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 3);
setupActuatorMinMaxAndNeutral(3, 3, 3);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -248,9 +248,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "vtail" << "vtail-frame" << "vtail-motor" << "vtail-ail-left" << "vtail-ail-right" << "vtail-rudder-left" << "vtail-rudder-right";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO << SERVO << SERVO << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2 << 3 << 4 << 5;
m_channelIndex << 0 << 2 << 0 << 5 << 3 << 1;
m_channelIndex << 0 << 3 << 0 << 5 << 2 << 1;
setupActuatorMinMaxAndNeutral(2, 2, 6); // should be 5 instead 6 but output 5 is not used
setupActuatorMinMaxAndNeutral(3, 3, 6); // should be 5 instead 6 but output 5 is not used
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -262,9 +262,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "car" << "car-frame" << "car-motor" << "car-steering";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
m_channelIndex << 0 << 3 << 0;
setupActuatorMinMaxAndNeutral(1, 1, 2);
setupActuatorMinMaxAndNeutral(3, 3, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;
@ -286,9 +286,9 @@ void OutputCalibrationPage::setupVehicle()
m_vehicleElementIds << "motorbike" << "motorbike-frame" << "motorbike-motor" << "motorbike-steering";
m_vehicleElementTypes << FULL << FRAME << MOTOR << SERVO;
m_vehicleHighlightElementIndexes << 0 << 1 << 2;
m_channelIndex << 0 << 1 << 0;
m_channelIndex << 0 << 3 << 0;
setupActuatorMinMaxAndNeutral(1, 1, 2);
setupActuatorMinMaxAndNeutral(3, 3, 2);
getWizard()->setActuatorSettings(m_actuatorSettings);
break;

89
ground/gcs/src/plugins/setupwizard/resources/connection-diagrams.svg
View File

