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Merge branch 'master' into bugfix-ground
This commit is contained in:
elafargue
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1c09f85be2
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Before Width: | Height: | Size: 37 KiB After Width: | Height: | Size: 52 KiB |
@ -151,6 +151,7 @@ ifndef TESTAPP
|
||||
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
|
||||
SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/flightstatus.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemstats.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemalarms.c
|
||||
SRC += $(OPUAVSYNTHDIR)/systemsettings.c
|
||||
|
||||
@ -96,6 +96,7 @@
|
||||
#define PIOS_STABILIZATION_STACK_SIZE 624
|
||||
#define PIOS_TELEM_STACK_SIZE 500
|
||||
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
|
||||
//#define PIOS_QUATERNION_STABILIZATION
|
||||
|
||||
#endif /* PIOS_CONFIG_H */
|
||||
|
||||
@ -37,7 +37,7 @@
|
||||
#include "systemsettings.h"
|
||||
#include "actuatordesired.h"
|
||||
#include "actuatorcommand.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "flightstatus.h"
|
||||
#include "mixersettings.h"
|
||||
#include "mixerstatus.h"
|
||||
|
||||
@ -135,7 +135,7 @@ static void actuatorTask(void* parameters)
|
||||
MixerSettingsData mixerSettings;
|
||||
ActuatorDesiredData desired;
|
||||
MixerStatusData mixerStatus;
|
||||
ManualControlCommandData manualControl;
|
||||
FlightStatusData flightStatus;
|
||||
|
||||
ActuatorSettingsGet(&settings);
|
||||
PIOS_Servo_SetHz(&settings.ChannelUpdateFreq[0], ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM);
|
||||
@ -165,7 +165,7 @@ static void actuatorTask(void* parameters)
|
||||
lastSysTime = thisSysTime;
|
||||
|
||||
|
||||
ManualControlCommandGet(&manualControl);
|
||||
FlightStatusGet(&flightStatus);
|
||||
SystemSettingsGet(&sysSettings);
|
||||
MixerStatusGet(&mixerStatus);
|
||||
MixerSettingsGet (&mixerSettings);
|
||||
@ -190,10 +190,9 @@ static void actuatorTask(void* parameters)
|
||||
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
|
||||
|
||||
bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
|
||||
bool armed = flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED;
|
||||
bool positiveThrottle = desired.Throttle >= 0.00;
|
||||
bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE &&
|
||||
manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
|
||||
bool spinWhileArmed = settings.MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
|
||||
|
||||
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
|
||||
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
|
||||
|
||||
@ -53,6 +53,7 @@
|
||||
#include "attituderaw.h"
|
||||
#include "attitudeactual.h"
|
||||
#include "attitudesettings.h"
|
||||
#include "flightstatus.h"
|
||||
#include "CoordinateConversions.h"
|
||||
#include "pios_flash_w25x.h"
|
||||
|
||||
@ -87,6 +88,7 @@ static int16_t accelbias[3];
|
||||
static float q[4] = {1,0,0,0};
|
||||
static float R[3][3];
|
||||
static int8_t rotate = 0;
|
||||
static bool zero_during_arming = false;
|
||||
|
||||
/**
|
||||
* Initialise the module, called on startup
|
||||
@ -133,15 +135,25 @@ static void AttitudeTask(void *parameters)
|
||||
PIOS_FLASH_DISABLE;
|
||||
PIOS_ADXL345_Init();
|
||||
|
||||
zero_during_arming = false;
|
||||
// Main task loop
|
||||
while (1) {
|
||||
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
if(xTaskGetTickCount() < 10000) {
|
||||
// For first 5 seconds use accels to get gyro bias
|
||||
accelKp = 1;
|
||||
// Decrease the rate of gyro learning during init
|
||||
accelKi = .5 / (1 + xTaskGetTickCount() / 5000);
|
||||
yawBiasRate = 0.01 / (1 + xTaskGetTickCount() / 5000);
|
||||
init = 0;
|
||||
}
|
||||
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
|
||||
accelKi = .01;
|
||||
yawBiasRate = 0.1;
|
||||
init = 0;
|
||||
} else if (init == 0) {
|
||||
settingsUpdatedCb(AttitudeSettingsHandle());
|
||||
init = 1;
|
||||
@ -313,6 +325,8 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
|
||||
yawBiasRate = attitudeSettings.YawBiasRate;
|
||||
gyroGain = attitudeSettings.GyroGain;
|
||||
|
||||
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
|
||||
|
||||
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
|
||||
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
|
||||
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
|
||||
|
||||
@ -35,12 +35,12 @@
|
||||
typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3} flightmode_path;
|
||||
|
||||
#define PARSE_FLIGHT_MODE(x) ( \
|
||||
(x == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \
|
||||
(x == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1) ? FLIGHTMODE_STABILIZED : \
|
||||
(x == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
|
||||
(x == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
|
||||
(x == MANUALCONTROLCOMMAND_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
|
||||
(x == MANUALCONTROLCOMMAND_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \
|
||||
(x == FLIGHTSTATUS_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \
|
||||
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) ? FLIGHTMODE_STABILIZED : \
|
||||
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
|
||||
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
|
||||
(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
|
||||
