From 3d1cc31c3b91971cf1765ec6dc3746f54b23775f Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Tue, 14 Jan 2014 12:22:01 +0100 Subject: [PATCH 01/60] OP-1161 Add alarm for magnetometer plausibility check --- flight/modules/Sensors/sensors.c | 65 +++++++++++++++++++++ shared/uavobjectdefinition/revosettings.xml | 3 + shared/uavobjectdefinition/systemalarms.xml | 1 + 3 files changed, 69 insertions(+) diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index cc99a0e76..b0ac93b0c 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -55,6 +55,8 @@ #include #include #include +#include +#include #include #include @@ -73,6 +75,7 @@ // Private functions static void SensorsTask(void *parameters); static void settingsUpdatedCb(UAVObjEvent *objEv); +static void checkMagValidity(MagSensorData *mag); // static void magOffsetEstimation(MagSensorData *mag); // Private variables @@ -92,6 +95,8 @@ static float R[3][3] = { { 0 } }; static int8_t rotate = 0; +static RevoSettingsMagnetometerMaxDeviationData magMaxDev; +static float Be[3] = { 0 }; /** * API for sensor fusion algorithms: @@ -112,12 +117,17 @@ int32_t SensorsInitialize(void) AccelSensorInitialize(); MagSensorInitialize(); RevoCalibrationInitialize(); + RevoSettingsInitialize(); AttitudeSettingsInitialize(); + AttitudeStateInitialize(); + HomeLocationInitialize(); rotate = 0; RevoCalibrationConnectCallback(&settingsUpdatedCb); AttitudeSettingsConnectCallback(&settingsUpdatedCb); + RevoSettingsConnectCallback(&settingsUpdatedCb); + HomeLocationConnectCallback(&settingsUpdatedCb); return 0; } @@ -404,6 +414,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters) MagSensorSet(&mag); mag_update_time = PIOS_DELAY_GetRaw(); + checkMagValidity(&mag); } #endif /* if defined(PIOS_INCLUDE_HMC5883) */ @@ -415,6 +426,57 @@ static void SensorsTask(__attribute__((unused)) void *parameters) } } +/** + * check validity of magnetometers + */ +static void checkMagValidity(MagSensorData *mag) +{ + #define lowPassAlpha 0.01f + #define idleCount 100 + static float average[3] = { 0 }; + static uint8_t noteverytime = idleCount; + + // low pass filter sensor to not give warnings due to noise + average[0] = (1.0f - lowPassAlpha) * average[0] + lowPassAlpha * mag->x; + average[1] = (1.0f - lowPassAlpha) * average[1] + lowPassAlpha * mag->y; + average[2] = (1.0f - lowPassAlpha) * average[2] + lowPassAlpha * mag->z; + + // throttle this check, thanks to low pass filter it is not necessary every iteration + if (!noteverytime--) { + noteverytime = idleCount; + + // calculate expected Be vector + AttitudeStateData attitudeState; + AttitudeStateGet(&attitudeState); + float Rot[3][3]; + float expected[3]; + Quaternion2R(&attitudeState.q1, Rot); + rot_mult(Rot, Be, expected); + + // calculate maximum allowed deviation + float warning = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; + float error = magMaxDev.Error * magMaxDev.Error * warning; + warning = magMaxDev.Warning * magMaxDev.Warning * warning; + + + // calculate difference + expected[0] = expected[0] - average[0]; + expected[1] = expected[1] - average[1]; + expected[2] = expected[2] - average[2]; + float deviation = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; + + // set errors + if (deviation < warning) { + AlarmsClear(SYSTEMALARMS_ALARM_MAGNETOMETER); + } else if (deviation < error) { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); + } else { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_ERROR); + } + } +} + + /** * Locally cache some variables from the AtttitudeSettings object */ @@ -458,6 +520,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) Quaternion2R(rotationQuat, R); rotate = 1; } + + RevoSettingsMagnetometerMaxDeviationGet(&magMaxDev); + HomeLocationBeGet(Be); } /** * @} diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml index 0cf9a4561..3fc3554e8 100644 --- a/shared/uavobjectdefinition/revosettings.xml +++ b/shared/uavobjectdefinition/revosettings.xml @@ -8,6 +8,9 @@ Set BaroGPSOffsetCorrectionAlpha = 1.0 to completely disable baro offset updates. --> + + + diff --git a/shared/uavobjectdefinition/systemalarms.xml b/shared/uavobjectdefinition/systemalarms.xml index 34c353d64..05b717cc3 100644 --- a/shared/uavobjectdefinition/systemalarms.xml +++ b/shared/uavobjectdefinition/systemalarms.xml @@ -14,6 +14,7 @@ Actuator Attitude Sensors + Magnetometer Stabilization Guidance Battery From c180846ca9ccb9ac688af92d5a7d0350f6cab97a Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Tue, 14 Jan 2014 15:42:45 +0100 Subject: [PATCH 02/60] OP-1161 discard magnetometer in filters if plausibility alarm is set --- flight/modules/StateEstimation/filtermag.c | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/flight/modules/StateEstimation/filtermag.c b/flight/modules/StateEstimation/filtermag.c index 7997016e0..87506cbb8 100644 --- a/flight/modules/StateEstimation/filtermag.c +++ b/flight/modules/StateEstimation/filtermag.c @@ -33,6 +33,7 @@ #include "inc/stateestimation.h" #include #include +#include #include #include @@ -81,8 +82,14 @@ static int32_t filter(stateFilter *self, stateEstimation *state) struct data *this = (struct data *)self->localdata; if (IS_SET(state->updated, SENSORUPDATES_mag)) { - if (this->revoCalibration.MagBiasNullingRate > 0) { - magOffsetEstimation(this, state->mag); + SystemAlarmsAlarmData alarms; + SystemAlarmsAlarGet(&alarms); + if (alarms.Magnetometer != SYSTEMALARMS_ALARM_OK) { + UNSET_MASK(state->updated, SENSORUPDATES_mag); + } else { + if (this->revoCalibration.MagBiasNullingRate > 0) { + magOffsetEstimation(this, state->mag); + } } } From 75b1a7ff5f4537f8cde094785d4230ec3b115d1d Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Tue, 14 Jan 2014 16:38:16 +0100 Subject: [PATCH 03/60] OP-1161 moved mag validity check function from sensors to state estimation --- flight/modules/Sensors/sensors.c | 65 -------------------- flight/modules/StateEstimation/filtermag.c | 70 ++++++++++++++++++++-- 2 files changed, 65 insertions(+), 70 deletions(-) diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index b0ac93b0c..cc99a0e76 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -55,8 +55,6 @@ #include #include #include -#include -#include #include #include @@ -75,7 +73,6 @@ // Private functions static void SensorsTask(void *parameters); static void settingsUpdatedCb(UAVObjEvent *objEv); -static void checkMagValidity(MagSensorData *mag); // static void magOffsetEstimation(MagSensorData *mag); // Private variables @@ -95,8 +92,6 @@ static float R[3][3] = { { 0 } }; static int8_t rotate = 0; -static RevoSettingsMagnetometerMaxDeviationData magMaxDev; -static float Be[3] = { 0 }; /** * API for sensor fusion algorithms: @@ -117,17 +112,12 @@ int32_t SensorsInitialize(void) AccelSensorInitialize(); MagSensorInitialize(); RevoCalibrationInitialize(); - RevoSettingsInitialize(); AttitudeSettingsInitialize(); - AttitudeStateInitialize(); - HomeLocationInitialize(); rotate = 0; RevoCalibrationConnectCallback(&settingsUpdatedCb); AttitudeSettingsConnectCallback(&settingsUpdatedCb); - RevoSettingsConnectCallback(&settingsUpdatedCb); - HomeLocationConnectCallback(&settingsUpdatedCb); return 0; } @@ -414,7 +404,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters) MagSensorSet(&mag); mag_update_time = PIOS_DELAY_GetRaw(); - checkMagValidity(&mag); } #endif /* if defined(PIOS_INCLUDE_HMC5883) */ @@ -426,57 +415,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters) } } -/** - * check validity of magnetometers - */ -static void checkMagValidity(MagSensorData *mag) -{ - #define lowPassAlpha 0.01f - #define idleCount 100 - static float average[3] = { 0 }; - static uint8_t noteverytime = idleCount; - - // low pass filter sensor to not give warnings due to noise - average[0] = (1.0f - lowPassAlpha) * average[0] + lowPassAlpha * mag->x; - average[1] = (1.0f - lowPassAlpha) * average[1] + lowPassAlpha * mag->y; - average[2] = (1.0f - lowPassAlpha) * average[2] + lowPassAlpha * mag->z; - - // throttle this check, thanks to low pass filter it is not necessary every iteration - if (!noteverytime--) { - noteverytime = idleCount; - - // calculate expected Be vector - AttitudeStateData attitudeState; - AttitudeStateGet(&attitudeState); - float Rot[3][3]; - float expected[3]; - Quaternion2R(&attitudeState.q1, Rot); - rot_mult(Rot, Be, expected); - - // calculate maximum allowed deviation - float warning = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; - float error = magMaxDev.Error * magMaxDev.Error * warning; - warning = magMaxDev.Warning * magMaxDev.Warning * warning; - - - // calculate difference - expected[0] = expected[0] - average[0]; - expected[1] = expected[1] - average[1]; - expected[2] = expected[2] - average[2]; - float deviation = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; - - // set errors - if (deviation < warning) { - AlarmsClear(SYSTEMALARMS_ALARM_MAGNETOMETER); - } else if (deviation < error) { - AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); - } else { - AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_ERROR); - } - } -} - - /** * Locally cache some variables from the AtttitudeSettings object */ @@ -520,9 +458,6 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) Quaternion2R(rotationQuat, R); rotate = 1; } - - RevoSettingsMagnetometerMaxDeviationGet(&magMaxDev); - HomeLocationBeGet(Be); } /** * @} diff --git a/flight/modules/StateEstimation/filtermag.c b/flight/modules/StateEstimation/filtermag.c index 87506cbb8..8882ceee4 100644 --- a/flight/modules/StateEstimation/filtermag.c +++ b/flight/modules/StateEstimation/filtermag.c @@ -33,6 +33,7 @@ #include "inc/stateestimation.h" #include #include +#include #include #include @@ -46,7 +47,11 @@ struct data { HomeLocationData homeLocation; RevoCalibrationData revoCalibration; - float magBias[3]; + RevoSettingsData revoSettings; + uint16_t counter; + bool validity; + float magAverage[3]; + float magBias[3]; }; // Private variables @@ -55,6 +60,7 @@ struct data { static int32_t init(stateFilter *self); static int32_t filter(stateFilter *self, stateEstimation *state); +static bool checkMagValidity(struct data *this, float mag[3]); static void magOffsetEstimation(struct data *this, float mag[3]); @@ -71,9 +77,13 @@ static int32_t init(stateFilter *self) { struct data *this = (struct data *)self->localdata; - this->magBias[0] = this->magBias[1] = this->magBias[2] = 0.0f; + this->magBias[0] = this->magBias[1] = this->magBias[2] = 0.0f; + this->magAverage[0] = this->magAverage[1] = this->magAverage[2] = 0.0f; + this->counter = 0; + this->validity = true; HomeLocationGet(&this->homeLocation); RevoCalibrationGet(&this->revoCalibration); + RevoSettingsGet(&this->revoSettings); return 0; } @@ -82,9 +92,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state) struct data *this = (struct data *)self->localdata; if (IS_SET(state->updated, SENSORUPDATES_mag)) { - SystemAlarmsAlarmData alarms; - SystemAlarmsAlarGet(&alarms); - if (alarms.Magnetometer != SYSTEMALARMS_ALARM_OK) { + if (!checkMagValidity(this, state->mag)) { UNSET_MASK(state->updated, SENSORUPDATES_mag); } else { if (this->revoCalibration.MagBiasNullingRate > 0) { @@ -96,6 +104,58 @@ static int32_t filter(stateFilter *self, stateEstimation *state) return 0; } +/** + * check validity of magnetometers + */ +static bool checkMagValidity(struct data *this, float mag[3]) +{ + #define MAG_LOW_PASS_ALPHA 0.05f + #define IDLE_COUNT 20 + + // low pass filter sensor to not give warnings due to noise + this->magAverage[0] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[0] + MAG_LOW_PASS_ALPHA * mag[0]; + this->magAverage[1] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[1] + MAG_LOW_PASS_ALPHA * mag[0]; + this->magAverage[2] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[2] + MAG_LOW_PASS_ALPHA * mag[0]; + + // throttle this check, thanks to low pass filter it is not necessary every iteration + if (!this->counter--) { + this->counter = IDLE_COUNT; + + // calculate expected Be vector + AttitudeStateData attitudeState; + AttitudeStateGet(&attitudeState); + float Rot[3][3]; + float expected[3]; + Quaternion2R(&attitudeState.q1, Rot); + rot_mult(Rot, this->homeLocation.Be, expected); + + // calculate maximum allowed deviation + float warning2 = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; + float error2 = this->revoSettings.MagnetometerMaxDeviation.Error * this->revoSettings.MagnetometerMaxDeviation.Error * warning2; + warning2 = this->revoSettings.MagnetometerMaxDeviation.Warning * this->revoSettings.MagnetometerMaxDeviation.Warning * warning2; + + // calculate difference + expected[0] = expected[0] - this->magAverage[0]; + expected[1] = expected[1] - this->magAverage[1]; + expected[2] = expected[2] - this->magAverage[2]; + float deviation2 = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; + + // set errors + if (deviation2 < warning2) { + AlarmsClear(SYSTEMALARMS_ALARM_MAGNETOMETER); + this->validity = true; + } else if (deviation2 < error2) { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); + this->validity = false; + } else { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_ERROR); + this->validity = false; + } + } + return this->validity; +} + + /** * Perform an update of the @ref MagBias based on * Magmeter Offset Cancellation: Theory and Implementation, From 3b635693a5810d7727af7364779b3a3b4ca90f38 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Tue, 14 Jan 2014 21:09:14 +0100 Subject: [PATCH 04/60] OP-1161 changed the way magnetometer-errors are handled - and defaults * ekf will ignore magnetometer errors for initialization (errors might be caused by not yet existing attitude estimation) * defaults changed for filtering * magnetometer sensor will be available for all filters, alarms need to be checked separately --- flight/modules/StateEstimation/filterekf.c | 7 ++- flight/modules/StateEstimation/filtermag.c | 53 +++++++++++---------- shared/uavobjectdefinition/revosettings.xml | 2 +- 3 files changed, 36 insertions(+), 26 deletions(-) diff --git a/flight/modules/StateEstimation/filterekf.c b/flight/modules/StateEstimation/filterekf.c index a141e4d8f..d527e776a 100644 --- a/flight/modules/StateEstimation/filterekf.c +++ b/flight/modules/StateEstimation/filterekf.c @@ -36,6 +36,7 @@ #include #include #include +#include #include #include @@ -358,7 +359,11 @@ static int32_t filter(stateFilter *self, stateEstimation *state) INSCovariancePrediction(this->dTa); if (IS_SET(this->work.updated, SENSORUPDATES_mag)) { - sensors |= MAG_SENSORS; + SystemAlarmsAlarmData alarms; + SystemAlarmsAlarmGet(&alarms); + if (alarms.Magnetometer == SYSTEMALARMS_ALARM_OK) { + sensors |= MAG_SENSORS; + } } if (IS_SET(this->work.updated, SENSORUPDATES_baro)) { diff --git a/flight/modules/StateEstimation/filtermag.c b/flight/modules/StateEstimation/filtermag.c index 8882ceee4..887888e39 100644 --- a/flight/modules/StateEstimation/filtermag.c +++ b/flight/modules/StateEstimation/filtermag.c @@ -48,8 +48,9 @@ struct data { HomeLocationData