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ground/gcs/src/plugins/setupwizard/resources/ground-shapes-wizard.svg
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ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
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@ -3,7 +3,7 @@
*
* @file vehicleconfigurationhelper.cpp
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @addtogroup
* @{
* @addtogroup VehicleConfigurationHelper
@ -511,14 +511,22 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
data.BankUpdateFreq[i] = servoFrequence;
data.BankMode[i] = ActuatorSettings::BANKMODE_PWM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if ((m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC) ||
(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC3D)) {
// Motor output4, bank2
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
// Motor output4, bank3
if (i == 2) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
// Motor output4, bank4
if (i == 3) {
data.BankUpdateFreq[i] = escFrequence;
}
}
}
@ -548,11 +556,19 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
for (quint16 i = 0; i < ActuatorSettings::BANKUPDATEFREQ_NUMELEM; i++) {
data.BankUpdateFreq[i] = servoFrequence;
data.BankMode[i] = ActuatorSettings::BANKMODE_PWM;
if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
if ((m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC) ||
(m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC3D)) {
// Motor output4, bank2
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
// Motor output4, bank3
if (i == 1) {
data.BankUpdateFreq[i] = escFrequence;
}
} else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_NANO) {
// Motor output4, bank4
if (i == 2) {
data.BankUpdateFreq[i] = escFrequence;
}
@ -1898,13 +1914,13 @@ void VehicleConfigurationHelper::setupDualAileron()
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
// Aileron Servo 1 (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
@ -1930,19 +1946,19 @@ void VehicleConfigurationHelper::setupDualAileron()
channels[1].pitch = 100;
channels[1].yaw = 0;
// Rudder Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = -100;
// Rudder Servo (Chan 3)
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingThrottle = 4;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingRoll2 = 6;
guiSettings.fixedwing.FixedWingPitch1 = 2;
guiSettings.fixedwing.FixedWingYaw1 = 4;
guiSettings.fixedwing.FixedWingYaw1 = 3;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWING, guiSettings);
@ -1958,13 +1974,13 @@ void VehicleConfigurationHelper::setupAileron()
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
// Aileron Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
@ -1982,18 +1998,18 @@ void VehicleConfigurationHelper::setupAileron()
channels[1].pitch = 100;
channels[1].yaw = 0;
// Rudder Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = -100;
// Rudder Servo (Chan 3)
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingThrottle = 4;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingPitch1 = 2;
guiSettings.fixedwing.FixedWingYaw1 = 4;
guiSettings.fixedwing.FixedWingYaw1 = 3;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_FIXEDWING, guiSettings);
@ -2009,13 +2025,13 @@ void VehicleConfigurationHelper::setupVtail()
mixerChannelSettings channels[ActuatorSettings::CHANNELADDR_NUMELEM];
GUIConfigDataUnion guiSettings = getGUIConfigData();
// Motor (Chan 3)
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = 0;
channels[2].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
// Aileron Servo (Chan 1)
channels[0].type = MIXER_TYPE_SERVO;
@ -2041,18 +2057,18 @@ void VehicleConfigurationHelper::setupVtail()
channels[1].pitch = 100;
channels[1].yaw = -100;
// Left Vtail Servo (Chan 4)
channels[3].type = MIXER_TYPE_SERVO;
channels[3].throttle1 = 0;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = -100;
channels[3].yaw = -100;
// Left Vtail Servo (Chan 3)
channels[2].type = MIXER_TYPE_SERVO;
channels[2].throttle1 = 0;
channels[2].throttle2 = 0;
channels[2].roll = 0;
channels[2].pitch = -100;
channels[2].yaw = -100;
guiSettings.fixedwing.FixedWingThrottle = 3;
guiSettings.fixedwing.FixedWingThrottle = 4;
guiSettings.fixedwing.FixedWingRoll1 = 1;
guiSettings.fixedwing.FixedWingRoll2 = 6;
guiSettings.fixedwing.FixedWingPitch1 = 4; // Vtail left (top view, nose up)
guiSettings.fixedwing.FixedWingPitch1 = 3; // Vtail left (top view, nose up)
guiSettings.fixedwing.FixedWingPitch2 = 2; // Vtail right
applyMixerConfiguration(channels);
@ -2083,16 +2099,16 @@ void VehicleConfigurationHelper::setupCar()
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_REVERSABLEMOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
guiSettings.ground.GroundVehicleSteering1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
guiSettings.ground.GroundVehicleThrottle2 = 4;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLECAR, guiSettings);
@ -2149,16 +2165,16 @@ void VehicleConfigurationHelper::setupMotorcycle()
channels[0].pitch = 0;
channels[0].yaw = 100;
// Motor (Chan 2)
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = 0;
channels[1].pitch = 0;
channels[1].yaw = 0;
// Motor (Chan 4)
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = 0;
channels[3].pitch = 0;
channels[3].yaw = 0;
guiSettings.ground.GroundVehicleSteering1 = 1;
guiSettings.ground.GroundVehicleThrottle2 = 2;
guiSettings.ground.GroundVehicleThrottle2 = 4;
applyMixerConfiguration(channels);
applyMultiGUISettings(SystemSettings::AIRFRAMETYPE_GROUNDVEHICLEMOTORCYCLE, guiSettings);

2
ground/gcs/src/plugins/uploader/devicewidget.cpp
View File

@ -545,7 +545,7 @@ QString DeviceWidget::getDevFirmwarePath()
fwDirectory.cd("../../../../../..");
fwDirectoryStr = fwDirectory.absolutePath();
#endif
fwDirectoryStr = fwDirectoryStr + "/fw_" + myDevice->lblBrdName->text().toLower() + "/fw_" + myDevice->lblBrdName->text().toLower() + ".opfw";
fwDirectoryStr = fwDirectoryStr + "/firmware/fw_" + myDevice->lblBrdName->text().toLower() + "/fw_" + myDevice->lblBrdName->text().toLower() + ".opfw";
return fwDirectoryStr;
}

0
ground/gcs/src/share/models/boards/coptercontrol/coptercontrol.3ds Executable file → Normal file
View File