(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \
|
||||
)
|
||||
|
||||
int32_t ManualControlInitialize();
|
||||
|
||||
@ -41,6 +41,7 @@
|
||||
#include "actuatordesired.h"
|
||||
#include "stabilizationdesired.h"
|
||||
#include "flighttelemetrystats.h"
|
||||
#include "flightstatus.h"
|
||||
|
||||
// Private constants
|
||||
#if defined(PIOS_MANUAL_STACK_SIZE)
|
||||
@ -54,6 +55,7 @@
|
||||
#define THROTTLE_FAILSAFE -0.1
|
||||
#define FLIGHT_MODE_LIMIT 1.0/3.0
|
||||
#define ARMED_TIME_MS 1000
|
||||
#define ARMED_THRESHOLD 0.50
|
||||
//safe band to allow a bit of calibration error or trim offset (in microseconds)
|
||||
#define CONNECTION_OFFSET 150
|
||||
|
||||
@ -70,13 +72,16 @@ typedef enum
|
||||
// Private variables
|
||||
static xTaskHandle taskHandle;
|
||||
static ArmState_t armState;
|
||||
static portTickType lastSysTime;
|
||||
|
||||
// Private functions
|
||||
static void updateActuatorDesired(ManualControlCommandData * cmd);
|
||||
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
|
||||
static void processFlightMode(ManualControlSettingsData * settings, float flightMode);
|
||||
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings);
|
||||
|
||||
static void manualControlTask(void *parameters);
|
||||
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent);
|
||||
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
|
||||
static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time);
|
||||
static bool okToArm(void);
|
||||
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
|
||||
@ -125,12 +130,12 @@ static bool validInputRange(int16_t min, int16_t max, uint16_t value);
|
||||
|
||||
|
||||
#define assumptions_flightmode ( \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_VELOCITYCONTROL) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) MANUALCONTROLCOMMAND_FLIGHTMODE_POSITIONHOLD) \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
|
||||
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
|
||||
)
|
||||
|
||||
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
|
||||
@ -159,18 +164,16 @@ static void manualControlTask(void *parameters)
|
||||
{
|
||||
ManualControlSettingsData settings;
|
||||
ManualControlCommandData cmd;
|
||||
portTickType lastSysTime;
|
||||
|
||||
FlightStatusData flightStatus;
|
||||
float flightMode = 0;
|
||||
|
||||
uint8_t disconnected_count = 0;
|
||||
uint8_t connected_count = 0;
|
||||
enum { CONNECTED, DISCONNECTED } connection_state = DISCONNECTED;
|
||||
|
||||
// Make sure unarmed on power up
|
||||
ManualControlCommandGet(&cmd);
|
||||
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
||||
ManualControlCommandSet(&cmd);
|
||||
FlightStatusGet(&flightStatus);
|
||||
flightStatus.Armed = FLIGHTSTATUS_ARMED_DISARMED;
|
||||
armState = ARM_STATE_DISARMED;
|
||||
|
||||
// Main task loop
|
||||
@ -211,7 +214,7 @@ static void manualControlTask(void *parameters)
|
||||
#elif defined(PIOS_INCLUDE_SPEKTRUM)
|
||||
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
|
||||
#endif
|
||||
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n], 0);
|
||||
scaledChannel[n] = scaleChannel(cmd.Channel[n], settings.ChannelMax[n], settings.ChannelMin[n], settings.ChannelNeutral[n]);
|
||||
}
|
||||
|
||||
// Check settings, if error raise alarm
|
||||
@ -227,38 +230,23 @@ static void manualControlTask(void *parameters)
|
||||
}
|
||||
|
||||
// decide if we have valid manual input or not
|
||||
bool valid_input_detected = TRUE;
|
||||
if (!validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]))
|
||||
valid_input_detected = FALSE;
|
||||
if (!validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]))
|
||||
valid_input_detected = FALSE;
|
||||
if (!validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]))
|
||||
valid_input_detected = FALSE;
|
||||
if (!validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]))
|
||||
valid_input_detected = FALSE;
|
||||
bool valid_input_detected = validInputRange(settings.ChannelMin[settings.Throttle], settings.ChannelMax[settings.Throttle], cmd.Channel[settings.Throttle]) &&
|
||||
validInputRange(settings.ChannelMin[settings.Roll], settings.ChannelMax[settings.Roll], cmd.Channel[settings.Roll]) &&
|
||||
validInputRange(settings.ChannelMin[settings.Yaw], settings.ChannelMax[settings.Yaw], cmd.Channel[settings.Yaw]) &&
|
||||
validInputRange(settings.ChannelMin[settings.Pitch], settings.ChannelMax[settings.Pitch], cmd.Channel[settings.Pitch]);
|
||||
|
||||
// Implement hysteresis loop on connection status
|
||||
if (valid_input_detected)
|
||||
{
|
||||
if (++connected_count > 10)
|
||||
{
|
||||
connection_state = CONNECTED;
|
||||
connected_count = 0;
|
||||
disconnected_count = 0;
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
if (++disconnected_count > 10)
|
||||
{
|
||||
connection_state = DISCONNECTED;
|
||||
connected_count = 0;
|
||||
disconnected_count = 0;
|
||||
}
|
||||
if (valid_input_detected && (++connected_count > 10)) {
|
||||
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
|
||||
connected_count = 0;
|
||||
disconnected_count = 0;
|
||||
} else if (!valid_input_detected && (++disconnected_count > 10)) {
|
||||
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
|
||||
connected_count = 0;
|
||||
disconnected_count = 0;
|
||||
}
|
||||
|
||||
if (connection_state == DISCONNECTED) {
|
||||
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
|
||||