homeLocation; RevoCalibrationData revoCalibration; RevoSettingsData revoSettings; - uint16_t counter; - bool validity; + uint16_t idlecounter; + uint8_t warningcount; + uint8_t errorcount; float magAverage[3]; float magBias[3]; }; @@ -60,7 +61,7 @@ struct data { static int32_t init(stateFilter *self); static int32_t filter(stateFilter *self, stateEstimation *state); -static bool checkMagValidity(struct data *this, float mag[3]); +static void checkMagValidity(struct data *this, float mag[3]); static void magOffsetEstimation(struct data *this, float mag[3]); @@ -79,8 +80,7 @@ static int32_t init(stateFilter *self) this->magBias[0] = this->magBias[1] = this->magBias[2] = 0.0f; this->magAverage[0] = this->magAverage[1] = this->magAverage[2] = 0.0f; - this->counter = 0; - this->validity = true; + this->idlecounter = this->warningcount = this->errorcount = 0; HomeLocationGet(&this->homeLocation); RevoCalibrationGet(&this->revoCalibration); RevoSettingsGet(&this->revoSettings); @@ -92,12 +92,9 @@ static int32_t filter(stateFilter *self, stateEstimation *state) struct data *this = (struct data *)self->localdata; if (IS_SET(state->updated, SENSORUPDATES_mag)) { - if (!checkMagValidity(this, state->mag)) { - UNSET_MASK(state->updated, SENSORUPDATES_mag); - } else { - if (this->revoCalibration.MagBiasNullingRate > 0) { - magOffsetEstimation(this, state->mag); - } + checkMagValidity(this, state->mag); + if (this->revoCalibration.MagBiasNullingRate > 0) { + magOffsetEstimation(this, state->mag); } } @@ -107,19 +104,20 @@ static int32_t filter(stateFilter *self, stateEstimation *state) /** * check validity of magnetometers */ -static bool checkMagValidity(struct data *this, float mag[3]) +static void checkMagValidity(struct data *this, float mag[3]) { - #define MAG_LOW_PASS_ALPHA 0.05f - #define IDLE_COUNT 20 + #define MAG_LOW_PASS_ALPHA 0.2f + #define IDLE_COUNT 10 + #define ALARM_THRESHOLD 3 // low pass filter sensor to not give warnings due to noise this->magAverage[0] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[0] + MAG_LOW_PASS_ALPHA * mag[0]; - this->magAverage[1] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[1] + MAG_LOW_PASS_ALPHA * mag[0]; - this->magAverage[2] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[2] + MAG_LOW_PASS_ALPHA * mag[0]; + this->magAverage[1] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[1] + MAG_LOW_PASS_ALPHA * mag[1]; + this->magAverage[2] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[2] + MAG_LOW_PASS_ALPHA * mag[2]; // throttle this check, thanks to low pass filter it is not necessary every iteration - if (!this->counter--) { - this->counter = IDLE_COUNT; + if (!this->idlecounter--) { + this->idlecounter = IDLE_COUNT; // calculate expected Be vector AttitudeStateData attitudeState; @@ -142,17 +140,24 @@ static bool checkMagValidity(struct data *this, float mag[3]) // set errors if (deviation2 < warning2) { + this->warningcount = 0; + this->errorcount = 0; AlarmsClear(SYSTEMALARMS_ALARM_MAGNETOMETER); - this->validity = true; } else if (deviation2 < error2) { - AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); - this->validity = false; + this->errorcount = 0; + if (this->warningcount > ALARM_THRESHOLD) { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); + } else { + this->warningcount++; + } } else { - AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_ERROR); - this->validity = false; + if (this->errorcount > ALARM_THRESHOLD) { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_ERROR); + } else { + this->errorcount++; + } } } - return this->validity; } diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml index 3fc3554e8..12fa9171b 100644 --- a/shared/uavobjectdefinition/revosettings.xml +++ b/shared/uavobjectdefinition/revosettings.xml @@ -9,7 +9,7 @@ - + From 8eeb3217bf01720b9d5e3bd4e39f5ab85074ca2d Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 17 Jul 2013 13:28:55 +0000 Subject: [PATCH 05/60] OP-975/OP-1068 replace simple scaling with a calibration matrix for magnetometer correction --- flight/modules/Sensors/sensors.c | 73 ++++++++++++------- .../uavobjectdefinition/revocalibration.xml | 3 +- 2 files changed, 50 insertions(+), 26 deletions(-) diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index aad801cbc..709580818 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -84,10 +84,11 @@ AccelGyroSettingsData agcal; // These values are initialized by settings but can be updated by the attitude algorithm static float mag_bias[3] = { 0, 0, 0 }; -static float mag_scale[3] = { 0, 0, 0 }; +static float mag_transform[3][3]={{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1}}; // temp coefficient to calculate gyro bias static volatile bool gyro_temp_calibrated = false; static volatile bool accel_temp_calibrated = false; + static float R[3][3] = { { 0 } }; @@ -119,6 +120,7 @@ int32_t SensorsInitialize(void) RevoCalibrationConnectCallback(&settingsUpdatedCb); AttitudeSettingsConnectCallback(&settingsUpdatedCb); + AccelGyroSettingsConnectCallback(&settingsUpdatedCb); return 0; } @@ -359,7 +361,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters) accels_out[1] -= agcal.accel_temp_coeff.Y * ctemp; accels_out[2] -= agcal.accel_temp_coeff.Z * ctemp; } - if (rotate) { rot_mult(R, accels_out, accels); accelSensorData.x = accels[0]; @@ -389,7 +390,6 @@ static void SensorsTask(__attribute__((unused)) void *parameters) gyros_out[1] -= (agcal.gyro_temp_coeff.Y + agcal.gyro_temp_coeff.Y2 * ctemp) * ctemp; gyros_out[2] -= (agcal.gyro_temp_coeff.Z + agcal.gyro_temp_coeff.Z2 * ctemp) * ctemp; } - if (rotate) { rot_mult(R, gyros_out, gyros); gyroSensorData.x = gyros[0]; @@ -411,20 +411,16 @@ static void SensorsTask(__attribute__((unused)) void *parameters) if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) { int16_t values[3]; PIOS_HMC5883_ReadMag(values); - float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0], - (float)values[0] * mag_scale[1] - mag_bias[1], - -(float)values[2] * mag_scale[2] - mag_bias[2] }; - if (rotate) { - float mag_out[3]; - rot_mult(R, mags, mag_out); - mag.x = mag_out[0]; - mag.y = mag_out[1]; - mag.z = mag_out[2]; - } else { - mag.x = mags[0]; - mag.y = mags[1]; - mag.z = mags[2]; - } + float mags[3] = { (float)values[1] - mag_bias[0], + (float)values[0] - mag_bias[1], + -(float)values[2] - mag_bias[2] }; + + float mag_out[3]; + rot_mult(mag_transform, mags, mag_out); + + mag.x = mag_out[0]; + mag.y = mag_out[1]; + mag.z = mag_out[2]; MagSensorSet(&mag); mag_update_time = PIOS_DELAY_GetRaw(); @@ -449,9 +445,6 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) mag_bias[0] = cal.mag_bias.X; mag_bias[1] = cal.mag_bias.Y; mag_bias[2] = cal.mag_bias.Z; - mag_scale[0] = cal.mag_scale.X; - mag_scale[1] = cal.mag_scale.Y; - mag_scale[2] = cal.mag_scale.Z; accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) && (fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f); @@ -469,14 +462,44 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) attitudeSettings.BoardRotation.Yaw == 0) { rotate = 0; } else { - float rotationQuat[4]; + rotate = 1; + } + float rotationQuat[4]; const float rpy[3] = { attitudeSettings.BoardRotation.Roll, attitudeSettings.BoardRotation.Pitch, attitudeSettings.BoardRotation.Yaw }; - RPY2Quaternion(rpy, rotationQuat); - Quaternion2R(rotationQuat, R); - rotate = 1; - } + RPY2Quaternion(rpy, rotationQuat); + Quaternion2R(rotationQuat, R); + + mag_transform[0][0] = R[0][0] * cal.mag_transform.r0c0 + + R[1][0] * cal.mag_transform.r0c1 + + R[2][0] * cal.mag_transform.r0c2; + mag_transform[0][1] = R[0][1] * cal.mag_transform.r0c0 + + R[1][1] * cal.mag_transform.r0c1 + + R[2][1] * cal.mag_transform.r0c2; + mag_transform[0][2] = R[0][2] * cal.mag_transform.r0c0 + + R[1][2] * cal.mag_transform.r0c1 + + R[2][2] * cal.mag_transform.r0c2; + + mag_transform[1][0] = R[0][0] * cal.mag_transform.r1c0 + + R[1][0] * cal.mag_transform.r1c1 + + R[2][0] * cal.mag_transform.r1c2; + mag_transform[1][1] = R[0][1] * cal.mag_transform.r1c0 + + R[1][1] * cal.mag_transform.r1c1 + + R[2][1] * cal.mag_transform.r1c2; + mag_transform[1][2] = R[0][2] * cal.mag_transform.r1c0 + + R[1][2] * cal.mag_transform.r1c1 + + R[2][2] * cal.mag_transform.r1c2; + + mag_transform[1][0] = R[0][0] * cal.mag_transform.r2c0 + + R[1][0] * cal.mag_transform.r2c1 + + R[2][0] * cal.mag_transform.r2c2; + mag_transform[2][1] = R[0][1] * cal.mag_transform.r2c0 + + R[1][1] * cal.mag_transform.r2c1 + + R[2][1] * cal.mag_transform.r2c2; + mag_transform[2][2] = R[0][2] * cal.mag_transform.r2c0 + + R[1][2] * cal.mag_transform.r2c1 + + R[2][2] * cal.mag_transform.r2c2; } /** * @} diff --git a/shared/uavobjectdefinition/revocalibration.xml b/shared/uavobjectdefinition/revocalibration.xml index 48f9221e5..a23342e2d 100644 --- a/shared/uavobjectdefinition/revocalibration.xml +++ b/shared/uavobjectdefinition/revocalibration.xml @@ -2,7 +2,8 @@ Settings for the INS to control the algorithm and what is updated - + From 694cb01ace62f13385fea4db78c4a9c7594e3ec8 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 11 Aug 2013 18:04:36 +0200 Subject: [PATCH 06/60] OP-975/OP-1068 Fix gcs so current calibration does still works --- .../src/plugins/config/configrevowidget.cpp | 28 +++++++++++-------- 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index d01f43c82..48d8a666a 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -581,9 +581,13 @@ void ConfigRevoWidget::doStartSixPointCalibration() #endif // Calibration mag - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] = 1; - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] = 1; - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] = 1; + // Reset the transformation matrix to identity + for(int i = 0; i < RevoCalibration::MAG_TRANSFORM_R2C2; i++){ + revoCalibrationData.mag_transform[i] = 0; + } + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = 1; + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = 1; + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = 1; revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = 0; revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = 0; revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = 0; @@ -797,9 +801,9 @@ void ConfigRevoWidget::computeScaleBias() // Calibration mag Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] = fabs(S[0]); - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] = fabs(S[1]); - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] = fabs(S[2]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0]; revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1]; @@ -812,12 +816,12 @@ void ConfigRevoWidget::computeScaleBias() bool good_calibration = true; // Check the mag calibration is good - good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] == - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X]; - good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] == - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y]; - good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] == - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]; good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == From 45915e3387a0afd6e87d57de39ab727ce9d9b3cf Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 9 Apr 2014 01:12:31 +0200 Subject: [PATCH 07/60] OP-975 Remove noise calibration --- .../src/plugins/config/configrevowidget.cpp | 348 +----------------- .../src/plugins/config/configrevowidget.h | 15 - .../src/plugins/config/revosensors.ui | 128 ++----- 3 files changed, 37 insertions(+), 454 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 48d8a666a..e101ff48e 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -57,7 +57,7 @@ // Uncomment this to enable 6 point calibration on the accels #define SIX_POINT_CAL_ACCEL - +#define SAMPLE_SIZE 40 const double ConfigRevoWidget::maxVarValue = 0.1; // ***************** @@ -91,126 +91,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : m_ui->sixPointsHelp->scene()->addItem(paperplane); m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect()); - // Initialization of the Revo sensor noise bargraph graph - m_ui->sensorsBargraph->setScene(new QGraphicsScene(this)); - - QSvgRenderer *renderer = new QSvgRenderer(); - sensorsBargraph = new QGraphicsSvgItem(); - renderer->load(QString(":/configgadget/images/ahrs-calib.svg")); - sensorsBargraph->setSharedRenderer(renderer); - sensorsBargraph->setElementId("background"); - sensorsBargraph->setObjectName("background"); - m_ui->sensorsBargraph->scene()->addItem(sensorsBargraph); - m_ui->sensorsBargraph->setSceneRect(sensorsBargraph->boundingRect()); - - // Initialize the 9 bargraph values: - - QMatrix lineMatrix = renderer->matrixForElement("accel_x"); - QRectF rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_x")); - qreal startX = rect.x(); - qreal startY = rect.y() + rect.height(); - // maxBarHeight will be used for scaling it later. - maxBarHeight = rect.height(); - // Then once we have the initial location, we can put it - // into a QGraphicsSvgItem which we will display at the same - // place: we do this so that the heading scale can be clipped to - // the compass dial region. - accel_x = new QGraphicsSvgItem(); - accel_x->setSharedRenderer(renderer); - accel_x->setElementId("accel_x"); - m_ui->sensorsBargraph->scene()->addItem(accel_x); - accel_x->setPos(startX, startY); - accel_x->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("accel_y"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_y")); - startX = rect.x(); - startY = rect.y() + rect.height(); - accel_y = new QGraphicsSvgItem(); - accel_y->setSharedRenderer(renderer); - accel_y->setElementId("accel_y"); - m_ui->sensorsBargraph->scene()->addItem(accel_y); - accel_y->setPos(startX, startY); - accel_y->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("accel_z"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("accel_z")); - startX = rect.x(); - startY = rect.y() + rect.height(); - accel_z = new QGraphicsSvgItem(); - accel_z->setSharedRenderer(renderer); - accel_z->setElementId("accel_z"); - m_ui->sensorsBargraph->scene()->addItem(accel_z); - accel_z->setPos(startX, startY); - accel_z->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("gyro_x"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_x")); - startX = rect.x(); - startY = rect.y() + rect.height(); - gyro_x = new QGraphicsSvgItem(); - gyro_x->setSharedRenderer(renderer); - gyro_x->setElementId("gyro_x"); - m_ui->sensorsBargraph->scene()->addItem(gyro_x); - gyro_x->setPos(startX, startY); - gyro_x->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("gyro_y"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_y")); - startX = rect.x(); - startY = rect.y() + rect.height(); - gyro_y = new QGraphicsSvgItem(); - gyro_y->setSharedRenderer(renderer); - gyro_y->setElementId("gyro_y"); - m_ui->sensorsBargraph->scene()->addItem(gyro_y); - gyro_y->setPos(startX, startY); - gyro_y->setTransform(QTransform::fromScale(1, 0), true); - - - lineMatrix = renderer->matrixForElement("gyro_z"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("gyro_z")); - startX = rect.x(); - startY = rect.y() + rect.height(); - gyro_z = new QGraphicsSvgItem(); - gyro_z->setSharedRenderer(renderer); - gyro_z->setElementId("gyro_z"); - m_ui->sensorsBargraph->scene()->addItem(gyro_z); - gyro_z->setPos(startX, startY); - gyro_z->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("mag_x"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_x")); - startX = rect.x(); - startY = rect.y() + rect.height(); - mag_x = new QGraphicsSvgItem(); - mag_x->setSharedRenderer(renderer); - mag_x->setElementId("mag_x"); - m_ui->sensorsBargraph->scene()->addItem(mag_x); - mag_x->setPos(startX, startY); - mag_x->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("mag_y"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_y")); - startX = rect.x(); - startY = rect.y() + rect.height(); - mag_y = new QGraphicsSvgItem(); - mag_y->setSharedRenderer(renderer); - mag_y->setElementId("mag_y"); - m_ui->sensorsBargraph->scene()->addItem(mag_y); - mag_y->setPos(startX, startY); - mag_y->setTransform(QTransform::fromScale(1, 0), true); - - lineMatrix = renderer->matrixForElement("mag_z"); - rect = lineMatrix.mapRect(renderer->boundsOnElement("mag_z")); - startX = rect.x(); - startY = rect.y() + rect.height(); - mag_z = new QGraphicsSvgItem(); - mag_z->setSharedRenderer(renderer); - mag_z->setElementId("mag_z"); - m_ui->sensorsBargraph->scene()->addItem(mag_z); - mag_z->setPos(startX, startY); - mag_z->setTransform(QTransform::fromScale(1, 0), true); - // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers addUAVObject("RevoCalibration"); @@ -242,7 +122,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(doStartAccelGyroBiasCalibration())); connect(m_ui->sixPointsStart, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibration())); connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData())); - connect(m_ui->noiseMeasurementStart, SIGNAL(clicked()), this, SLOT(doStartNoiseMeasurement())); connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); @@ -270,16 +149,13 @@ void ConfigRevoWidget::showEvent(QShowEvent *event) // Thit fitInView method should only be called now, once the // widget is shown, otherwise it cannot compute its values and // the result is usually a sensorsBargraph that is way too small. - m_ui->sensorsBargraph->fitInView(sensorsBargraph, Qt::KeepAspectRatio); m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); - m_thermalCalibrationModel->init(); } void ConfigRevoWidget::resizeEvent(QResizeEvent *event) { Q_UNUSED(event) - m_ui->sensorsBargraph->fitInView(sensorsBargraph, Qt::KeepAspectRatio); m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); } @@ -704,9 +580,9 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) } #ifdef SIX_POINT_CAL_ACCEL - if (accel_accum_x.size() >= 20 && mag_accum_x.size() >= 20 && collectingData == true) { + if (accel_accum_x.size() >= SAMPLE_SIZE && mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) { #else - if (mag_accum_x.size() >= 20 && collectingData == true) { + if (mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) { #endif collectingData = false; @@ -925,223 +801,8 @@ void ConfigRevoWidget::displayPlane(QString elementID) m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); } -/*********** Noise measurement functions **************/ -/** - * Connect sensor updates and timeout for measuring the noise - */ -void ConfigRevoWidget::doStartNoiseMeasurement() -{ - QMutexLocker lock(&sensorsUpdateLock); - - // Store and reset board rotation before calibration starts - isBoardRotationStored = false; - storeAndClearBoardRotation(); - - Q_UNUSED(lock); - - HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); - Q_ASSERT(homeLocation); - HomeLocation::DataFields homeLocationData = homeLocation->getData(); - - // check if Homelocation is set - if (!homeLocationData.Set) { - QMessageBox msgBox; - msgBox.setInformativeText(tr("

HomeLocation not SET.

Please set your HomeLocation and try again. Aborting calibration!

")); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.setIcon(QMessageBox::Information); - msgBox.exec(); - return; - } - - accel_accum_x.clear(); - accel_accum_y.clear(); - accel_accum_z.clear(); - gyro_accum_x.clear(); - gyro_accum_y.clear(); - gyro_accum_z.clear(); - mag_accum_x.clear(); - mag_accum_y.clear(); - mag_accum_z.clear(); - - /* Need to get as many accel, mag and gyro updates as possible */ - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - Q_ASSERT(gyroState); - MagState *mag = MagState::GetInstance(getObjectManager()); - Q_ASSERT(mag); - - UAVObject::Metadata mdata; - - initialAccelStateMdata = accelState->getMetadata(); - mdata = initialAccelStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - accelState->setMetadata(mdata); - - initialGyroStateMdata = gyroState->getMetadata(); - mdata = initialGyroStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - gyroState->setMetadata(mdata); - - initialMagStateMdata = mag->getMetadata(); - mdata = initialMagStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - mag->setMetadata(mdata); - - /* Connect for updates */ - connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *))); - connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *))); - connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *))); -} - -/** - * Called when any of the sensors are updated. Stores the sample for measuring the - * variance at the end - */ -void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj) -{ - QMutexLocker lock(&sensorsUpdateLock); - - Q_UNUSED(lock); - - Q_ASSERT(obj); - - switch (obj->getObjID()) { - case GyroState::OBJID: - { - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - Q_ASSERT(gyroState); - GyroState::DataFields gyroData = gyroState->getData(); - gyro_accum_x.append(gyroData.x); - gyro_accum_y.append(gyroData.y); - gyro_accum_z.append(gyroData.z); - break; - } - case AccelState::OBJID: - { - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - AccelState::DataFields accelStateData = accelState->getData(); - accel_accum_x.append(accelStateData.x); - accel_accum_y.append(accelStateData.y); - accel_accum_z.append(accelStateData.z); - break; - } - case MagState::OBJID: - { - MagState *mags = MagState::GetInstance(getObjectManager()); - Q_ASSERT(mags); - MagState::DataFields magData = mags->getData(); - mag_accum_x.append(magData.x); - mag_accum_y.append(magData.y); - mag_accum_z.append(magData.z); - break; - } - default: - Q_ASSERT(0); - } - - float p1 = (float)mag_accum_x.length() / (float)NOISE_SAMPLES; - float p2 = (float)gyro_accum_x.length() / (float)NOISE_SAMPLES; - float p3 = (float)accel_accum_x.length() / (float)NOISE_SAMPLES; - - float prog = (p1 < p2) ? p1 : p2; - prog = (prog < p3) ? prog : p3; - - m_ui->noiseMeasurementProgress->setValue(prog * 100); - - if (mag_accum_x.length() >= NOISE_SAMPLES && - gyro_accum_x.length() >= NOISE_SAMPLES && - accel_accum_x.length() >= NOISE_SAMPLES) { - // No need to for more updates - MagState *mags = MagState::GetInstance(getObjectManager()); - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *))); - disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *))); - disconnect(mags, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *))); - - EKFConfiguration *ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager()); - Q_ASSERT(ekfConfiguration); - if (ekfConfiguration) { - EKFConfiguration::DataFields revoCalData = ekfConfiguration->getData(); - revoCalData.Q[EKFConfiguration::Q_ACCELX] = listVar(accel_accum_x); - revoCalData.Q[EKFConfiguration::Q_ACCELY] = listVar(accel_accum_y); - revoCalData.Q[EKFConfiguration::Q_ACCELZ] = listVar(accel_accum_z); - revoCalData.Q[EKFConfiguration::Q_GYROX] = listVar(gyro_accum_x); - revoCalData.Q[EKFConfiguration::Q_GYROY] = listVar(gyro_accum_y); - revoCalData.Q[EKFConfiguration::Q_GYROZ] = listVar(gyro_accum_z); - revoCalData.R[EKFConfiguration::R_MAGX] = listVar(mag_accum_x); - revoCalData.R[EKFConfiguration::R_MAGY] = listVar(mag_accum_y); - revoCalData.R[EKFConfiguration::R_MAGZ] = listVar(mag_accum_z); - ekfConfiguration->setData(revoCalData); - } - - // Recall saved board rotation - recallBoardRotation(); - } -} /********** UI Functions *************/ -/** - Draws the sensor variances bargraph - */ -void ConfigRevoWidget::drawVariancesGraph() -{ - EKFConfiguration *ekfConfiguration = EKFConfiguration::GetInstance(getObjectManager()); - - Q_ASSERT(ekfConfiguration); - if (!ekfConfiguration) { - return; - } - EKFConfiguration::DataFields ekfConfigurationData = ekfConfiguration->getData(); - - // The expected range is from 1E-6 to 1E-1 - double steps = 6; // 6 bars on the graph - float accel_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELX])); - if (accel_x) { - accel_x->setTransform(QTransform::fromScale(1, accel_x_var), false); - } - float accel_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELY])); - if (accel_y) { - accel_y->setTransform(QTransform::fromScale(1, accel_y_var), false); - } - float accel_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_ACCELZ])); - if (accel_z) { - accel_z->setTransform(QTransform::fromScale(1, accel_z_var), false); - } - - float gyro_x_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROX])); - if (gyro_x) { - gyro_x->setTransform(QTransform::fromScale(1, gyro_x_var), false); - } - float gyro_y_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROY])); - if (gyro_y) { - gyro_y->setTransform(QTransform::fromScale(1, gyro_y_var), false); - } - float gyro_z_var = -1 / steps * (1 + steps + log10(ekfConfigurationData.Q[EKFConfiguration::Q_GYROZ])); - if (gyro_z) { - gyro_z->setTransform(QTransform::fromScale(1, gyro_z_var), false); - } - - // Scale by 1e-3 because mag vars are much higher. - float mag_x_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGX])); - if (mag_x) { - mag_x->setTransform(QTransform::fromScale(1, mag_x_var), false); - } - float mag_y_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGY])); - if (mag_y) { - mag_y->setTransform(QTransform::fromScale(1, mag_y_var), false); - } - float mag_z_var = -1 / steps * (1 + steps + log10(1e-3 * ekfConfigurationData.R[EKFConfiguration::R_MAGZ])); - if (mag_z) { - mag_z->setTransform(QTransform::fromScale(1, mag_z_var), false); - } -} /** * Called by the ConfigTaskWidget parent when RevoCalibration is updated @@ -1151,9 +812,6 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object) { ConfigTaskWidget::refreshWidgetsValues(object); - drawVariancesGraph(); - - m_ui->noiseMeasurementStart->setEnabled(true); m_ui->sixPointsStart->setEnabled(true); m_ui->accelBiasStart->setEnabled(true); m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate.")); diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index aa24d584f..a8c2cc9af 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -51,7 +51,6 @@ public: ~ConfigRevoWidget(); private: - void drawVariancesGraph(); void displayPlane(QString elementID); // ! Computes the scale and bias of the mag based on collected data @@ -60,16 +59,6 @@ private: OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; Ui_RevoSensorsWidget *m_ui; QGraphicsSvgItem *paperplane; - QGraphicsSvgItem *sensorsBargraph; - QGraphicsSvgItem *accel_x; - QGraphicsSvgItem *accel_y; - QGraphicsSvgItem *accel_z; - QGraphicsSvgItem *gyro_x; - QGraphicsSvgItem *gyro_y; - QGraphicsSvgItem *gyro_z; - QGraphicsSvgItem *mag_x; - QGraphicsSvgItem *mag_y; - QGraphicsSvgItem *mag_z; QMutex sensorsUpdateLock; double maxBarHeight; int phaseCounter; @@ -121,10 +110,6 @@ private slots: void doStartAccelGyroBiasCalibration(); void doGetAccelGyroBiasData(UAVObject *); - // Slots for measuring the sensor noise - void doStartNoiseMeasurement(); - void doGetNoiseSample(UAVObject *); - // Slot for clearing home location void clearHomeLocation(); diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index d6f3de21d..1c4a9b44a 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -62,64 +62,6 @@ 6 - - - - #3: Sensor noise calibration - - - - - - These are the sensor variance values computed by the AHRS. - Tip: lower is better! - - - Qt::ScrollBarAlwaysOff - - - Qt::ScrollBarAlwaysOff - - - - - - - - - false - - - Press to start a calibration procedure, about 15 seconds. - - Hint: run this with engines at cruising speed. - - - Start - - - - - - - true - - - 100 - - - 0 - - - false - - - - - - - - @@ -317,9 +259,42 @@ + + + Six Point Calibration instructions + + + Qt::ScrollBarAlwaysOff + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;"> +<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> +<tr> +<td style="border: none;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1 and #2 and 3 are really necessary. Step #4 will help you achieve the best possible results.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Thermal Calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute the variation of all sensors bias at different temperatures while the board warm up.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Multi-Point calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Board level calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p></td></tr></table></body></html> + + + + - #4: Accelerometer Bias calibration + #3: Board level calibration @@ -349,41 +324,6 @@ - - - - Six Point Calibration instructions - - - Qt::ScrollBarAlwaysOff - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;"> -<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> -<tr> -<td style="border: none;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1 and #2 and 3 are really necessary. Step #4 will help you achieve the best possible results.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Thermal Calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute the variation of all sensors bias at different temperatures while the board warm up.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Multi-Point calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Sensor noise calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute sensor variance under standard conditions. You can leave your engines running at low to mid throttle to take their vibration into account before pressing &quot;Start&quot;.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Accelerometer bias calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that accelerometer bias is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p></td></tr></table></body></html> - - - From d13d3da204c5da0fccdf0179a16f908055c0a03f Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 9 Apr 2014 01:15:08 +0200 Subject: [PATCH 08/60] OP-975 die, die my paperplane --- .../src/plugins/config/configgadget.qrc | 7 +- .../src/plugins/config/configrevowidget.cpp | 20 +- .../src/plugins/config/configrevowidget.h | 1 - .../config/images/calibration/plane-down.png | Bin 0 -> 50233 bytes .../config/images/calibration/plane-flip.png | Bin 0 -> 58158 bytes .../images/calibration/plane-horizontal.png | Bin 0 -> 44441 bytes .../config/images/calibration/plane-left.png | Bin 0 -> 30273 bytes .../config/images/calibration/plane-right.png | Bin 0 -> 30527 bytes .../config/images/calibration/plane-up.png | Bin 0 -> 54324 bytes .../config/images/calibration/planes.xcf | Bin 0 -> 538308 bytes .../src/plugins/config/images/paper-plane.svg | 309 ------------------ .../src/plugins/config/revosensors.ui | 29 +- 12 files changed, 34 insertions(+), 332 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-down.