15
make/scripts/win_sdk_install.sh
View File

@ -36,12 +36,10 @@ fi
# Tools URLs to fetch
WGET_URL="http://librepilot.github.io/tools/wget.exe"
MAKE_URL="http://librepilot.github.io/tools/make.exe"
SEVENZIP_URL="http://librepilot.github.io/tools/7za.exe"
# Expected tools paths
WGET="$TOOLS_DIR/bin/`basename \"$WGET_URL\"`"
MAKE="$TOOLS_DIR/bin/`basename \"$MAKE_URL\"`"
SEVENZIP="$TOOLS_DIR/bin/`basename \"$SEVENZIP_URL\"`"
# wget is necessary to fetch other files
WGET_NAME="`basename \"$WGET\"`"
@ -97,20 +95,9 @@ if [ ! -x "$MAKE" ]; then
fi
fi
# 7-Zip is necessary to install some SDKs
if [ ! -x "$SEVENZIP" ]; then
echo "$SCRIPT_NAME: $SEVENZIP_NAME not found, fetching from $SEVENZIP_URL"
SEVENZIP_DIR="`dirname \"$SEVENZIP\"`"
mkdir -p "$SEVENZIP_DIR"
$WGET --no-check-certificate -N --content-disposition -P "$SEVENZIP_DIR" "$SEVENZIP_URL"
if [ $? -ne 0 ]; then
echo "$SCRIPT_NAME: $SEVENZIP_NAME fetch error, hope it's in the path..."
SEVENZIP_NAME="`basename \"$SEVENZIP\"`"
SEVENZIP="$SEVENZIP_NAME"
fi
fi
# Finally we can fetch all SDKs using top level Makefile
cd "$ROOT_DIR"
./tool_install.sh 7z
echo "Run 'tools/bin/make all_sdk_install' to install the other tools"
echo " or 'tools/bin/make help' for more info on make targets"

31
make/tool_install/7z.sh Normal file
View File

@ -0,0 +1,31 @@
# tool_url="http://www.7-zip.org/a/7z920.exe"
#tool_url="http://www.7-zip.org/a/7z920.msi"
tool_url="http://librepilot.github.io/tools/7za.exe"
tool_install_name="bin/7za.exe"
tool_extract_dir="$tools_dir/bin"
bin_dir=$tool_extract_dir
no_extract=true
module_file=bin
#Override
function validate_target { [ "$uname" = Windows ]; }
# Override
function dddownload_and_extract
{
local full_tool_install_name="$tools_dir/bin/$tool_install_name"
if ! [ -e "$full_tool_install_name" ] || $force
then
download_and_verify && \
rm -rf "$full_tool_install_name" && \
mkdir -p "$(dirname "$full_tool_install_name")" && \
mv "$downloaded_file" "$full_tool_install_name"
#msiexec //i "$downloaded_file" //q INSTALLDIR="$tools_dir"
#cmd //C "$downloaded_file" /S /D="${tools_dir//\//\\}"
fi
}

29
make/tool_install/gcc-arm-none-eabi.sh Normal file
View File

@ -0,0 +1,29 @@
if [ "$uname" = Linux ]
then
url_ext="linux.tar.bz2"
elif [ "$uname" = Darwin ]
then
url_ext="mac.tar.bz2"
elif [ "$uname" = Windows ]
then
url_ext="win32.zip"
depends=(7z)
fi
pkgver=4.9_2015_q2_update
pkgdate=20150609
_pkgver=${pkgver//_/-}
_pkgvershort=${_pkgver%-*}
_pkgvershort=${_pkgvershort/-q/q}
tool_url="https://launchpad.net/gcc-arm-embedded/${pkgver%%_*}/${_pkgver}/+download/${tool}-${_pkgvershort/./_}-${pkgdate}-${url_ext}"
tool_md5_url="${tool_url}/+md5"
tool_install_name="${tool}-${_pkgvershort/./_}"
if [ "$uname" = Windows ]
then
tool_extract_dir=$tools_dir/$tool_install_name
fi
bin_subdir=bin
function validate_target { true; }