if (cmd.Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE) {
|
||||
cmd.Throttle = -1; // Shut down engine with no control
|
||||
cmd.Roll = 0;
|
||||
cmd.Yaw = 0;
|
||||
@ -269,161 +257,22 @@ static void manualControlTask(void *parameters)
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
|
||||
ManualControlCommandSet(&cmd);
|
||||
} else {
|
||||
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
|
||||
|
||||
// Scale channels to -1 -> +1 range
|
||||
cmd.Roll = scaledChannel[settings.Roll];
|
||||
cmd.Pitch = scaledChannel[settings.Pitch];
|
||||
cmd.Yaw = scaledChannel[settings.Yaw];
|
||||
cmd.Throttle = scaledChannel[settings.Throttle];
|
||||
flightMode = scaledChannel[settings.FlightMode];
|
||||
cmd.Roll = scaledChannel[settings.Roll];
|
||||
cmd.Pitch = scaledChannel[settings.Pitch];
|
||||
cmd.Yaw = scaledChannel[settings.Yaw];
|
||||
cmd.Throttle = scaledChannel[settings.Throttle];
|
||||
flightMode = scaledChannel[settings.FlightMode];
|
||||
|
||||
if (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE)
|
||||
cmd.Accessory1 = scaledChannel[settings.Accessory1];
|
||||
else
|
||||
cmd.Accessory1 = 0;
|
||||
// Set accessory channels
|
||||
cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
|
||||
cmd.Accessory2 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
|
||||
cmd.Accessory3 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
|
||||
|
||||
if (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE)
|
||||
cmd.Accessory2 = scaledChannel[settings.Accessory2];
|
||||
else
|
||||
cmd.Accessory2 = 0;
|
||||
|
||||
if (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE)
|
||||
cmd.Accessory3 = scaledChannel[settings.Accessory3];
|
||||
else
|
||||
cmd.Accessory3 = 0;
|
||||
|
||||
// Note here the code is ass
|
||||
if (flightMode < -FLIGHT_MODE_LIMIT)
|
||||
cmd.FlightMode = settings.FlightModePosition[0];
|
||||
else if (flightMode > FLIGHT_MODE_LIMIT)
|
||||
cmd.FlightMode = settings.FlightModePosition[2];
|
||||
else
|
||||
cmd.FlightMode = settings.FlightModePosition[1];
|
||||
|
||||
|
||||
//
|
||||
// Arming and Disarming mechanism
|
||||
//
|
||||
|
||||
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
|
||||
// In this configuration we always disarm
|
||||
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
||||
} else {
|
||||
// In all other cases, we will not change the arm state when disconnected
|
||||
if (connection_state == CONNECTED)
|
||||
{
|
||||
if (settings.Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
|
||||
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
|
||||
if (cmd.Throttle < 0) {
|
||||
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
|
||||
}
|
||||
} else {
|
||||
// When the configuration is not "Always armed" and no "Always disarmed",
|
||||
// the state will not be changed when the throttle is not low
|
||||
if (cmd.Throttle < 0) {
|
||||
static portTickType armedDisarmStart;
|
||||
float armingInputLevel = 0;
|
||||
|
||||
// Calc channel see assumptions7
|
||||
switch ( (settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
|
||||
case ARMING_CHANNEL_ROLL: armingInputLevel = cmd.Roll; break;
|
||||
case ARMING_CHANNEL_PITCH: armingInputLevel = cmd.Pitch; break;
|
||||
case ARMING_CHANNEL_YAW: armingInputLevel = cmd.Yaw; break;
|
||||
}
|
||||
|
||||
bool manualArm = false;
|
||||
bool manualDisarm = false;
|
||||
|
||||
if (connection_state == CONNECTED) {
|
||||
// Should use RC input only if RX is connected
|
||||
if (armingInputLevel <= -0.50)
|
||||
manualArm = true;
|
||||
else if (armingInputLevel >= +0.50)
|
||||
manualDisarm = true;
|
||||
}
|
||||
|
||||
// Swap arm-disarming see assumptions8
|
||||
if ((settings.Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) {
|
||||
bool temp = manualArm;
|
||||
manualArm = manualDisarm;
|
||||
manualDisarm = temp;
|
||||
}
|
||||
|
||||
switch(armState) {
|
||||
case ARM_STATE_DISARMED:
|
||||
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
||||
|
||||
if (manualArm)
|
||||
{
|
||||
if (okToArm()) // only allow arming if it's OK too
|
||||
{
|
||||
armedDisarmStart = lastSysTime;
|
||||
armState = ARM_STATE_ARMING_MANUAL;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case ARM_STATE_ARMING_MANUAL:
|
||||
if (manualArm) {
|
||||
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
|
||||
armState = ARM_STATE_ARMED;
|
||||
}
|
||||
else
|
||||
armState = ARM_STATE_DISARMED;
|
||||
break;
|
||||
|
||||
case ARM_STATE_ARMED:
|
||||
// When we get here, the throttle is low,
|
||||
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
|
||||
armedDisarmStart = lastSysTime;
|
||||
armState = ARM_STATE_DISARMING_TIMEOUT;
|
||||
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
|
||||
break;
|
||||
|
||||
case ARM_STATE_DISARMING_TIMEOUT:
|
||||
// We get here when armed while throttle low, even when the arming timeout is not enabled
|
||||
if (settings.ArmedTimeout != 0)
|
||||
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings.ArmedTimeout)
|
||||
armState = ARM_STATE_DISARMED;
|
||||
// Switch to disarming due to manual control when needed
|
||||
if (manualDisarm) {
|
||||
armedDisarmStart = lastSysTime;
|
||||
armState = ARM_STATE_DISARMING_MANUAL;
|
||||
}
|
||||
break;
|
||||
|
||||
case ARM_STATE_DISARMING_MANUAL:
|
||||
if (manualDisarm) {
|
||||
if (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS)
|
||||
armState = ARM_STATE_DISARMED;
|