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-flip.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-horizontal.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-left.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-right.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-up.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/planes.xcf delete mode 100644 ground/openpilotgcs/src/plugins/config/images/paper-plane.svg diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index 98a214395..ca86463b5 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -2,7 +2,6 @@ images/help2.png images/ahrs-calib.svg - images/paper-plane.svg images/multirotor-shapes.svg images/ccpm_setup.svg images/PipXtreme.png @@ -31,5 +30,11 @@ images/pipx-normal.png images/revolution_top.png calibration/WizardStepIndicator.qml + images/calibration/plane-down.png + images/calibration/plane-flip.png + images/calibration/plane-horizontal.png + images/calibration/plane-left.png + images/calibration/plane-right.png + images/calibration/plane-up.png diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index e101ff48e..62ed60492 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -83,13 +83,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // Initialization of the Paper plane widget m_ui->sixPointsHelp->setScene(new QGraphicsScene(this)); - - paperplane = new QGraphicsSvgItem(); - paperplane->setSharedRenderer(new QSvgRenderer()); - paperplane->renderer()->load(QString(":/configgadget/images/paper-plane.svg")); - paperplane->setElementId("plane-horizontal"); - m_ui->sixPointsHelp->scene()->addItem(paperplane); - m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect()); + displayPlane("plane-horizontal"); // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers @@ -149,14 +143,14 @@ void ConfigRevoWidget::showEvent(QShowEvent *event) // Thit fitInView method should only be called now, once the // widget is shown, otherwise it cannot compute its values and // the result is usually a sensorsBargraph that is way too small. - m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); + m_ui->sixPointsHelp->fitInView(m_ui->sixPointsHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); m_thermalCalibrationModel->init(); } void ConfigRevoWidget::resizeEvent(QResizeEvent *event) { Q_UNUSED(event) - m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); + m_ui->sixPointsHelp->fitInView(m_ui->sixPointsHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); } /** @@ -796,9 +790,11 @@ void ConfigRevoWidget::recallBoardRotation() */ void ConfigRevoWidget::displayPlane(QString elementID) { - paperplane->setElementId(elementID); - m_ui->sixPointsHelp->setSceneRect(paperplane->boundingRect()); - m_ui->sixPointsHelp->fitInView(paperplane, Qt::KeepAspectRatio); + m_ui->sixPointsHelp->scene()->clear(); + QPixmap pixmap = QPixmap(":/configgadget/images/calibration/" + elementID + ".png"); + m_ui->sixPointsHelp->scene()->addPixmap(pixmap); + m_ui->sixPointsHelp->setSceneRect(pixmap.rect()); + //m_ui->sixPointsHelp->fitInView(pixmap, Qt::KeepAspectRatio); } diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index a8c2cc9af..ed6c53d8c 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -58,7 +58,6 @@ private: OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; Ui_RevoSensorsWidget *m_ui; - QGraphicsSvgItem *paperplane; QMutex sensorsUpdateLock; double maxBarHeight; int phaseCounter; diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/plane-down.png b/ground/openpilotgcs/src/plugins/config/images/calibration/plane-down.png new file mode 100644 index 0000000000000000000000000000000000000000..2c61418799d2407bd4c816f63cb9417c69da4ad3 GIT binary patch literal 50233 zcmb6AbzIYL+&_w|NGT;E-I9v5fTV!Zp@>Mgba!qbNSAbXh?IaxGa8W+Cm=Z*kr*K` 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- - Paper planes - - - Edouard Lafargue - - - - 2010.08.29 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index 1c4a9b44a..285015b07 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -65,14 +65,11 @@ - #2: Magnetometer calibration + #2: Accelerometer/Magnetometer calibration - - Nice paper plane, eh? - @@ -297,6 +294,20 @@ p, li { white-space: pre-wrap; } #3: Board level calibration + + + + + + + + 0 + + + false + + + @@ -310,13 +321,13 @@ p, li { white-space: pre-wrap; } - - - 0 - - + + false + + Save Position + From feee6f78e312e0feed7411723aed8153126c8864 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 9 Apr 2014 02:22:48 +0200 Subject: [PATCH 09/60] OP-975 Add separate buttons for mag and accel calibration (UI changes) --- .../src/plugins/config/configrevowidget.cpp | 18 ++++-- .../src/plugins/config/configrevowidget.h | 6 +- .../src/plugins/config/revosensors.ui | 56 +++++++++++-------- 3 files changed, 53 insertions(+), 27 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 62ed60492..9f1065b7f 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -114,7 +114,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // Connect the signals connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(doStartAccelGyroBiasCalibration())); - connect(m_ui->sixPointsStart, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibration())); + connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibrationAccel())); + connect(m_ui->sixPointsStartMag, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibrationMag())); connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData())); connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); @@ -403,13 +404,20 @@ int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[ /********** Functions for six point calibration **************/ +void ConfigRevoWidget::doStartSixPointCalibrationMag(){ + doStartSixPointCalibration(false, true); +} +void ConfigRevoWidget::doStartSixPointCalibrationAccel(){ + doStartSixPointCalibration(true, false); +} + /** * Called by the "Start" button. Sets up the meta data and enables the * buttons to perform six point calibration of the magnetometer (optionally * accel) to compute the scale and bias of this sensor based on the current * home location magnetic strength. */ -void ConfigRevoWidget::doStartSixPointCalibration() +void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool calibratemag) { // Store and reset board rotation before calibration starts isBoardRotationStored = false; @@ -505,7 +513,8 @@ void ConfigRevoWidget::doStartSixPointCalibration() m_ui->sixPointCalibInstructions->clear(); m_ui->sixPointCalibInstructions->append("Place horizontally and click save position..."); displayPlane("plane-horizontal"); - m_ui->sixPointsStart->setEnabled(false); + m_ui->sixPointsStartAccel->setEnabled(false); + m_ui->sixPointsStartMag->setEnabled(false); m_ui->sixPointsSave->setEnabled(true); position = 0; } @@ -808,7 +817,8 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object) { ConfigTaskWidget::refreshWidgetsValues(object); - m_ui->sixPointsStart->setEnabled(true); + m_ui->sixPointsStartAccel->setEnabled(true); + m_ui->sixPointsStartMag->setEnabled(true); m_ui->accelBiasStart->setEnabled(true); m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate.")); diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index ed6c53d8c..57737651f 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -101,12 +101,16 @@ private slots: virtual void refreshWidgetsValues(UAVObject *object = NULL); // Slots for calibrating the mags - void doStartSixPointCalibration(); + void doStartSixPointCalibrationMag(); + void doStartSixPointCalibrationAccel(); + void doStartSixPointCalibration(bool calibrateaccel, bool calibratemag); void doGetSixPointCalibrationMeasurement(UAVObject *obj); void savePositionData(); // Slots for calibrating the accel and gyro void doStartAccelGyroBiasCalibration(); + + void doGetAccelGyroBiasData(UAVObject *); // Slot for clearing home location diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index 285015b07..b8b19f15b 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -62,28 +62,40 @@ 6 - + #2: Accelerometer/Magnetometer calibration - - + - + false - Launch a sensor range and bias calibration. + Launch accelerometer range and bias calibration. - Start + Calibrate Accel + + + + + + + false + + + Launch magnetometer range and bias calibration. + + + Calibrate Mag @@ -255,7 +267,7 @@ - + Six Point Calibration instructions @@ -272,7 +284,7 @@ p, li { white-space: pre-wrap; } <tr> <td style="border: none;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1 and #2 and 3 are really necessary. Step #4 will help you achieve the best possible results.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #2 and #3 are really necessary. Step #1 will help you achieve the best possible results.</span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Thermal Calibration:</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute the variation of all sensors bias at different temperatures while the board warm up.</span></p> @@ -280,7 +292,8 @@ p, li { white-space: pre-wrap; } <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Multi-Point calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for all sensors on the INS. Press &quot;Start&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors on the INS. Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Board level calibration:</span></p> @@ -288,25 +301,14 @@ p, li { white-space: pre-wrap; } - + #3: Board level calibration - - - - - - - 0 - - - false - - + @@ -330,6 +332,16 @@ p, li { white-space: pre-wrap; } + + + + 0 + + + false + + + From 9e702a123a560f850f36cf6839915fc14073528f Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 9 Apr 2014 02:23:50 +0200 Subject: [PATCH 10/60] OP-975 add an "help view" and associated graphics for leveling --- .../src/plugins/config/configgadget.qrc | 2 ++ .../src/plugins/config/configrevowidget.cpp | 31 ++++++++++-------- .../src/plugins/config/configrevowidget.h | 2 +- .../images/calibration/plane-down-rotated.png | Bin 0 -> 43502 bytes .../config/images/calibration/planes.xcf | Bin 538308 -> 703648 bytes .../config/images/calibration/snow.png | Bin 0 -> 119798 bytes 6 files changed, 21 insertions(+), 14 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-down-rotated.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/snow.png diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index ca86463b5..bcc33a6ac 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -36,5 +36,7 @@ images/calibration/plane-left.png images/calibration/plane-right.png images/calibration/plane-up.png + images/calibration/plane-down-rotated.png + images/calibration/snow.png diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 9f1065b7f..ac7dcf4da 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -83,8 +83,10 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // Initialization of the Paper plane widget m_ui->sixPointsHelp->setScene(new QGraphicsScene(this)); - displayPlane("plane-horizontal"); + displayPlane(m_ui->sixPointsHelp, "snow"); + m_ui->levelingHelp->setScene(new QGraphicsScene(this)); + displayPlane(m_ui->levelingHelp, "snow"); // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers addUAVObject("RevoCalibration"); @@ -145,6 +147,7 @@ void ConfigRevoWidget::showEvent(QShowEvent *event) // widget is shown, otherwise it cannot compute its values and // the result is usually a sensorsBargraph that is way too small. m_ui->sixPointsHelp->fitInView(m_ui->sixPointsHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->levelingHelp->fitInView(m_ui->levelingHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); m_thermalCalibrationModel->init(); } @@ -152,6 +155,7 @@ void ConfigRevoWidget::resizeEvent(QResizeEvent *event) { Q_UNUSED(event) m_ui->sixPointsHelp->fitInView(m_ui->sixPointsHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->levelingHelp->fitInView(m_ui->levelingHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); } /** @@ -512,7 +516,7 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali /* Show instructions and enable controls */ m_ui->sixPointCalibInstructions->clear(); m_ui->sixPointCalibInstructions->append("Place horizontally and click save position..."); - displayPlane("plane-horizontal"); + displayPlane(m_ui->sixPointsHelp, "plane-horizontal"); m_ui->sixPointsStartAccel->setEnabled(false); m_ui->sixPointsStartMag->setEnabled(false); m_ui->sixPointsSave->setEnabled(true); @@ -612,27 +616,28 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { m_ui->sixPointCalibInstructions->append("Place with left side down and click save position..."); - displayPlane("plane-left"); + displayPlane(m_ui->sixPointsHelp, "plane-left"); } if (position == 2) { m_ui->sixPointCalibInstructions->append("Place upside down and click save position..."); - displayPlane("plane-flip"); + displayPlane(m_ui->sixPointsHelp, "plane-flip"); } if (position == 3) { m_ui->sixPointCalibInstructions->append("Place with right side down and click save position..."); - displayPlane("plane-right"); + displayPlane(m_ui->sixPointsHelp, "plane-right"); } if (position == 4) { m_ui->sixPointCalibInstructions->append("Place with nose up and click save position..."); - displayPlane("plane-up"); + displayPlane(m_ui->sixPointsHelp, "plane-up"); } if (position == 5) { m_ui->sixPointCalibInstructions->append("Place with nose down and click save position..."); - displayPlane("plane-down"); + displayPlane(m_ui->sixPointsHelp, "plane-down"); } if (position == 0) { computeScaleBias(); - m_ui->sixPointsStart->setEnabled(true); + m_ui->sixPointsStartAccel->setEnabled(true); + m_ui->sixPointsStartMag->setEnabled(true); m_ui->sixPointsSave->setEnabled(false); /* Cleanup original settings */ @@ -797,13 +802,13 @@ void ConfigRevoWidget::recallBoardRotation() /** Rotate the paper plane */ -void ConfigRevoWidget::displayPlane(QString elementID) +void ConfigRevoWidget::displayPlane(QGraphicsView *view, QString elementID) { - m_ui->sixPointsHelp->scene()->clear(); + view->scene()->clear(); QPixmap pixmap = QPixmap(":/configgadget/images/calibration/" + elementID + ".png"); - m_ui->sixPointsHelp->scene()->addPixmap(pixmap); - m_ui->sixPointsHelp->setSceneRect(pixmap.rect()); - //m_ui->sixPointsHelp->fitInView(pixmap, Qt::KeepAspectRatio); + view->scene()->addPixmap(pixmap); + view->setSceneRect(pixmap.rect()); + view->fitInView(view->scene()->sceneRect(), Qt::IgnoreAspectRatio); } diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 57737651f..16f575484 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -51,7 +51,7 @@ public: ~ConfigRevoWidget(); private: - void displayPlane(QString elementID); + void displayPlane(QGraphicsView *view, QString elementID); // ! 