62
make/tools.mk
View File

@ -51,6 +51,35 @@ ifndef TOP_LEVEL_MAKEFILE
$(error $(notdir $(lastword $(MAKEFILE_LIST))) should be included by the top level Makefile)
endif
##############################
#
# Already installed tools modules
#
##############################
-include $(wildcard $(TOOLS_DIR)/*.mk)
TOOL_INSTALL := $(ROOT_DIR)/tool_install.sh
TOOL_TARGETS := gcc-arm-none-eabi
TOOL_INSTALL_TARGETS := $(addsuffix _install,$(TOOL_TARGETS))
TOOL_FORCE_INSTALL_TARGETS := $(addsuffix _force_install,$(TOOL_TARGETS))
TOOL_REMOVE_TARGETS := $(addsuffix _remove,$(TOOL_TARGETS))
.PHONY: $(TOOL_INSTALL_TARGETS)
$(TOOL_INSTALL_TARGETS):
@$(ECHO) $(MSG_INSTALLING) $(@:_install=)
$(V1) $(TOOL_INSTALL) -n $(@:_install=)
.PHONY: $(TOOL_FORCE_INSTALL_TARGETS)
$(TOOL_FORCE_INSTALL_TARGETS):
@$(ECHO) $(MSG_INSTALLING) $(@:_install=)
$(V1) $(TOOL_INSTALL) -n -f $(@:_force_install=)
.PHONY: $(TOOL_REMOVE_TARGETS)
$(TOOL_REMOVE_TARGETS):
@$(ECHO) $(MSG_CLEANING) $(@:_install=)
$(V1) $(TOOL_INSTALL) -n -r $(@:_remove=)
##############################
#
# Toolchain URLs and directories
@ -59,15 +88,11 @@ endif
ifeq ($(UNAME), Linux)
ifeq ($(ARCH), x86_64)
ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2
ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2/+md5
QT_SDK_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x64-5.4.1.run
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x64-5.4.1.run.md5
QT_SDK_ARCH := gcc_64
OSG_URL := http://librepilot.github.io/tools/osg-3.4-linux-x64-qt-5.4.1.tar.gz
else
ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2
ARM_SDK_MD5_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-linux.tar.bz2/+md5
QT_SDK_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x86-5.4.1.run
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-linux-x86-5.4.1.run.md5
QT_SDK_ARCH := gcc
@ -76,8 +101,6 @@ ifeq ($(UNAME), Linux)
UNCRUSTIFY_URL := http://librepilot.github.io/tools/uncrustify-0.60.tar.gz
DOXYGEN_URL := http://librepilot.github.io/tools/doxygen-1.8.3.1.src.tar.gz
else ifeq ($(UNAME), Darwin)
ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-mac.tar.bz2
ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-mac.tar.bz2/+md5
QT_SDK_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-mac-x64-clang-5.4.1.dmg
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-mac-x64-clang-5.4.1.dmg.md5
QT_SDK_ARCH := clang_64
@ -88,8 +111,6 @@ else ifeq ($(UNAME), Darwin)
DOXYGEN_URL := http://librepilot.github.io/tools/doxygen-1.8.3.1.src.tar.gz
OSG_URL :=
else ifeq ($(UNAME), Windows)
ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-win32.zip
ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.9/4.9-2014-q4-major/+download/gcc-arm-none-eabi-4_9-2014q4-20141203-win32.zip/+md5
QT_SDK_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-windows-x86-mingw491_opengl-5.4.1.exe
QT_SDK_MD5_URL := http://download.qt.io/official_releases/qt/5.4/5.4.1/qt-opensource-windows-x86-mingw491_opengl-5.4.1.exe.md5
QT_SDK_ARCH := mingw491_32
@ -109,7 +130,6 @@ GTEST_URL := http://librepilot.github.io/tools/gtest-1.6.0.zip
CCACHE_URL := http://samba.org/ftp/ccache/ccache-3.2.2.tar.bz2
CCACHE_MD5_URL := http://librepilot.github.io/tools/ccache-3.2.2.tar.bz2.md5
ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-4_9-2014q4
QT_SDK_DIR := $(TOOLS_DIR)/qt-5.4.1
UNCRUSTIFY_DIR := $(TOOLS_DIR)/uncrustify-0.60
DOXYGEN_DIR := $(TOOLS_DIR)/doxygen-1.8.3.1
@ -581,26 +601,14 @@ endef
# ARM SDK
#
##############################
export ARM_SDK_PREFIX := arm-none-eabi-
ARM_SDK_TOOL := gcc-arm-none-eabi
ifeq ($(UNAME), Windows)
.PHONY: arm_sdk_install
arm_sdk_install: $(ARM_SDK_TOOL)_install
# unfortunately zip package for this release is missing root directory, so adding / at the end of the path
# so that template interpret last part as directory and use the full path
$(eval $(call TOOL_INSTALL_TEMPLATE,arm_sdk,$(ARM_SDK_DIR)/,$(ARM_SDK_URL),$(ARM_SDK_MD5_URL),$(notdir $(ARM_SDK_URL))))
else
$(eval $(call TOOL_INSTALL_TEMPLATE,arm_sdk,$(ARM_SDK_DIR),$(ARM_SDK_URL),$(ARM_SDK_MD5_URL),$(notdir $(ARM_SDK_URL))))
endif
ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && $(ECHO) "exists"), exists)
export ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
else
# not installed, hope it's in the path...
# $(info $(EMPTY) WARNING $(call toprel, $(ARM_SDK_DIR)) not found (make arm_sdk_install), using system PATH)
export ARM_SDK_PREFIX ?= arm-none-eabi-
endif
.PHONY: arm_sdk_clean
arm_sdk_clean: $(ARM_SDK_TOOL)_remove
.PHONY: arm_sdk_version
arm_sdk_version:

27
package/Linux.mk
View File

@ -34,9 +34,10 @@ udevrulesdir := /etc/udev/rules.d
INSTALL = cp -a --no-preserve=ownership
LN = ln
LN_S = ln -s
RM_RF = rm -rf
RM_F = rm -f
.PHONY: install
install:
install: uninstall
@$(ECHO) " INSTALLING GCS TO $(DESTDIR)/)"
$(V1) $(MKDIR) -p $(DESTDIR)$(bindir)
$(V1) $(MKDIR) -p $(DESTDIR)$(libdir)
@ -57,3 +58,25 @@ ifneq ($(enable-udev-rules), no)
$(V1) $(MKDIR) -p $(DESTDIR)$(udevrulesdir)
$(V1) $(INSTALL) -T $(ROOT_DIR)/package/linux/45-uav.rules $(DESTDIR)$(udevrulesdir)/45-$(ORG_SMALL_NAME).rules
endif
# uninstall target to ensure no side effects from previous installations
.PHONY: uninstall
uninstall:
@$(ECHO) " UNINSTALLING GCS FROM $(DESTDIR)/)"
# Protect against inadvertant 'rm -rf /'
ifeq ($(GCS_SMALL_NAME),)
@$(ECHO) "Error in build configuration - GCS_SMALL_NAME not defined"
exit 1
endif
ifeq ($(ORG_SMALL_NAME),)
@$(ECHO) "Error in build configuration - ORG_SMALL_NAME not defined"
exit 1
endif
# ...safe to Proceed
$(V1) $(RM_RF) $(DESTDIR)$(bindir)/$(GCS_SMALL_NAME) # Remove application
$(V1) $(RM_RF) $(DESTDIR)$(libdir)/$(GCS_SMALL_NAME) # Remove libraries
$(V1) $(RM_RF) $(DESTDIR)$(datadir)/$(GCS_SMALL_NAME) # Remove other data
$(V1) $(RM_F) $(DESTDIR)$(datadir)/applications/$(ORG_SMALL_NAME).desktop
$(V1) $(RM_F) $(DESTDIR)$(datadir)/pixmaps/$(ORG_SMALL_NAME).png
$(V1) $(RM_F) $(DESTDIR)$(udevrulesdir)/45-$(ORG_SMALL_NAME).rules