||||
}
|
||||
else
|
||||
armState = ARM_STATE_ARMED;
|
||||
break;
|
||||
} // End Switch
|
||||
} else {
|
||||
// The throttle is not low, in case we where arming or disarming, abort
|
||||
switch(armState) {
|
||||
case ARM_STATE_DISARMING_MANUAL:
|
||||
case ARM_STATE_DISARMING_TIMEOUT:
|
||||
armState = ARM_STATE_ARMED;
|
||||
break;
|
||||
case ARM_STATE_ARMING_MANUAL:
|
||||
armState = ARM_STATE_DISARMED;
|
||||
break;
|
||||
default:
|
||||
// Nothing needs to be done in the other states
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
//
|
||||
// End of arming/disarming
|
||||
//
|
||||
processFlightMode(&settings, flightMode);
|
||||
processArm(&cmd, &settings);
|
||||
|
||||
// Update cmd object
|
||||
ManualControlCommandSet(&cmd);
|
||||
@ -435,8 +284,10 @@ static void manualControlTask(void *parameters)
|
||||
}
|
||||
|
||||
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
// Depending on the mode update the Stabilization or Actuator objects
|
||||
switch(PARSE_FLIGHT_MODE(cmd.FlightMode)) {
|
||||
switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) {
|
||||
case FLIGHTMODE_UNDEFINED:
|
||||
// This reflects a bug in the code architecture!
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
|
||||
@ -450,7 +301,7 @@ static void manualControlTask(void *parameters)
|
||||
case FLIGHTMODE_GUIDANCE:
|
||||
// TODO: Implement
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
@ -474,14 +325,16 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
|
||||
StabilizationSettingsGet(&stabSettings);
|
||||
|
||||
uint8_t * stab_settings;
|
||||
switch(cmd->FlightMode) {
|
||||
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED1:
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
switch(flightStatus.FlightMode) {
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
stab_settings = settings->Stabilization1Settings;
|
||||
break;
|
||||
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED2:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
|
||||
stab_settings = settings->Stabilization2Settings;
|
||||
break;
|
||||
case MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED3:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
|
||||
stab_settings = settings->Stabilization3Settings;
|
||||
break;
|
||||
default:
|
||||
@ -517,7 +370,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
|
||||
/**
|
||||
* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
|
||||
*/
|
||||
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral, int16_t deadband_percent)
|
||||
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
|
||||
{
|
||||
float valueScaled;
|
||||
|
||||
@ -537,20 +390,6 @@ static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutr
|
||||
valueScaled = 0;
|
||||
}
|
||||
|
||||
// Neutral RC stick position dead band
|
||||
if (deadband_percent > 0)
|
||||
{
|
||||
if (deadband_percent > 50) deadband_percent = 50; // limit deadband to a maximum of 50%
|
||||
float deadband = (float)deadband_percent / 100;
|
||||
if (fabs(valueScaled) <= deadband)
|
||||
valueScaled = 0; // deadband the value
|
||||
else
|
||||
if (valueScaled < 0)
|
||||
valueScaled = (valueScaled + deadband) / (1.0 - deadband); // value scales 0.0 to -1.0 after deadband
|
||||
else
|
||||
valueScaled = (valueScaled - deadband) / (1.0 - deadband); // value scales 0.0 to +1.0 after deadband
|
||||
}
|
||||
|
||||
// Bound
|
||||
if (valueScaled > 1.0) valueScaled = 1.0;
|
||||
else
|
||||
@ -591,6 +430,161 @@ static bool okToArm(void)
|
||||
return true;
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Update the flightStatus object only if value changed. Reduces callbacks
|
||||
* @param[in] val The new value
|
||||
*/
|
||||
static void setArmedIfChanged(uint8_t val) {
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
if(flightStatus.Armed != val) {
|
||||
flightStatus.Armed = val;
|
||||
FlightStatusSet(&flightStatus);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Process the inputs and determine whether to arm or not
|
||||
* @param[out] cmd The structure to set the armed in
|
||||
* @param[in] settings Settings indicating the necessary position
|
||||
*/
|
||||
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
|
||||
{
|
||||
|
||||
bool lowThrottle = cmd->Throttle <= 0;
|
||||
|
||||
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
|
||||
// In this configuration we always disarm
|
||||
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
|
||||
} else {
|
||||
// Not really needed since this function not called when disconnected
|
||||
if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
|
||||
return;
|
||||
|
||||
// The throttle is not low, in case we where arming or disarming, abort
|
||||
if (!lowThrottle) {
|
||||
switch(armState) {
|
||||
case ARM_STATE_DISARMING_MANUAL:
|
||||
case ARM_STATE_DISARMING_TIMEOUT:
|
||||
armState = ARM_STATE_ARMED;
|
||||
break;
|
||||
case ARM_STATE_ARMING_MANUAL:
|
||||
armState = ARM_STATE_DISARMED;
|
||||
break;
|
||||
default:
|
||||
// Nothing needs to be done in the other states
|
||||
break;
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
// The rest of these cases throttle is low
|
||||
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
|
||||
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
|
||||
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
|
||||
return;
|
||||
}
|
||||
|
||||
|
||||
