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Code Issues Releases Activity

Heli: Added an explicit collective channel. Also make the default channel

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number 0 since that is not invalid.
This commit is contained in:
James Cotton 2011-09-06 23:16:34 -05:00
parent cabfbc229d
commit 1a5fd9f30e
5 changed files with 21 additions and 10 deletions
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6
flight/Modules/Actuator/actuator.c
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@ -42,7 +42,7 @@
#include "mixersettings.h" #include "mixersettings.h"
#include "mixerstatus.h" #include "mixerstatus.h"
#include "cameradesired.h" #include "cameradesired.h"
#include "manualcontrolcommand.h"
// Private constants // Private constants
#define MAX_QUEUE_SIZE 2 #define MAX_QUEUE_SIZE 2
@ -236,6 +236,10 @@ static void actuatorTask(void* parameters)
case MIXERSETTINGS_CURVE2SOURCE_YAW: case MIXERSETTINGS_CURVE2SOURCE_YAW:
curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2); curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
break; break;
case MIXERSETTINGS_CURVE2SOURCE_COLLECTIVE:
ManualControlCommandCollectiveGet(&curve2);
curve2 = MixerCurve(curve2,mixerSettings.ThrottleCurve2);
break;
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0: case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1: case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2: case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:

6
flight/Modules/ManualControl/manualcontrol.c
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@ -278,6 +278,7 @@ static void manualControlTask(void *parameters)
cmd.Roll = 0; cmd.Roll = 0;
cmd.Yaw = 0; cmd.Yaw = 0;
cmd.Pitch = 0; cmd.Pitch = 0;
cmd.Collective = 0;
//cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning //cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO; // don't do until AUTO implemented and functioning
// Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this, // Important: Throttle < 0 will reset Stabilization coefficients among other things. Either change this,
// or leave throttle at IDLE speed or above when going into AUTO-failsafe. // or leave throttle at IDLE speed or above when going into AUTO-failsafe.
@ -316,6 +317,11 @@ static void manualControlTask(void *parameters)
cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]; cmd.Throttle = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE];
flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE]; flightMode = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE];
if(cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_INVALID &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_NODRIVER &&
cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != PIOS_RCVR_TIMEOUT)
cmd.Collective = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE];
AccessoryDesiredData accessory; AccessoryDesiredData accessory;
// Set Accessory 0 // Set Accessory 0
if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != if (settings.ChannelGroups[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] !=

5
shared/uavobjectdefinition/manualcontrolcommand.xml
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@ -2,10 +2,11 @@
<object name="ManualControlCommand" singleinstance="true" settings="false"> <object name="ManualControlCommand" singleinstance="true" settings="false">
<description>The output from the @ref ManualControlModule which descodes the receiver inputs. Overriden by GCS for fly-by-wire control.</description> <description>The output from the @ref ManualControlModule which descodes the receiver inputs. Overriden by GCS for fly-by-wire control.</description>
<field name="Connected" units="" type="enum" elements="1" options="False,True"/> <field name="Connected" units="" type="enum" elements="1" options="False,True"/>
<field name="Roll" units="%" type="float" elements="1"/> <field name="Throttle" units="%" type="float" elements="1"/>
<field name="Roll" units="%" type="float" elements="1"/>
<field name="Pitch" units="%" type="float" elements="1"/> <field name="Pitch" units="%" type="float" elements="1"/>
<field name="Yaw" units="%" type="float" elements="1"/> <field name="Yaw" units="%" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/> <field name="Collective" units="%" type="float" elements="1"/>
<field name="Channel" units="us" type="uint16" elements="8"/> <field name="Channel" units="us" type="uint16" elements="8"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>

12
shared/uavobjectdefinition/manualcontrolsettings.xml
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@ -2,16 +2,16 @@
<object name="ManualControlSettings" singleinstance="true" settings="true"> <object name="ManualControlSettings" singleinstance="true" settings="true">
<description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description> <description>Settings to indicate how to decode receiver input by @ref ManualControlModule.</description>
<field name="ChannelGroups" units="Channel Group" type="enum" <field name="ChannelGroups" units="Channel Group" type="enum"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2" elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"
options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/> options="PWM,PPM,Spektrum1,Spektrum2,S.Bus,GCS,None" defaultvalue="None"/>
<field name="ChannelNumber" units="channel" type="uint8" defaultvalue="255" <field name="ChannelNumber" units="channel" type="uint8" defaultvalue="0"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/> elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelMin" units="us" type="int16" defaultvalue="1000" <field name="ChannelMin" units="us" type="int16" defaultvalue="1000"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/> elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500" <field name="ChannelNeutral" units="us" type="int16" defaultvalue="1500"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/> elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="ChannelMax" units="us" type="int16" defaultvalue="2000" <field name="ChannelMax" units="us" type="int16" defaultvalue="2000"
elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Accessory0,Accessory1,Accessory2"/> elementnames="Throttle,Roll,Pitch,Yaw,FlightMode,Collective,Accessory0,Accessory1,Accessory2"/>
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/> <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>

2
shared/uavobjectdefinition/mixersettings.xml
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@ -6,7 +6,7 @@
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/> <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/> <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/> <field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/> <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/> <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/> <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,CameraRoll,CameraPitch,CameraYaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/> <field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>