2
shared/uavobjectdefinition/manualcontrolcommand.xml
View File

@ -8,7 +8,7 @@
<field name="Yaw" units="%" type="float" elements="1"/>
<field name="Collective" units="%" type="float" elements="1"/>
<field name="Thrust" units="%" type="float" elements="1"/>
<field name="Channel" units="us" type="uint16" elements="9"/>
<field name="Channel" units="us" type="uint16" elements="10"/>
<field name="FlightModeSwitchPosition" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

14
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -2,18 +2,18 @@
<object name="ManualControlSettings" singleinstance="true" settings="true" category="Control">
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
<field name="ChannelGroups" units="Channel Group" type="enum"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"
options="PWM,PPM,DSM (MainPort),DSM (FlexiPort),S.Bus,SRXL,GCS,OPLink,None" defaultvalue="None"/>
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
<field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
<field name="ResponseTime" units="ms" type="uint16" defaultvalue="0"
elementnames="Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2"/>
elementnames="Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3"/>
<field name="Deadband" units="%" type="uint8" elements="1" defaultvalue="2"/>
<!-- Note the following deadband is used in AssistedControl. Use of deadband with AssistedControl is not optional and will have a hardcoded minimum. -->
@ -24,7 +24,7 @@
<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="FailsafeFlightModeSwitchPosition" units="" type="int8" elements="1" defaultvalue="-1"/>
<field name="FailsafeChannel" units="%" type="float" elementnames="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2" defaultvalue="-1,0,0,0,0,0,0,0" />
<field name="FailsafeChannel" units="%" type="float" elementnames="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3" defaultvalue="-1,0,0,0,0,0,0,0,0" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