// When the configuration is not "Always armed" and no "Always disarmed",
|
||||
// the state will not be changed when the throttle is not low
|
||||
static portTickType armedDisarmStart;
|
||||
float armingInputLevel = 0;
|
||||
|
||||
// Calc channel see assumptions7
|
||||
int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
|
||||
switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
|
||||
case ARMING_CHANNEL_ROLL: armingInputLevel = sign * cmd->Roll; break;
|
||||
case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break;
|
||||
case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break;
|
||||
}
|
||||
|
||||
bool manualArm = false;
|
||||
bool manualDisarm = false;
|
||||
|
||||
if (armingInputLevel <= -ARMED_THRESHOLD)
|
||||
manualArm = true;
|
||||
else if (armingInputLevel >= +ARMED_THRESHOLD)
|
||||
manualDisarm = true;
|
||||
|
||||
switch(armState) {
|
||||
case ARM_STATE_DISARMED:
|
||||
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
|
||||
|
||||
// only allow arming if it's OK too
|
||||
if (manualArm && okToArm()) {
|
||||
armedDisarmStart = lastSysTime;
|
||||
armState = ARM_STATE_ARMING_MANUAL;
|
||||
}
|
||||
break;
|
||||
|
||||
case ARM_STATE_ARMING_MANUAL:
|
||||
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
|
||||
|
||||
if (manualArm && (timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
|
||||
armState = ARM_STATE_ARMED;
|
||||
else if (!manualArm)
|
||||
armState = ARM_STATE_DISARMED;
|
||||
break;
|
||||
|
||||
case ARM_STATE_ARMED:
|
||||
// When we get here, the throttle is low,
|
||||
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
|
||||
armedDisarmStart = lastSysTime;
|
||||
armState = ARM_STATE_DISARMING_TIMEOUT;
|
||||
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
|
||||
break;
|
||||
|
||||
case ARM_STATE_DISARMING_TIMEOUT:
|
||||
// We get here when armed while throttle low, even when the arming timeout is not enabled
|
||||
if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
|
||||
armState = ARM_STATE_DISARMED;
|
||||
|
||||
// Switch to disarming due to manual control when needed
|
||||
if (manualDisarm) {
|
||||
armedDisarmStart = lastSysTime;
|
||||
armState = ARM_STATE_DISARMING_MANUAL;
|
||||
}
|
||||
break;
|
||||
|
||||
case ARM_STATE_DISARMING_MANUAL:
|
||||
if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
|
||||
armState = ARM_STATE_DISARMED;
|
||||
else if (!manualDisarm)
|
||||
armState = ARM_STATE_ARMED;
|
||||
break;
|
||||
} // End Switch
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
|
||||
* @param[out] cmd Pointer to the command structure to set the flight mode in
|
||||
* @param[in] settings The settings which indicate which position is which mode
|
||||
* @param[in] flightMode the value of the switch position
|
||||
*/
|
||||
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
|
||||
{
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
uint8_t newMode;
|
||||
// Note here the code is ass
|
||||
if (flightMode < -FLIGHT_MODE_LIMIT)
|
||||
newMode = settings->FlightModePosition[0];
|
||||
else if (flightMode > FLIGHT_MODE_LIMIT)
|
||||
newMode = settings->FlightModePosition[2];
|
||||
else
|
||||
newMode = settings->FlightModePosition[1];
|
||||
|
||||
if(flightStatus.FlightMode != newMode) {
|
||||
flightStatus.FlightMode = newMode;
|
||||
FlightStatusSet(&flightStatus);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Determine if the manual input value is within acceptable limits
|
||||
* @returns return TRUE if so, otherwise return FALSE
|
||||
@ -606,16 +600,6 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
|
||||
return (value >= min - CONNECTION_OFFSET && value <= max + CONNECTION_OFFSET);
|
||||
}
|
||||
|
||||
//
|
||||
//static void armingMechanism(uint8_t* armingState, const ManualControlSettingsData* settings, const ManualControlCommandData* cmd)
|
||||
//{
|
||||
// if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
|
||||
// *armingState = MANUALCONTROLCOMMAND_ARMED_FALSE;
|
||||
// return;
|
||||
// }
|
||||
//
|
||||
//
|
||||
//}
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -39,9 +39,10 @@
|
||||
#include "stabilizationdesired.h"
|
||||
#include "attitudeactual.h"
|
||||
#include "attituderaw.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "flightstatus.h"
|
||||
#include "systemsettings.h"
|
||||
#include "ahrssettings.h"
|
||||
#include "manualcontrol.h" // Just to get a macro
|
||||
#include "CoordinateConversions.h"
|
||||
|
||||
// Private constants
|
||||
@ -125,7 +126,7 @@ static void stabilizationTask(void* parameters)
|
||||
AttitudeActualData attitudeActual;
|
||||
AttitudeRawData attitudeRaw;
|
||||
SystemSettingsData systemSettings;
|
||||
ManualControlCommandData manualControl;
|
||||
FlightStatusData flightStatus;
|
||||
|
||||
SettingsUpdatedCb((UAVObjEvent *) NULL);
|
||||
|
||||
@ -148,13 +149,13 @@ static void stabilizationTask(void* parameters)
|
||||
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
|
||||
lastSysTime = thisSysTime;
|
||||
|
||||
ManualControlCommandGet(&manualControl);
|
||||
FlightStatusGet(&flightStatus);
|
||||
StabilizationDesiredGet(&stabDesired);
|
||||
AttitudeActualGet(&attitudeActual);
|
||||
AttitudeRawGet(&attitudeRaw);
|
||||
RateDesiredGet(&rateDesired);
|
||||
SystemSettingsGet(&systemSettings);
|
||||
|
||||
|
||||
#if defined(PIOS_QUATERNION_STABILIZATION)
|
||||
// Quaternion calculation of error in each axis. Uses more memory.