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implemented separate cal for mag and accel --- .../src/plugins/config/configrevowidget.cpp | 145 +++++++----------- .../src/plugins/config/configrevowidget.h | 7 +- 2 files changed, 62 insertions(+), 90 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index ac7dcf4da..6faef0f9b 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -56,7 +56,6 @@ #define sign(x) ((x < 0) ? -1 : 1) // Uncomment this to enable 6 point calibration on the accels -#define SIX_POINT_CAL_ACCEL #define SAMPLE_SIZE 40 const double ConfigRevoWidget::maxVarValue = 0.1; @@ -421,8 +420,10 @@ void ConfigRevoWidget::doStartSixPointCalibrationAccel(){ * accel) to compute the scale and bias of this sensor based on the current * home location magnetic strength. */ -void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool calibratemag) +void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool calibrateMag) { + calibratingAccel = calibrateAccel; + calibratingMag = calibrateMag; // Store and reset board rotation before calibration starts isBoardRotationStored = false; storeAndClearBoardRotation(); @@ -448,7 +449,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali return; } -#ifdef SIX_POINT_CAL_ACCEL // Calibration accel accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = 1; accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = 1; @@ -460,7 +460,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali accel_accum_x.clear(); accel_accum_y.clear(); accel_accum_z.clear(); -#endif // Calibration mag // Reset the transformation matrix to identity @@ -492,7 +491,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali UAVObject::Metadata mdata; -#ifdef SIX_POINT_CAL_ACCEL /* Need to get as many accel updates as possible */ AccelState *accelState = AccelState::GetInstance(getObjectManager()); Q_ASSERT(accelState); @@ -502,7 +500,6 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateaccel, bool cali UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); mdata.flightTelemetryUpdatePeriod = 100; accelState->setMetadata(mdata); -#endif /* Need to get as many mag updates as possible */ MagState *mag = MagState::GetInstance(getObjectManager()); @@ -566,14 +563,13 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) // This is necessary to prevent a race condition on disconnect signal and another update if (collectingData == true) { if (obj->getObjID() == AccelState::OBJID) { -#ifdef SIX_POINT_CAL_ACCEL AccelState *accelState = AccelState::GetInstance(getObjectManager()); Q_ASSERT(accelState); AccelState::DataFields accelStateData = accelState->getData(); accel_accum_x.append(accelStateData.x); accel_accum_y.append(accelStateData.y); accel_accum_z.append(accelStateData.z); -#endif + } else if (obj->getObjID() == MagState::OBJID) { MagState *mag = MagState::GetInstance(getObjectManager()); Q_ASSERT(mag); @@ -586,16 +582,12 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) } } -#ifdef SIX_POINT_CAL_ACCEL if (accel_accum_x.size() >= SAMPLE_SIZE && mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) { -#else - if (mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) { -#endif + collectingData = false; m_ui->sixPointsSave->setEnabled(true); -#ifdef SIX_POINT_CAL_ACCEL // Store the mean for this position for the accel AccelState *accelState = AccelState::GetInstance(getObjectManager()); Q_ASSERT(accelState); @@ -603,7 +595,6 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) accel_data_x[position] = listMean(accel_accum_x); accel_data_y[position] = listMean(accel_accum_y); accel_data_z[position] = listMean(accel_accum_z); -#endif // Store the mean for this position for the mag MagState *mag = MagState::GetInstance(getObjectManager()); @@ -635,15 +626,14 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) displayPlane(m_ui->sixPointsHelp, "plane-down"); } if (position == 0) { - computeScaleBias(); + computeScaleBias(calibratingMag, calibratingAccel); m_ui->sixPointsStartAccel->setEnabled(true); m_ui->sixPointsStartMag->setEnabled(true); m_ui->sixPointsSave->setEnabled(false); /* Cleanup original settings */ -#ifdef SIX_POINT_CAL_ACCEL accelState->setMetadata(initialAccelStateMdata); -#endif + mag->setMetadata(initialMagStateMdata); // Recall saved board rotation @@ -656,7 +646,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) * Computes the scale and bias for the magnetomer and (compile option) * for the accel once all the data has been collected in 6 positions. */ -void ConfigRevoWidget::computeScaleBias() +void ConfigRevoWidget::computeScaleBias(bool mag, bool accel) { double S[3], b[3]; double Be_length; @@ -670,96 +660,75 @@ void ConfigRevoWidget::computeScaleBias() RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); HomeLocation::DataFields homeLocationData = homeLocation->getData(); -#ifdef SIX_POINT_CAL_ACCEL // Calibration accel - SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b); - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]); - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]); - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]); + if(accel) { + SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b); + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]); + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]); + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]); - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = -sign(S[0]) * b[0]; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = -sign(S[1]) * b[1]; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = -sign(S[2]) * b[2]; -#endif + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = -sign(S[0]) * b[0]; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = -sign(S[1]) * b[1]; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = -sign(S[2]) * b[2]; + } // Calibration mag - Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); - SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); - - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0]; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1]; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2]; + if(mag){ + Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); + SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0]; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1]; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2]; + } // Restore the previous setting revoCalibrationData.MagBiasNullingRate = initialMagCorrectionRate; -#ifdef SIX_POINT_CAL_ACCEL + bool good_calibration = true; // Check the mag calibration is good - good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] == - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]; - good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] == - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]; - good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] == - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]; - + if(mag){ + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] == + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]; + } // Check the accel calibration is good - good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] == - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X]; - good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] == - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y]; - good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] == - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z]; - good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] == - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X]; - good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] == - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y]; - good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] == - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z]; + if(accel){ + good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] == + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X]; + good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] == + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y]; + good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] == + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z]; + good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] == + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X]; + good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] == + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y]; + good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] == + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z]; + } if (good_calibration) { revoCalibration->setData(revoCalibrationData); accelGyroSettings->setData(accelGyroSettingsData); - m_ui->sixPointCalibInstructions->append("Computed accel and mag scale and bias..."); + m_ui->sixPointCalibInstructions->append("Computed sensor scale and bias..."); } else { revoCalibrationData = revoCalibration->getData(); accelGyroSettingsData = accelGyroSettings->getData(); m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); } -#else // ifdef SIX_POINT_CAL_ACCEL - bool good_calibration = true; - good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X] == - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_X]; - good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y] == - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Y]; - good_calibration &= revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z] == - revoCalibrationData.mag_scale[RevoCalibration::MAG_SCALE_Z]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]; - if (good_calibration) { - revoCalibration->setData(revoCalibrationData); - accelGyroSettings->setData(accelGyroSettingsData); - m_ui->sixPointCalibInstructions->append("Computed mag scale and bias..."); - } else { - revoCalibrationData = revoCalibration->getData(); - accelGyroSettingsData = accelGyroSettings->getData(); - m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); - } -#endif // ifdef SIX_POINT_CAL_ACCEL - position = -1; // set to run again } diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 16f575484..0c46880a0 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -54,7 +54,7 @@ private: void displayPlane(QGraphicsView *view, QString elementID); // ! Computes the scale and bias of the mag based on collected data - void computeScaleBias(); + void computeScaleBias(bool mag, bool accel); OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; Ui_RevoSensorsWidget *m_ui; @@ -79,6 +79,9 @@ private: double accel_data_x[6], accel_data_y[6], accel_data_z[6]; double mag_data_x[6], mag_data_y[6], mag_data_z[6]; + bool calibratingMag = false; + bool calibratingAccel = false; + UAVObject::Metadata initialAccelStateMdata; UAVObject::Metadata initialGyroStateMdata; UAVObject::Metadata initialMagStateMdata; @@ -103,7 +106,7 @@ private slots: // Slots for calibrating the mags void doStartSixPointCalibrationMag(); void doStartSixPointCalibrationAccel(); - void doStartSixPointCalibration(bool calibrateaccel, bool calibratemag); + void doStartSixPointCalibration(bool calibrateAccel, bool calibrateMag); void doGetSixPointCalibrationMeasurement(UAVObject *obj); void savePositionData(); From 1f0885dd4f4b081b5413789b41f9e966c1bc6b24 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 9 Apr 2014 19:57:23 +0200 Subject: [PATCH 12/60] OP-975 Calibrating a single sensor doesn't mean reset the other... --- .../src/plugins/config/configrevowidget.cpp | 22 ++++++++++++++----- .../src/plugins/config/configrevowidget.h | 8 ++++++- 2 files changed, 23 insertions(+), 7 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 6faef0f9b..d0c36a934 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -435,8 +435,10 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool cali Q_ASSERT(revoCalibration); Q_ASSERT(homeLocation); RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); + savedSettings.revoCalibration = revoCalibration->getData(); HomeLocation::DataFields homeLocationData = homeLocation->getData(); AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); + savedSettings.accelGyroSettings = accelGyroSettings->getData(); // check if Homelocation is set if (!homeLocationData.Set) { @@ -721,14 +723,22 @@ void ConfigRevoWidget::computeScaleBias(bool mag, bool accel) accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z]; } if (good_calibration) { - revoCalibration->setData(revoCalibrationData); - accelGyroSettings->setData(accelGyroSettingsData); + if(mag){ + revoCalibration->setData(revoCalibrationData); + } else { + revoCalibration->setData(savedSettings.revoCalibration); + } + + if(accel){ + accelGyroSettings->setData(accelGyroSettingsData); + } else { + accelGyroSettings->setData(savedSettings.accelGyroSettings); + } m_ui->sixPointCalibInstructions->append("Computed sensor scale and bias..."); - } else { - revoCalibrationData = revoCalibration->getData(); - accelGyroSettingsData = accelGyroSettings->getData(); - m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); } + + m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); + position = -1; // set to run again } diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 0c46880a0..53bf3ce9f 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -43,9 +43,13 @@ #include "calibration/thermal/thermalcalibrationmodel.h" class Ui_Widget; + class ConfigRevoWidget : public ConfigTaskWidget { Q_OBJECT - + typedef struct { + RevoCalibration::DataFields revoCalibration; + AccelGyroSettings::DataFields accelGyroSettings; + } SavedSettings; public: ConfigRevoWidget(QWidget *parent = 0); ~ConfigRevoWidget(); @@ -56,6 +60,8 @@ private: // ! Computes the scale and bias of the mag based on collected data void computeScaleBias(bool mag, bool accel); + SavedSettings savedSettings; + OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; Ui_RevoSensorsWidget *m_ui; QMutex sensorsUpdateLock; From 1fe591d51e5b319087a6e6adc64c5e53f572377e Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 10 Apr 2014 01:47:37 +0200 Subject: [PATCH 13/60] OP-975 change BoardRotation data type to float so it can be used for level calibration --- flight/modules/Attitude/attitude.c | 5 +++-- flight/modules/Sensors/sensors.c | 5 +++-- ground/openpilotgcs/src/plugins/config/revosensors.ui | 6 +++--- shared/uavobjectdefinition/attitudesettings.xml | 2 +- 4 files changed, 10 insertions(+), 8 deletions(-) diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c index e004c04b3..85e18a8b0 100644 --- a/flight/modules/Attitude/attitude.c +++ b/flight/modules/Attitude/attitude.c @@ -693,8 +693,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) } // Indicates not to expend cycles on rotation - if (attitudeSettings.BoardRotation.Pitch == 0 && attitudeSettings.BoardRotation.Roll == 0 && - attitudeSettings.BoardRotation.Yaw == 0) { + if (fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && + fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f && + fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) { rotate = 0; // Shouldn't be used but to be safe diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index 709580818..b21b67fd4 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -458,8 +458,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) AttitudeSettingsGet(&attitudeSettings); // Indicates not to expend cycles on rotation - if (attitudeSettings.BoardRotation.Roll == 0 && attitudeSettings.BoardRotation.Pitch == 0 && - attitudeSettings.BoardRotation.Yaw == 0) { + if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f + && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && + fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) { rotate = 0; } else { rotate = 1; diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index b8b19f15b..037a834a9 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -393,7 +393,7 @@ p, li { white-space: pre-wrap; } - + -90 @@ -475,7 +475,7 @@ margin:1px; - + -180 @@ -508,7 +508,7 @@ margin:1px; - + -180 diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index c6b389122..208fd49ba 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -1,7 +1,7 @@ Settings for the @ref Attitude module used on CopterControl - + From 28361488b856c552439f074557fe1f23e5b6fd73 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 10 Apr 2014 17:30:33 +0200 Subject: [PATCH 14/60] OP-975 first part of code refactoring, changed the UI to better use the available space --- .../config/calibration/calibrationutils.cpp | 97 ++++++ .../config/calibration/calibrationutils.h | 4 + .../src/plugins/config/configrevowidget.cpp | 237 +++++--------- .../src/plugins/config/configrevowidget.h | 30 +- .../src/plugins/config/revosensors.ui | 306 ++++++++++-------- 5 files changed, 366 insertions(+), 308 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp index 2a47c6a82..35aa95a04 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp @@ -328,4 +328,101 @@ void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf * (*radii) = (evals.segment(0, 3)).cwiseInverse().cwiseSqrt(); } + +int CalibrationUtils::SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3]) +{ + int i; + double A[5][5]; + double f[5], c[5]; + double xp, yp, zp, Sx; + + // Fill in matrix A - + // write six difference-in-magnitude equations of the form + // Sx^2(x2^2-x1^2) + 2*Sx*bx*(x2-x1) + Sy^2(y2^2-y1^2) + 2*Sy*by*(y2-y1) + Sz^2(z2^2-z1^2) + 2*Sz*bz*(z2-z1) = 0 + // or in other words + // 2*Sx*bx*(x2-x1)/Sx^2 + Sy^2(y2^2-y1^2)/Sx^2 + 2*Sy*by*(y2-y1)/Sx^2 + Sz^2(z2^2-z1^2)/Sx^2 + 2*Sz*bz*(z2-z1)/Sx^2 = (x1^2-x2^2) + for (i = 0; i < 5; i++) { + A[i][0] = 2.0 * (x[i + 1] - x[i]); + A[i][1] = y[i + 1] * y[i + 1] - y[i] * y[i]; + A[i][2] = 2.0 * (y[i + 1] - y[i]); + A[i][3] = z[i + 1] * z[i + 1] - z[i] * z[i]; + A[i][4] = 2.0 * (z[i + 1] - z[i]); + f[i] = x[i] * x[i] - x[i + 1] * x[i + 1]; + } + + // solve for c0=bx/Sx, c1=Sy^2/Sx^2; c2=Sy*by/Sx^2, c3=Sz^2/Sx^2, c4=Sz*bz/Sx^2 + if (!LinearEquationsSolve(5, (double *)A, f, c)) { + return 0; + } + + // use one magnitude equation and c's to find Sx - doesn't matter which - all give the same answer + xp = x[0]; yp = y[0]; zp = z[0]; + Sx = sqrt(ConstMag * ConstMag / (xp * xp + 2 * c[0] * xp + c[0] * c[0] + c[1] * yp * yp + 2 * c[2] * yp + c[2] * c[2] / c[1] + c[3] * zp * zp + 2 * c[4] * zp + c[4] * c[4] / c[3])); + + S[0] = Sx; + b[0] = Sx * c[0]; + S[1] = sqrt(c[1] * Sx * Sx); + b[1] = c[2] * Sx * Sx / S[1]; + S[2] = sqrt(c[3] * Sx * Sx); + b[2] = c[4] * Sx * Sx / S[2]; + + return 1; } + + +int CalibrationUtils::LinearEquationsSolve(int nDim, double *pfMatr, double *pfVect, double *pfSolution) +{ + double fMaxElem; + double fAcc; + + int i, j, k, m; + + for (k = 0; k < (nDim - 1); k++) { // base row of matrix + // search of line with max element + fMaxElem = fabs(pfMatr[k * nDim + k]); + m = k; + for (i = k + 1; i < nDim; i++) { + if (fMaxElem < fabs(pfMatr[i * nDim + k])) { + fMaxElem = pfMatr[i * nDim + k]; + m = i; + } + } + + // permutation of base line (index k) and max element line(index m) + if (m != k) { + for (i = k; i < nDim; i++) { + fAcc = pfMatr[k * nDim + i]; + pfMatr[k * nDim + i] = pfMatr[m * nDim + i]; + pfMatr[m * nDim + i] = fAcc; + } + fAcc = pfVect[k]; + pfVect[k] = pfVect[m]; + pfVect[m] = fAcc; + } + + if (pfMatr[k * nDim + k] == 0.) { + return 0; // needs improvement !!! + } + // triangulation of matrix with coefficients + for (j = (k + 1); j < nDim; j++) { // current row of matrix + fAcc = -pfMatr[j * nDim + k] / pfMatr[k * nDim + k]; + for (i = k; i < nDim; i++) { + pfMatr[j * nDim + i] = pfMatr[j * nDim + i] + fAcc * pfMatr[k * nDim + i]; + } + pfVect[j] = pfVect[j] + fAcc * pfVect[k]; // free member recalculation + } + } + + for (k = (nDim - 1); k >= 0; k--) { + pfSolution[k] = pfVect[k]; + for (i = (k + 1); i < nDim; i++) { + pfSolution[k] -= (pfMatr[k * nDim + i] * pfSolution[i]); + } + pfSolution[k] = pfSolution[k] / pfMatr[k * nDim + k]; + } + + return 1; +} +} + + diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h index 371e41871..83758b2a8 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h @@ -47,11 +47,15 @@ public: static void ComputePoly(Eigen::VectorXf *samplesX, Eigen::VectorXf *polynomial, Eigen::VectorXf *polyY); static float ComputeSigma(Eigen::VectorXf *samplesY); + static int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3]); + private: static void EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, Eigen::Vector3f *center, Eigen::VectorXf *radii, Eigen::MatrixXf *evecs); + + static int LinearEquationsSolve(int nDim, double *pfMatr, double *pfVect, double *pfSolution); }; } #endif // CALIBRATIONUTILS_H diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index d0c36a934..fd10b9c27 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -75,17 +75,16 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : ConfigTaskWidget(parent), m_ui(new Ui_RevoSensorsWidget()), collectingData(false), + calibratingMag(false), + calibratingAccel(false), position(-1), isBoardRotationStored(false) { m_ui->setupUi(this); // Initialization of the Paper plane widget - m_ui->sixPointsHelp->setScene(new QGraphicsScene(this)); - displayPlane(m_ui->sixPointsHelp, "snow"); - - m_ui->levelingHelp->setScene(new QGraphicsScene(this)); - displayPlane(m_ui->levelingHelp, "snow"); + m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this)); + displayVisualHelp("snow"); // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers addUAVObject("RevoCalibration"); @@ -114,10 +113,16 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // note: init for m_thermalCalibrationModel is done in showEvent to prevent cases wiht "Start" button not enabled due to some itming issue. // Connect the signals - connect(m_ui->accelBiasStart, SIGNAL(clicked()), this, SLOT(doStartAccelGyroBiasCalibration())); - connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibrationAccel())); - connect(m_ui->sixPointsStartMag, SIGNAL(clicked()), this, SLOT(doStartSixPointCalibrationMag())); - connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(savePositionData())); + // gyro zero calibration + connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(levelCalibrationStart())); + + // level calibration + connect(m_ui->boardLevelStart, SIGNAL(clicked()), this, SLOT(levelCalibrationStart())); + + // six point calibrations + connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), this, SLOT(sixPointCalibrationAccelStart())); + connect(m_ui->sixPointsStartMag, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMagStart())); + connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(sixPointCalibrationSavePositionData())); connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); @@ -131,6 +136,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : populateWidgets(); refreshWidgetsValues(); m_ui->tabWidget->setCurrentIndex(0); + enableAllCalibrations(); } ConfigRevoWidget::~ConfigRevoWidget() @@ -141,33 +147,33 @@ ConfigRevoWidget::~ConfigRevoWidget() void ConfigRevoWidget::showEvent(QShowEvent *event) { - Q_UNUSED(event) + Q_UNUSED(event); // Thit fitInView method should only be called now, once the // widget is shown, otherwise it cannot compute its values and // the result is usually a sensorsBargraph that is way too small. - m_ui->sixPointsHelp->fitInView(m_ui->sixPointsHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); - m_ui->levelingHelp->fitInView(m_ui->levelingHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); m_thermalCalibrationModel->init(); } void ConfigRevoWidget::resizeEvent(QResizeEvent *event) { - Q_UNUSED(event) - m_ui->sixPointsHelp->fitInView(m_ui->sixPointsHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); - m_ui->levelingHelp->fitInView(m_ui->levelingHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + Q_UNUSED(event); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); } + +/******* Level calibration *******/ /** * Starts an accelerometer bias calibration. */ -void ConfigRevoWidget::doStartAccelGyroBiasCalibration() +void ConfigRevoWidget::levelCalibrationStart() { // Store and reset board rotation before calibration starts isBoardRotationStored = false; storeAndClearBoardRotation(); - m_ui->accelBiasStart->setEnabled(false); - m_ui->accelBiasProgress->setValue(0); + disableAllCalibrations(); + m_ui->boardLevelProgress->setValue(0); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); Q_ASSERT(revoCalibration); @@ -212,14 +218,14 @@ void ConfigRevoWidget::doStartAccelGyroBiasCalibration() // Now connect to the accels and mag updates, gather for 100 samples collectingData = true; - connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *))); - connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *))); + connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); + connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); } /** Updates the accel bias raw values */ -void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj) +void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) { QMutexLocker lock(&sensorsUpdateLock); @@ -255,7 +261,7 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj) // Work out the progress based on whichever has less double p1 = (double)accel_accum_x.size() / (double)NOISE_SAMPLES; double p2 = (double)accel_accum_y.size() / (double)NOISE_SAMPLES; - m_ui->accelBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 100); + m_ui->boardLevelProgress->setValue(((p1 < p2) ? p1 : p2) * 100); if (accel_accum_x.size() >= NOISE_SAMPLES && gyro_accum_y.size() >= NOISE_SAMPLES && @@ -265,10 +271,10 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj) AccelState *accelState = AccelState::GetInstance(getObjectManager()); GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *))); - disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetAccelGyroBiasData(UAVObject *))); + disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); + disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); - m_ui->accelBiasStart->setEnabled(true); + enableAllCalibrations(); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); Q_ASSERT(revoCalibration); @@ -309,109 +315,13 @@ void ConfigRevoWidget::doGetAccelGyroBiasData(UAVObject *obj) } } +/********** Six point calibration **************/ -int LinearEquationsSolving(int nDim, double *pfMatr, double *pfVect, double *pfSolution) -{ - double fMaxElem; - double fAcc; - - int i, j, k, m; - - for (k = 0; k < (nDim - 1); k++) { // base row of matrix - // search of line with max element - fMaxElem = fabs(pfMatr[k * nDim + k]); - m = k; - for (i = k + 1; i < nDim; i++) { - if (fMaxElem < fabs(pfMatr[i * nDim + k])) { - fMaxElem = pfMatr[i * nDim + k]; - m = i; - } - } - - // permutation of base line (index k) and max element line(index m) - if (m != k) { - for (i = k; i < nDim; i++) { - fAcc = pfMatr[k * nDim + i]; - pfMatr[k * nDim + i] = pfMatr[m * nDim + i]; - pfMatr[m * nDim + i] = fAcc; - } - fAcc = pfVect[k]; - pfVect[k] = pfVect[m]; - pfVect[m] = fAcc; - } - - if (pfMatr[k * nDim + k] == 0.) { - return 0; // needs improvement !!! - } - // triangulation of matrix with coefficients - for (j = (k + 1); j < nDim; j++) { // current row of matrix - fAcc = -pfMatr[j * nDim + k] / pfMatr[k * nDim + k]; - for (i = k; i < nDim; i++) { - pfMatr[j * nDim + i] = pfMatr[j * nDim + i] + fAcc * pfMatr[k * nDim + i]; - } - pfVect[j] = pfVect[j] + fAcc * pfVect[k]; // free member recalculation - } - } - - for (k = (nDim - 1); k >= 0; k--) { - pfSolution[k] = pfVect[k]; - for (i = (k + 1); i < nDim; i++) { - pfSolution[k] -= (pfMatr[k * nDim + i] * pfSolution[i]); - } - pfSolution[k] = pfSolution[k] / pfMatr[k * nDim + k]; - } - - return 1; +void ConfigRevoWidget::sixPointCalibrationMagStart(){ + sixPointCalibrationStart(false, true); } - - -int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3]) -{ - int i; - double A[5][5]; - double f[5], c[5]; - double xp, yp, zp, Sx; - - // Fill in matrix A - - // write six difference-in-magnitude equations of the form - // Sx^2(x2^2-x1^2) + 2*Sx*bx*(x2-x1) + Sy^2(y2^2-y1^2) + 2*Sy*by*(y2-y1) + Sz^2(z2^2-z1^2) + 2*Sz*bz*(z2-z1) = 0 - // or in other words - // 2*Sx*bx*(x2-x1)/Sx^2 + Sy^2(y2^2-y1^2)/Sx^2 + 2*Sy*by*(y2-y1)/Sx^2 + Sz^2(z2^2-z1^2)/Sx^2 + 2*Sz*bz*(z2-z1)/Sx^2 = (x1^2-x2^2) - for (i = 0; i < 5; i++) { - A[i][0] = 2.0 * (x[i + 1] - x[i]); - A[i][1] = y[i + 1] * y[i + 1] - y[i] * y[i]; - A[i][2] = 2.0 * (y[i + 1] - y[i]); - A[i][3] = z[i + 1] * z[i + 1] - z[i] * z[i]; - A[i][4] = 2.0 * (z[i + 1] - z[i]); - f[i] = x[i] * x[i] - x[i + 1] * x[i + 1]; - } - - // solve for c0=bx/Sx, c1=Sy^2/Sx^2; c2=Sy*by/Sx^2, c3=Sz^2/Sx^2, c4=Sz*bz/Sx^2 - if (!LinearEquationsSolving(5, (double *)A, f, c)) { - return 0; - } - - // use one magnitude equation and c's to find Sx - doesn't matter which - all give the same answer - xp = x[0]; yp = y[0]; zp = z[0]; - Sx = sqrt(ConstMag * ConstMag / (xp * xp + 2 * c[0] * xp + c[0] * c[0] + c[1] * yp * yp + 2 * c[2] * yp + c[2] * c[2] / c[1] + c[3] * zp * zp + 2 * c[4] * zp + c[4] * c[4] / c[3])); - - S[0] = Sx; - b[0] = Sx * c[0]; - S[1] = sqrt(c[1] * Sx * Sx); - b[1] = c[2] * Sx * Sx / S[1]; - S[2] = sqrt(c[3] * Sx * Sx); - b[2] = c[4] * Sx * Sx / S[2]; - - return 1; -} - -/********** Functions for six point calibration **************/ - -void ConfigRevoWidget::doStartSixPointCalibrationMag(){ - doStartSixPointCalibration(false, true); -} -void ConfigRevoWidget::doStartSixPointCalibrationAccel(){ - doStartSixPointCalibration(true, false); +void ConfigRevoWidget::sixPointCalibrationAccelStart(){ + sixPointCalibrationStart(true, false); } /** @@ -420,7 +330,7 @@ void ConfigRevoWidget::doStartSixPointCalibrationAccel(){ * accel) to compute the scale and bias of this sensor based on the current * home location magnetic strength. */ -void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool calibrateMag) +void ConfigRevoWidget::sixPointCalibrationStart(bool calibrateAccel, bool calibrateMag) { calibratingAccel = calibrateAccel; calibratingMag = calibrateMag; @@ -515,9 +425,8 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool cali /* Show instructions and enable controls */ m_ui->sixPointCalibInstructions->clear(); m_ui->sixPointCalibInstructions->append("Place horizontally and click save position..."); - displayPlane(m_ui->sixPointsHelp, "plane-horizontal"); - m_ui->sixPointsStartAccel->setEnabled(false); - m_ui->sixPointsStartMag->setEnabled(false); + displayVisualHelp("plane-horizontal"); + disableAllCalibrations(); m_ui->sixPointsSave->setEnabled(true); position = 0; } @@ -527,7 +436,7 @@ void ConfigRevoWidget::doStartSixPointCalibration(bool calibrateAccel, bool cali * This is called when they click "save position" and starts * averaging data for this position. */ -void ConfigRevoWidget::savePositionData() +void ConfigRevoWidget::sixPointCalibrationSavePositionData() { QMutexLocker lock(&sensorsUpdateLock); @@ -547,8 +456,8 @@ void ConfigRevoWidget::savePositionData() MagState *mag = MagState::GetInstance(getObjectManager()); Q_ASSERT(mag); - connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *))); - connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *))); + connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); + connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); m_ui->sixPointCalibInstructions->append("Hold..."); } @@ -558,7 +467,7 @@ void ConfigRevoWidget::savePositionData() * store it for averaging. When sufficient points are collected advance * to the next position (give message to user) or compute the scale and bias */ -void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) +void ConfigRevoWidget::sixPointCalibrationGetSample(UAVObject *obj) { QMutexLocker lock(&sensorsUpdateLock); @@ -593,7 +502,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) // Store the mean for this position for the accel AccelState *accelState = AccelState::GetInstance(getObjectManager()); Q_ASSERT(accelState); - disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *))); + disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); accel_data_x[position] = listMean(accel_accum_x); accel_data_y[position] = listMean(accel_accum_y); accel_data_z[position] = listMean(accel_accum_z); @@ -601,7 +510,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) // Store the mean for this position for the mag MagState *mag = MagState::GetInstance(getObjectManager()); Q_ASSERT(mag); - disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *))); + disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); mag_data_x[position] = listMean(mag_accum_x); mag_data_y[position] = listMean(mag_accum_y); mag_data_z[position] = listMean(mag_accum_z); @@ -609,30 +518,30 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { m_ui->sixPointCalibInstructions->append("Place with left side down and click save position..."); - displayPlane(m_ui->sixPointsHelp, "plane-left"); + displayVisualHelp("plane-left"); } if (position == 2) { m_ui->sixPointCalibInstructions->append("Place upside down and click save position..."); - displayPlane(m_ui->sixPointsHelp, "plane-flip"); + displayVisualHelp("plane-flip"); } if (position == 3) { m_ui->sixPointCalibInstructions->append("Place with right side down and click save position..."); - displayPlane(m_ui->sixPointsHelp, "plane-right"); + displayVisualHelp("plane-right"); } if (position == 4) { m_ui->sixPointCalibInstructions->append("Place with nose up and click save position..."); - displayPlane(m_ui->sixPointsHelp, "plane-up"); + displayVisualHelp("plane-up"); } if (position == 5) { m_ui->sixPointCalibInstructions->append("Place with nose down and click save position..."); - displayPlane(m_ui->sixPointsHelp, "plane-down"); + displayVisualHelp("plane-down"); } if (position == 0) { - computeScaleBias(calibratingMag, calibratingAccel); - m_ui->sixPointsStartAccel->setEnabled(true); - m_ui->sixPointsStartMag->setEnabled(true); + sixPointCalibrationCompute(calibratingMag, calibratingAccel); m_ui->sixPointsSave->setEnabled(false); + enableAllCalibrations(); + /* Cleanup original settings */ accelState->setMetadata(initialAccelStateMdata); @@ -648,7 +557,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj) * Computes the scale and bias for the magnetomer and (compile option) * for the accel once all the data has been collected in 6 positions. */ -void ConfigRevoWidget::computeScaleBias(bool mag, bool accel) +void ConfigRevoWidget::sixPointCalibrationCompute(bool mag, bool accel) { double S[3], b[3]; double Be_length; @@ -664,7 +573,7 @@ void ConfigRevoWidget::computeScaleBias(bool mag, bool accel) // Calibration accel if(accel) { - SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b); + OpenPilot::CalibrationUtils::SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b); accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]); accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]); accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]); @@ -677,7 +586,7 @@ void ConfigRevoWidget::computeScaleBias(bool mag, bool accel) // Calibration mag if(mag){ Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); - SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); + OpenPilot::CalibrationUtils::SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); @@ -779,15 +688,15 @@ void ConfigRevoWidget::recallBoardRotation() } /** - Rotate the paper plane + Show the selected visual aid */ -void ConfigRevoWidget::displayPlane(QGraphicsView *view, QString elementID) +void ConfigRevoWidget::displayVisualHelp(QString elementID) { - view->scene()->clear(); + m_ui->calibrationVisualHelp->scene()->clear(); QPixmap pixmap = QPixmap(":/configgadget/images/calibration/" + elementID + ".png"); - view->scene()->addPixmap(pixmap); - view->setSceneRect(pixmap.rect()); - view->fitInView(view->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->calibrationVisualHelp->scene()->addPixmap(pixmap); + m_ui->calibrationVisualHelp->setSceneRect(pixmap.rect()); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); } @@ -801,9 +710,7 @@ void ConfigRevoWidget::refreshWidgetsValues(UAVObject *object) { ConfigTaskWidget::refreshWidgetsValues(object); - m_ui->sixPointsStartAccel->setEnabled(true); - m_ui->sixPointsStartMag->setEnabled(true); - m_ui->accelBiasStart->setEnabled(true); + m_ui->calibInstructions->setText(QString("Press \"Start\" above to calibrate.")); m_ui->isSetCheckBox->setEnabled(false); @@ -832,3 +739,21 @@ void ConfigRevoWidget::clearHomeLocation() homeLocationData.Set = HomeLocation::SET_FALSE; homeLocation->setData(homeLocationData); } + +void ConfigRevoWidget::disableAllCalibrations() +{ + m_ui->sixPointsStartAccel->setEnabled(false); + m_ui->sixPointsStartMag->setEnabled(false); + m_ui->boardLevelStart->setEnabled(false); + m_ui->gyroBiasStart->setEnabled(false); + m_ui->ThermalBiasStart->setEnabled(false); +} + +void ConfigRevoWidget::enableAllCalibrations() +{ + m_ui->sixPointsStartAccel->setEnabled(true); + m_ui->sixPointsStartMag->setEnabled(true); + m_ui->boardLevelStart->setEnabled(true); + m_ui->gyroBiasStart->setEnabled(true); + m_ui->ThermalBiasStart->setEnabled(true); +} diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 53bf3ce9f..6b52344f5 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -29,7 +29,6 @@ #include "ui_revosensors.h" #include "configtaskwidget.h" - #include "../uavobjectwidgetutils/configtaskwidget.h" #include "extensionsystem/pluginmanager.h" #include "uavobjectmanager.h" @@ -41,6 +40,8 @@ #include #include #include "calibration/thermal/thermalcalibrationmodel.h" +#include "calibration/calibrationutils.h" + class Ui_Widget; @@ -55,10 +56,10 @@ public: ~ConfigRevoWidget(); private: - void displayPlane(QGraphicsView *view, QString elementID); + void displayVisualHelp(QString elementID); // ! Computes the scale and bias of the mag based on collected data - void computeScaleBias(bool mag, bool accel); + void sixPointCalibrationCompute(bool mag, bool accel); SavedSettings savedSettings; @@ -85,13 +86,12 @@ private: double accel_data_x[6], accel_data_y[6], accel_data_z[6]; double mag_data_x[6], mag_data_y[6], mag_data_z[6]; - bool calibratingMag = false; - bool calibratingAccel = false; + bool calibratingMag; + bool calibratingAccel; UAVObject::Metadata initialAccelStateMdata; UAVObject::Metadata initialGyroStateMdata; UAVObject::Metadata initialMagStateMdata; - UAVObject::Metadata initialBaroSensorMdata; float initialMagCorrectionRate; int position; @@ -110,21 +110,23 @@ private slots: virtual void refreshWidgetsValues(UAVObject *object = NULL); // Slots for calibrating the mags - void doStartSixPointCalibrationMag(); - void doStartSixPointCalibrationAccel(); - void doStartSixPointCalibration(bool calibrateAccel, bool calibrateMag); - void doGetSixPointCalibrationMeasurement(UAVObject *obj); - void savePositionData(); + void sixPointCalibrationMagStart(); + void sixPointCalibrationAccelStart(); + void sixPointCalibrationStart(bool calibrateAccel, bool calibrateMag); + void sixPointCalibrationGetSample(UAVObject *obj); + void sixPointCalibrationSavePositionData(); // Slots for calibrating the accel and gyro - void doStartAccelGyroBiasCalibration(); + void levelCalibrationStart(); - - void doGetAccelGyroBiasData(UAVObject *); + void levelCalibrationGetSample(UAVObject *); // Slot for clearing home location void clearHomeLocation(); + void disableAllCalibrations(); + void enableAllCalibrations(); + protected: void showEvent(QShowEvent *event); void resizeEvent(QResizeEvent *event); diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index 037a834a9..026edf5a1 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -62,69 +62,179 @@ 6 - + - - #2: Accelerometer/Magnetometer calibration - - - - - - - - - false - - - Launch accelerometer range and bias calibration. - - - Calibrate Accel - - - - - - - false - - - Launch magnetometer range and bias calibration. - - - Calibrate Mag - - - - - - - false - - - Save settings (only enabled when calibration is running) - - - Save Position - - - - + - + + + + Calibration instructions + + + Qt::ScrollBarAlwaysOff + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> +<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> +<tr> +<td style="border: none;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1, #2 and #3 are necessary. Step #4 will help you achieve the best possible results.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Multi-Point calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Board level calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Gyro Bias calculation:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#4: Thermal Calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p></td></tr></table></body></html> + + + + + + + #1: Accelerometer/Magnetometer calibration + + + + + + false + + + Launch accelerometer range and bias calibration. + + + Calibrate Accel + + + + + + + false + + + Launch magnetometer range and bias calibration. + + + Calibrate Mag + + + + + + + false + + + Save settings (only enabled when calibration is running) + + + Save Position + + + + + + + + + + #2: Board level calibration + + + + + + false + + + Start + + + + + + + false + + + Save Position + + + + + + + 0 + + + false + + + + + + + + + + #3: Gyro bias calibration + + + + + + false + + + Start + + + + + + + 0 + + + false + + + + + + + - #1: Thermal calibration + #4*: Thermal calibration - + - + @@ -267,86 +377,6 @@ - - - - Six Point Calibration instructions - - - Qt::ScrollBarAlwaysOff - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> -<html><head><meta name="qrichtext" content="1" /><style type="text/css"> -p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;"> -<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> -<tr> -<td style="border: none;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #2 and #3 are really necessary. Step #1 will help you achieve the best possible results.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Thermal Calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute the variation of all sensors bias at different temperatures while the board warm up.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Multi-Point calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors on the INS. Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Board level calibration:</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p></td></tr></table></body></html> - - - - - - - #3: Board level calibration - - - - - - - - - - - false - - - Start - - - - - - - false - - - Save Position - - - - - - - 0 - - - false - - - - - - - - @@ -395,10 +425,10 @@ p, li { white-space: pre-wrap; } - -90 + -90.000000000000000 - 90 + 90.000000000000000 @@ -477,10 +507,10 @@ margin:1px; - -180 + -180.000000000000000 - 180 + 180.000000000000000 @@ -510,10 +540,10 @@ margin:1px; - -180 + -180.000000000000000 - 180 + 180.000000000000000 From f1d6b3a86302941ef8be4eb6120f8cc65318f4f9 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 10 Apr 2014 22:42:20 +0200 Subject: [PATCH 15/60] OP-975 fix message at end of calibration --- .../openpilotgcs/src/plugins/config/configrevowidget.cpp | 7 +++---- 1 file changed, 3 insertions(+), 4 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index fd10b9c27..a0a24570d 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -643,11 +643,10 @@ void ConfigRevoWidget::sixPointCalibrationCompute(bool mag, bool accel) } else { accelGyroSettings->setData(savedSettings.accelGyroSettings); } - m_ui->sixPointCalibInstructions->append("Computed sensor scale and bias..."); + displayInstructions("Computed sensor scale and bias...", true); + } else { + displayInstructions("Bad calibration. Please repeat.", true); } - - m_ui->sixPointCalibInstructions->append("Bad calibration. Please repeat."); - position = -1; // set to run again } From 73169e0f203b7c82476e6b510dc228b09d5166ef Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 10 Apr 2014 22:43:47 +0200 Subject: [PATCH 16/60] OP-975 Split level/gyro calibrations, base level calibration on board rotation, a lot more refactoring/cleanup --- .../src/plugins/config/configgadget.qrc | 2 +- .../src/plugins/config/configrevowidget.cpp | 223 +++++++++++++----- .../src/plugins/config/configrevowidget.h | 19 +- ...tated.png => plane-horizontal-rotated.png} | Bin .../src/plugins/config/revosensors.ui | 68 ++++-- 5 files changed, 227 insertions(+), 85 deletions(-) rename ground/openpilotgcs/src/plugins/config/images/calibration/{plane-down-rotated.png => plane-horizontal-rotated.png} (100%) diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index bcc33a6ac..ee2c42c41 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -36,7 +36,7 @@ images/calibration/plane-left.png images/calibration/plane-right.png images/calibration/plane-up.png - images/calibration/plane-down-rotated.png + images/calibration/plane-horizontal-rotated.png images/calibration/snow.png diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index a0a24570d..973b54a25 