272
tool_install.sh Executable file
View File

@ -0,0 +1,272 @@
#!/bin/bash
# Exit if an error or an unset variable
set -e -u
# make sure unmatched glob gives empty
shopt -s nullglob
root_dir=$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)
tools_dir=${TOOLS_DIR:-${root_dir}/tools}
downloads_dir=${DL_DIR:-${root_dir}/downloads}
tool_overrides_dir=$root_dir/make/tool_install
batch=${BATCH:-false}
force=false
remove=false
includes=true
for arg in "${@:1}"
do
[ "$arg" = "-r" ] && remove=true
[ "$arg" = "-f" ] && force=true
[ "$arg" = "-n" ] && includes=false
done
tool=${@: -1}
uname=$(uname)
if [[ "$uname" != [LD]* ]]
then
uname=Windows
fi
# Batch mode
if $batch
then
CURL_OPTIONS=(--silent -L)
else
CURL_OPTIONS=(-L)
fi
################################################################################
# Helper functions
################################################################################
function exit_error
{
error=$?
echo "${@}"
exit $error
}
## Downloads a file if it doesn't exist
#1 URL
#2 Output filename (optional)
#3+ Additional options to pass to curl
## Sets:
#out_file: path of the downloaded file
function download_file
{
out_file="$downloads_dir/${2:-$(basename "$1")}"
if ! [ -f "$out_file" ]
then
mkdir -p "$downloads_dir" && \
cd "$downloads_dir" && \
echo "Downloading $1" && \
curl "${CURL_OPTIONS[@]}" "${@:3}" -o "$out_file" "$1"
fi
}
## Unzips a file
#1 The file to unzip
#2 The output directory
function zip_extract
{
if [ "$uname" = Windows ]
then
7za.exe x -o"$2" "$1"
else
unzip "$1" -d "$2"
fi
}
## Extracts a 7zip file
#1 The file to extract
#2 The output directory
function sevenzip_extract
{
if [ "$uname" = Windows ]
then
7za.exe x -o"$2" "$1"
else
7zr x -o"$2" "$1"
fi
}
## Extracts a tar file
#1 The file to extract
#2 The output directory
function tar_extract
{
tar -xf "$1" -C "$2"
}
## Extracts a file
#1 File to extract
#2 Extract directory (optional)
no_extract=false # Optional
## Sets:
#out_dir: directory the file was extracted into
function extract_file
{
out_dir="${2:-.}"
echo "Extracting $1"
mkdir -p "$out_dir" && \
case "$1" in
*.zip)
zip_extract "$1" "$out_dir"
;;
*.7z)
sevenzip_extract "$1" "$out_dir"
;;
*.tar*)
tar_extract "$1" "$out_dir"
;;
*)
if $no_extract
then
cp "$1" "$out_dir"
else
return 1
fi
esac
}
################################################################################
# Default functions
################################################################################
function validate_target { false; }
function remove
{
rm -rf "$tools_dir/$tool_install_name"
rm -f "$tools_dir/$tool".{sh,mk}
}
declare -a depends=()
function install_deps
{
# Workaround for set -u and empty array
for dep in "${depends[@]:+${depends}}"
do
BATCH="$batch" "${BASH_SOURCE[0]}" "$dep"
done && \
source_includes
}
## Downloads and verifies the tool
## Required:
#tool_url: the url to download the tool from
## Optional:
#tool_md5
#tool_md5_url
function download_and_verify
{
verified=true
download_file "$tool_url" && \
downloaded_file=$out_file && \
if [ -n "${tool_md5_url:-}" ]
then
download_file "$tool_md5_url" "$(basename "$downloaded_file").md5" --silent && \
if ! ( cd "$downloads_dir" && md5sum -c "$out_file" )
then
mv -f "$downloaded_file"{,.rej} && \
mv -f "$downloaded_file".md5{,.rej} && \
verified=false
fi
elif [ -n "${tool_md5:-}" ]
then
if [[ "$tool_md5"* != "$(cd "$downloads_dir" && md5sum "$downloaded_file")" ]]
then
mv -f "$downloaded_file"{,.rej} && \
verified=false
fi
fi && \
$verified
}
function tool_is_installed { [ -e "$full_tool_install_name" ] || which "$tool" &>/dev/null; }
## Downloads and extracts the tool
## Required:
#tool_url: the url to download the tool from
#tool_install_name: the directory or file the tool will be installed as
## Optional:
#tool_extract_dir: Directory to extract into (useful if build required)
function download_and_extract
{
local full_tool_install_name="$tools_dir/$tool_install_name"
if ! tool_is_installed || $force
then
download_and_verify || exit_error "Failed to verify $downloaded_file"
rm -rf "$full_tool_install_name" && \
extract_file "$downloaded_file" "${tool_extract_dir:-$tools_dir}"
fi
}
function build_and_install { true; } # Most tools don't need this step
## Write modules that are included by this script and make
## Optional:
bin_dir=""
bin_subdir="" #
module_file=$tool
function write_modules
{
if [ -n "$bin_subdir" ]
then
bin_dir="$tools_dir/$tool_install_name/$bin_subdir"
fi
if [ -n "$bin_dir" ]
then
local new_path="$bin_dir"':${PATH}'
# Write shell module file
echo 'if [[ ":$PATH:" != *":'"$bin_dir"':"* ]]; then export PATH='"$new_path"'; fi' > "$tools_dir/$module_file".sh
# Write make module file
echo 'ifeq ($(findstring :'"$bin_dir"':,:$(PATH):),)' > "$tools_dir/$module_file".mk
echo "export PATH := $new_path" >> "$tools_dir/$module_file".mk
echo "endif" >> "$tools_dir/$module_file".mk
fi
}
function source_includes
{
if $includes
then
for module in "$tools_dir"/*.sh
do
source "$module"
done
fi
}
################################################################################
# Peform tool install
################################################################################
source_includes || exit_error "failed to source includes"
source "$tool_overrides_dir/${tool}.sh"
if $remove
then
remove || exit_error "Failed to remove ${tool}"
else
validate_target || exit_error "${tool} is not a valid target"
install_deps || exit_error "Failed to install dependencies for ${tool}"
download_and_extract || exit_error "Failed to download and extract ${tool}"
build_and_install || exit_error "Failed to build and install ${tool}"
write_modules || exit_error "Failed to write modules for ${tool}"
fi