|
||||
float rpy_desired[3];
|
||||
@ -261,11 +262,8 @@ static void stabilizationTask(void* parameters)
|
||||
// Save dT
|
||||
actuatorDesired.UpdateTime = dT * 1000;
|
||||
|
||||
if(manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL)
|
||||
{
|
||||
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
|
||||
shouldUpdate = 0;
|
||||
}
|
||||
|
||||
|
||||
if(shouldUpdate)
|
||||
{
|
||||
@ -275,14 +273,15 @@ static void stabilizationTask(void* parameters)
|
||||
ActuatorDesiredSet(&actuatorDesired);
|
||||
}
|
||||
|
||||
if(manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_FALSE ||
|
||||
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
|
||||
!shouldUpdate || (stabDesired.Throttle < 0))
|
||||
{
|
||||
ZeroPids();
|
||||
}
|
||||
|
||||
|
||||
// Clear alarms
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -41,7 +41,7 @@
|
||||
#include "openpilot.h"
|
||||
#include "systemmod.h"
|
||||
#include "objectpersistence.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "flightstatus.h"
|
||||
#include "systemstats.h"
|
||||
#include "i2cstats.h"
|
||||
#include "watchdogstatus.h"
|
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@ -52,9 +52,12 @@
|
||||
// Private constants
|
||||
#define SYSTEM_UPDATE_PERIOD_MS 1000
|
||||
#define LED_BLINK_RATE_HZ 5
|
||||
|
||||
#ifndef IDLE_COUNTS_PER_SEC_AT_NO_LOAD
|
||||
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 995998 // calibrated by running tests/test_cpuload.c
|
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// must be updated if the FreeRTOS or compiler
|
||||
// optimisation options are changed.
|
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#endif
|
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|
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#if defined(PIOS_MANUAL_STACK_SIZE)
|
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#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
|
||||
@ -139,11 +142,11 @@ static void systemTask(void *parameters)
|
||||
}
|
||||
#endif
|
||||
|
||||
ManualControlCommandData manualControlCommandData;
|
||||
ManualControlCommandGet(&manualControlCommandData);
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
// Wait until next period
|
||||
if(manualControlCommandData.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE) {
|
||||
if(flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMED) {
|
||||
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2) );
|
||||
} else {
|
||||
vTaskDelayUntil(&lastSysTime, SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS);
|
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@ -9,6 +9,7 @@
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@ -7383,6 +7384,7 @@
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<dc:title>Edouard Lafargue</dc:title>
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<g
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@ -142,6 +142,18 @@
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<item>
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<widget class="QCheckBox" name="zeroGyroBiasOnArming">
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<property name="toolTip">
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<string>If enabled, a fast recalibration of gyro zero point will be done
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whenever the frame is armed. Do not move the airframe while
|
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arming it in that case!</string>
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<string>Zero gyro bias upon airframe arming</string>
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<item>
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@ -53,7 +53,6 @@ ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
|
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void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
|
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QMutexLocker locker(&startStop);
|
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UAVDataObject * attitudeRaw = dynamic_cast<UAVDataObject*>(obj);
|
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|
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ui->zeroBiasProgress->setValue((float) updates / NUM_ACCEL_UPDATES * 100);
|
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|
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@ -94,7 +93,6 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
|
||||
|
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void ConfigCCAttitudeWidget::timeout() {
|
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QMutexLocker locker(&startStop);
|
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UAVObjectManager * objMngr = getObjectManager();
|
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UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
|
||||
disconnect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));
|
||||
disconnect(&timer,SIGNAL(timeout()),this,SLOT(timeout()));
|
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@ -115,6 +113,11 @@ void ConfigCCAttitudeWidget::applyAttitudeSettings() {
|
||||
field->setValue(ui->pitchBias->value(),1);
|
||||
field->setValue(ui->yawBias->value(),2);
|
||||
|
||||
field = settings->getField("ZeroDuringArming");
|
||||
// Handling of boolean values is done through enums on
|
||||
// uavobjects...
|
||||
field->setValue((ui->zeroGyroBiasOnArming->isChecked()) ? "TRUE": "FALSE");
|
||||
|
||||
settings->updated();
|
||||
}
|
||||
|
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@ -125,6 +128,12 @@ void ConfigCCAttitudeWidget::getCurrentAttitudeSettings() {
|
||||
ui->rollBias->setValue(field->getDouble(0));
|
||||
ui->pitchBias->setValue(field->getDouble(1));
|
||||
ui->yawBias->setValue(field->getDouble(2));
|
||||
field = settings->getField("ZeroDuringArming");
|
||||
// Handling of boolean values is done through enums on
|
||||
// uavobjects...
|
||||
bool enabled = (field->getValue().toString() == "FALSE") ? false : true;
|
||||
ui->zeroGyroBiasOnArming->setChecked(enabled);
|
||||
|
||||
}
|
||||
|
||||
void ConfigCCAttitudeWidget::startAccelCalibration() {
|
||||
|
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@ -1138,7 +1138,7 @@ LineardialGadget\Accel%20Horizontal%20Z\data\useOpenGLFlag=false
|
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LineardialGadget\Accel%20Horizontal%20Z\configInfo\version=0.0.0
|
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LineardialGadget\Accel%20Horizontal%20Z\configInfo\locked=false
|
||||
LineardialGadget\Arm%20Status\data\dFile=%%DATAPATH%%dials/default/arm-status.svg
|
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LineardialGadget\Arm%20Status\data\sourceDataObject=ManualControlCommand
|
||||
LineardialGadget\Arm%20Status\data\sourceDataObject=FlightStatus
|
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LineardialGadget\Arm%20Status\data\sourceObjectField=Armed
|
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LineardialGadget\Arm%20Status\data\minValue=0
|
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LineardialGadget\Arm%20Status\data\maxValue=100
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@ -1172,7 +1172,7 @@ LineardialGadget\Flight%20Time\data\useOpenGLFlag=false
|
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LineardialGadget\Flight%20Time\configInfo\version=0.0.0
|
||||
LineardialGadget\Flight%20Time\configInfo\locked=false
|
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LineardialGadget\Flight%20mode\data\dFile=%%DATAPATH%%dials/default/flightmode-status.svg
|
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LineardialGadget\Flight%20mode\data\sourceDataObject=ManualControlCommand
|
||||
LineardialGadget\Flight%20mode\data\sourceDataObject=FlightStatus
|
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LineardialGadget\Flight%20mode\data\sourceObjectField=FlightMode
|
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LineardialGadget\Flight%20mode\data\minValue=0
|
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LineardialGadget\Flight%20mode\data\maxValue=100
|
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|
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@ -249,13 +249,17 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
|
||||
case 1://Armed
|
||||
if (currentCGSControl)
|
||||
{
|
||||
if(obj->getField("Armed")->getValue().toString().compare("True")==0)
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
|
||||
|
||||
if(obj->getField("Armed")->getValue().toString().compare("Armed")==0)
|
||||
{
|
||||
obj->getField("Armed")->setValue("False");
|
||||
obj->getField("Armed")->setValue("Disarmed");
|
||||
}
|
||||
else
|
||||
{
|
||||
obj->getField("Armed")->setValue("True");
|
||||
obj->getField("Armed")->setValue("Armed");
|
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}
|
||||
}
|
||||
break;
|
||||
|
||||
@ -52,7 +52,8 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
|
||||
m_gcscontrol->checkBoxGcsControl->setChecked(mdata.flightAccess == UAVObject::ACCESS_READONLY);
|
||||
|
||||
// Set up the drop down box for the flightmode
|
||||
m_gcscontrol->comboBoxFlightMode->addItems(obj->getField("FlightMode")->getOptions());
|
||||
UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
|
||||
m_gcscontrol->comboBoxFlightMode->addItems(flightStatus->getField("FlightMode")->getOptions());
|
||||
|
||||
// Set up slots and signals for joysticks
|
||||
connect(m_gcscontrol->widgetLeftStick,SIGNAL(positionClicked(double,double)),this,SLOT(leftStickClicked(double,double)));
|
||||
@ -133,18 +134,21 @@ void GCSControlGadgetWidget::toggleArmed(int state)
|
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{
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
|
||||
if(state)
|
||||
obj->getField("Armed")->setValue("True");
|
||||
obj->getField("Armed")->setValue("Armed");
|
||||
else
|
||||
obj->getField("Armed")->setValue("False");
|
||||
obj->getField("Armed")->setValue("Disarmed");
|
||||
obj->updated();
|
||||
}
|
||||
|
||||
void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
|
||||
{
|
||||
m_gcscontrol->checkBoxArmed->setChecked(obj->getField("Armed")->getValue() == "True");
|
||||
m_gcscontrol->comboBoxFlightMode->setCurrentIndex(m_gcscontrol->comboBoxFlightMode->findText(obj->getField("FlightMode")->getValue().toString()));
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
UAVDataObject* flightStatus = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
|
||||
m_gcscontrol->comboBoxFlightMode->setCurrentIndex(m_gcscontrol->comboBoxFlightMode->findText(flightStatus->getField("FlightMode")->getValue().toString()));
|
||||
m_gcscontrol->checkBoxArmed->setChecked(flightStatus->getField("Armed")->getValue() == "Armed");
|
||||
}
|
||||
|
||||
/*!
|
||||
@ -154,7 +158,7 @@ void GCSControlGadgetWidget::selectFlightMode(int state)
|
||||
{
|
||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
||||
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
|
||||
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("FlightStatus")) );
|
||||
UAVObjectField * field = obj->getField("FlightMode");
|
||||
field->setValue(field->getOptions()[state]);
|
||||
obj->updated();
|
||||
|
||||
@ -155,17 +155,17 @@ void FGSimulator::processReadyRead()
|
||||
void FGSimulator::transmitUpdate()
|
||||
{
|
||||
ActuatorDesired::DataFields actData;
|
||||
FlightStatus::DataFields flightStatusData = flightStatus->getData();
|
||||
ManualControlCommand::DataFields manCtrlData = manCtrlCommand->getData();
|
||||
|
||||
float ailerons = -1;
|
||||
float elevator = -1;
|
||||
float rudder = -1;
|
||||
float throttle = -1;
|
||||
|
||||
if(manCtrlData.FlightMode == ManualControlCommand::FLIGHTMODE_MANUAL)
|
||||
if(flightStatusData.FlightMode == FlightStatus::FLIGHTMODE_MANUAL)
|
||||
{
|
||||
// Read joystick input
|
||||
if(manCtrlData.Armed == ManualControlCommand::ARMED_TRUE)
|
||||
if(flightStatusData.Armed == FlightStatus::ARMED_ARMED)
|
||||
{
|
||||
// Note: Pitch sign is reversed in FG ?
|
||||
ailerons = manCtrlData.Roll;
|
||||
|
||||
@ -125,6 +125,7 @@ void Simulator::onStart()
|
||||
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
|
||||
actDesired = ActuatorDesired::GetInstance(objManager);
|
||||
manCtrlCommand = ManualControlCommand::GetInstance(objManager);
|
||||
flightStatus = FlightStatus::GetInstance(objManager);
|
||||
posHome = HomeLocation::GetInstance(objManager);
|
||||
velActual = VelocityActual::GetInstance(objManager);
|
||||
posActual = PositionActual::GetInstance(objManager);
|
||||
|
||||
@ -46,6 +46,7 @@
|
||||
#include "homelocation.h"
|
||||
#include "attituderaw.h"
|
||||
#include "gcstelemetrystats.h"
|
||||
#include "flightstatus.h"
|
||||
|
||||
#include "utils/coordinateconversions.h"
|
||||
|
||||
@ -170,6 +171,7 @@ protected:
|
||||
|
||||
ActuatorDesired* actDesired;
|
||||
ManualControlCommand* manCtrlCommand;
|
||||
FlightStatus* flightStatus;
|
||||
BaroAltitude* altActual;
|
||||
AttitudeActual* attActual;
|
||||
VelocityActual* velActual;
|
||||
|
||||
@ -66,6 +66,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/watchdogstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/nedaccel.h \
|
||||
$$UAVOBJECT_SYNTHETICS/sonaraltitude.h \
|
||||
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudesettings.h
|
||||
|
||||
SOURCES += $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
|
||||
@ -112,4 +113,5 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/nedaccel.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/sonaraltitude.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/uavobjectsinit.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/flightstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudesettings.cpp
|
||||
|
||||
@ -7,6 +7,7 @@
|
||||
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
|
||||
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
|
||||
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
14
shared/uavobjectdefinition/flightstatus.xml
Normal file
14
shared/uavobjectdefinition/flightstatus.xml
Normal file
@ -0,0 +1,14 @@
|
||||
<xml>
|
||||
<object name="FlightStatus" singleinstance="true" settings="false">
|
||||
<description>Contains major flight status information for other modules.</description>
|
||||
<field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
|
||||
|
||||
<!-- Note these enumerated values should be the same as ManualControlSettings -->
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="onchange" period="5000"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -2,15 +2,11 @@
|
||||
<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>
|
||||
<field name="Connected" units="" type="enum" elements="1" options="False,True"/>
|
||||
<field name="Armed" units="" type="enum" elements="1" options="False,True"/>
|
||||
<field name="Roll" units="%" type="float" elements="1"/>
|
||||
<field name="Pitch" units="%" type="float" elements="1"/>
|
||||
<field name="Yaw" units="%" type="float" elements="1"/>
|
||||
<field name="Throttle" units="%" type="float" elements="1"/>
|
||||
|
||||
<!-- Note these enumerated values should be the same as ManualControlSettings -->
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold"/>
|
||||
|
||||
|
||||
<field name="Accessory1" units="%" type="float" elements="1"/>
|
||||
<field name="Accessory2" units="%" type="float" elements="1"/>
|
||||
<field name="Accessory3" units="%" type="float" elements="1"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user