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -40,6 +40,7 @@ #include #include #include +#include #include #include #include @@ -114,10 +115,11 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // Connect the signals // gyro zero calibration - connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(levelCalibrationStart())); + connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(gyroCalibrationStart())); // level calibration connect(m_ui->boardLevelStart, SIGNAL(clicked()), this, SLOT(levelCalibrationStart())); + connect(m_ui->boardLevelSavePos, SIGNAL(clicked()), this, SLOT(levelCalibrationSavePosition())); // six point calibrations connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), this, SLOT(sixPointCalibrationAccelStart())); @@ -151,29 +153,25 @@ void ConfigRevoWidget::showEvent(QShowEvent *event) // Thit fitInView method should only be called now, once the // widget is shown, otherwise it cannot compute its values and // the result is usually a sensorsBargraph that is way too small. - m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); m_thermalCalibrationModel->init(); } void ConfigRevoWidget::resizeEvent(QResizeEvent *event) { Q_UNUSED(event); - m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); } - -/******* Level calibration *******/ -/** - * Starts an accelerometer bias calibration. - */ -void ConfigRevoWidget::levelCalibrationStart() +/******* gyro bias zero ******/ +void ConfigRevoWidget::gyroCalibrationStart() { // Store and reset board rotation before calibration starts isBoardRotationStored = false; storeAndClearBoardRotation(); disableAllCalibrations(); - m_ui->boardLevelProgress->setValue(0); + m_ui->gyroBiasProgress->setValue(0); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); Q_ASSERT(revoCalibration); @@ -190,24 +188,12 @@ void ConfigRevoWidget::levelCalibrationStart() attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); - accel_accum_x.clear(); - accel_accum_y.clear(); - accel_accum_z.clear(); gyro_accum_x.clear(); gyro_accum_y.clear(); gyro_accum_z.clear(); UAVObject::Metadata mdata; - /* Need to get as many accel updates as possible */ - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - initialAccelStateMdata = accelState->getMetadata(); - mdata = initialAccelStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - accelState->setMetadata(mdata); - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); Q_ASSERT(gyroState); initialGyroStateMdata = gyroState->getMetadata(); @@ -218,31 +204,19 @@ void ConfigRevoWidget::levelCalibrationStart() // Now connect to the accels and mag updates, gather for 100 samples collectingData = true; - connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); - connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); + connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(gyroBiasCalibrationGetSample(UAVObject *))); } /** - Updates the accel bias raw values + Updates the gyro bias raw values */ -void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) +void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) { QMutexLocker lock(&sensorsUpdateLock); Q_UNUSED(lock); switch (obj->getObjID()) { - case AccelState::OBJID: - { - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - AccelState::DataFields accelStateData = accelState->getData(); - - accel_accum_x.append(accelStateData.x); - accel_accum_y.append(accelStateData.y); - accel_accum_z.append(accelStateData.z); - break; - } case GyroState::OBJID: { GyroState *gyroState = GyroState::GetInstance(getObjectManager()); @@ -259,19 +233,16 @@ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) } // Work out the progress based on whichever has less - double p1 = (double)accel_accum_x.size() / (double)NOISE_SAMPLES; - double p2 = (double)accel_accum_y.size() / (double)NOISE_SAMPLES; - m_ui->boardLevelProgress->setValue(((p1 < p2) ? p1 : p2) * 100); + double p1 = (double)gyro_accum_x.size() / (double)NOISE_SAMPLES; + double p2 = (double)gyro_accum_y.size() / (double)NOISE_SAMPLES; + m_ui->gyroBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 50); - if (accel_accum_x.size() >= NOISE_SAMPLES && - gyro_accum_y.size() >= NOISE_SAMPLES && + if (gyro_accum_y.size() >= 2 * NOISE_SAMPLES && collectingData == true) { collectingData = false; - AccelState *accelState = AccelState::GetInstance(getObjectManager()); GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); enableAllCalibrations(); @@ -281,16 +252,12 @@ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); Q_ASSERT(accelGyroSettings); - RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE; - // Update the biases based on collected data - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] += listMean(accel_accum_x); - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] += listMean(accel_accum_y); - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] += (listMean(accel_accum_z) + GRAVITY); + // Update biases based on collected data accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += listMean(gyro_accum_x); accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += listMean(gyro_accum_y); accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += listMean(gyro_accum_z); @@ -307,7 +274,6 @@ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); - accelState->setMetadata(initialAccelStateMdata); gyroState->setMetadata(initialGyroStateMdata); // Recall saved board rotation @@ -315,6 +281,138 @@ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) } } + + +/******* Level calibration *******/ +/** + * Starts an accelerometer bias calibration. + */ +void ConfigRevoWidget::levelCalibrationStart() +{ + + + // Store and reset board rotation before calibration starts + + disableAllCalibrations(); + m_ui->boardLevelProgress->setValue(0); + + rot_data_pitch = 0; + rot_data_roll = 0; + UAVObject::Metadata mdata; + + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + Q_ASSERT(attitudeState); + initialAttitudeStateMdata = attitudeState->getMetadata(); + mdata = initialAttitudeStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + attitudeState->setMetadata(mdata); + + /* Show instructions and enable controls */ + displayInstructions("Place horizontally and click save position...", true); + displayVisualHelp("plane-horizontal"); + disableAllCalibrations(); + m_ui->boardLevelSavePos->setEnabled(true); + position = 0; + +} + +void ConfigRevoWidget::levelCalibrationSavePosition(){ + QMutexLocker lock(&sensorsUpdateLock); + Q_UNUSED(lock); + + m_ui->boardLevelSavePos->setEnabled(false); + + rot_accum_pitch.clear(); + rot_accum_roll.clear(); + + collectingData = true; + + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + Q_ASSERT(attitudeState); + connect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); + + displayInstructions("Hold..."); +} + +/** + Updates the accel bias raw values + */ +void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) +{ + QMutexLocker lock(&sensorsUpdateLock); + Q_UNUSED(lock); + + switch (obj->getObjID()) { + case AttitudeState::OBJID: + { + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + Q_ASSERT(attitudeState); + AttitudeState::DataFields attitudeStateData = attitudeState->getData(); + rot_accum_roll.append(attitudeStateData.Roll); + rot_accum_pitch.append(attitudeStateData.Pitch); + break; + } + default: + Q_ASSERT(0); + } + + // Work out the progress based on whichever has less + double p1 = (double)rot_accum_roll.size() / (double)NOISE_SAMPLES; + m_ui->boardLevelProgress->setValue(p1 * 100); + + if (rot_accum_roll.size() >= NOISE_SAMPLES && + collectingData == true) { + collectingData = false; + + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + + disconnect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); + + position++; + switch(position){ + case 1: + rot_data_pitch = listMean(rot_accum_pitch); + rot_data_roll = listMean(rot_accum_roll); + + displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); + displayVisualHelp("plane-horizontal-rotated"); + + disableAllCalibrations(); + + m_ui->boardLevelSavePos->setEnabled(true); + break; + case 2: + rot_data_pitch += listMean(rot_accum_pitch); + rot_data_pitch /= 2; + rot_data_roll += listMean(rot_accum_roll); + rot_data_roll /= 2; + attitudeState->setMetadata(initialAttitudeStateMdata); + levelCalibrationCompute(); + enableAllCalibrations(); + break; + } + + } +} +void ConfigRevoWidget::levelCalibrationCompute(){ + enableAllCalibrations(); + + AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); + Q_ASSERT(attitudeSettings); + AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); + + // Update the biases based on collected data + // "rotate" the board in the opposite direction as the calculated offset + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] -= rot_data_pitch; + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] -= rot_data_roll; + + attitudeSettings->setData(attitudeSettingsData); + attitudeSettings->updated(); + + +} + /********** Six point calibration **************/ void ConfigRevoWidget::sixPointCalibrationMagStart(){ @@ -423,8 +521,7 @@ void ConfigRevoWidget::sixPointCalibrationStart(bool calibrateAccel, bool calibr mag->setMetadata(mdata); /* Show instructions and enable controls */ - m_ui->sixPointCalibInstructions->clear(); - m_ui->sixPointCalibInstructions->append("Place horizontally and click save position..."); + displayInstructions("Place horizontally and click save position...", true); displayVisualHelp("plane-horizontal"); disableAllCalibrations(); m_ui->sixPointsSave->setEnabled(true); @@ -459,7 +556,7 @@ void ConfigRevoWidget::sixPointCalibrationSavePositionData() connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); - m_ui->sixPointCalibInstructions->append("Hold..."); + displayInstructions("Hold..."); } /** @@ -517,23 +614,23 @@ void ConfigRevoWidget::sixPointCalibrationGetSample(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { - m_ui->sixPointCalibInstructions->append("Place with left side down and click save position..."); + displayInstructions("Place with left side down and click save position..."); displayVisualHelp("plane-left"); } if (position == 2) { - m_ui->sixPointCalibInstructions->append("Place upside down and click save position..."); + displayInstructions("Place upside down and click save position..."); displayVisualHelp("plane-flip"); } if (position == 3) { - m_ui->sixPointCalibInstructions->append("Place with right side down and click save position..."); + displayInstructions("Place with right side down and click save position..."); displayVisualHelp("plane-right"); } if (position == 4) { - m_ui->sixPointCalibInstructions->append("Place with nose up and click save position..."); + displayInstructions("Place with nose up and click save position..."); displayVisualHelp("plane-up"); } if (position == 5) { - m_ui->sixPointCalibInstructions->append("Place with nose down and click save position..."); + displayInstructions("Place with nose down and click save position..."); displayVisualHelp("plane-down"); } if (position == 0) { @@ -695,9 +792,17 @@ void ConfigRevoWidget::displayVisualHelp(QString elementID) QPixmap pixmap = QPixmap(":/configgadget/images/calibration/" + elementID + ".png"); m_ui->calibrationVisualHelp->scene()->addPixmap(pixmap); m_ui->calibrationVisualHelp->setSceneRect(pixmap.rect()); - m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); } +void ConfigRevoWidget::displayInstructions(QString instructions, bool replace){ + if(replace || instructions.isNull()){ + m_ui->calibrationInstructions->clear(); + } + if(!instructions.isNull()){ + m_ui->calibrationInstructions->append(instructions); + } +} /********** UI Functions *************/ diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 6b52344f5..539a980f6 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -83,12 +83,21 @@ private: QList mag_accum_y; QList mag_accum_z; + QList rot_accum_roll; + QList rot_accum_pitch; + + + double accel_data_x[6], accel_data_y[6], accel_data_z[6]; double mag_data_x[6], mag_data_y[6], mag_data_z[6]; + double rot_data_roll; + double rot_data_pitch; + bool calibratingMag; bool calibratingAccel; + UAVObject::Metadata initialAttitudeStateMdata; UAVObject::Metadata initialAccelStateMdata; UAVObject::Metadata initialGyroStateMdata; UAVObject::Metadata initialMagStateMdata; @@ -96,13 +105,14 @@ private: int position; - static const int NOISE_SAMPLES = 100; + static const int NOISE_SAMPLES = 50; // Board rotation store/recall qint16 storedBoardRotation[3]; bool isBoardRotationStored; void storeAndClearBoardRotation(); void recallBoardRotation(); + void displayInstructions(QString instructions = QString(), bool replace = false); private slots: @@ -118,9 +128,14 @@ private slots: // Slots for calibrating the accel and gyro void levelCalibrationStart(); - + void levelCalibrationSavePosition(); + void levelCalibrationCompute(); void levelCalibrationGetSample(UAVObject *); + // Slots for gyro bias zero + void gyroCalibrationStart(); + void gyroBiasCalibrationGetSample(UAVObject *obj); + // Slot for clearing home location void clearHomeLocation(); diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/plane-down-rotated.png b/ground/openpilotgcs/src/plugins/config/images/calibration/plane-horizontal-rotated.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/plane-down-rotated.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/plane-horizontal-rotated.png diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index 026edf5a1..bbbd3d59f 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -7,7 +7,7 @@ 0 0 836 - 527 + 596 @@ -62,35 +62,55 @@ 6 - - - - - - - - + + + + + + Qt::ScrollBarAlwaysOff + + + Qt::ScrollBarAlwaysOff + + + + - - - Calibration instructions - - - Qt::ScrollBarAlwaysOff - - - <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> + + + + + Calibration status + + + Qt::ScrollBarAlwaysOff + + + QAbstractScrollArea::AdjustToContents + + + + + + + Calibration instructions + + + Qt::ScrollBarAlwaysOff + + + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> +</style></head><body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;"> <table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> <tr> <td style="border: none;"> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1, #2 and #3 are necessary. Step #4 will help you achieve the best possible results.</span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"><br /></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8pt;"><br /></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Multi-Point calibration:</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> @@ -108,8 +128,10 @@ p, li { white-space: pre-wrap; } <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> <p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p></td></tr></table></body></html> - - + + + + @@ -227,7 +249,7 @@ p, li { white-space: pre-wrap; } - + #4*: Thermal calibration From 7708cdd15da84bf26cb8c584c23245d20595cc22 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 00:46:44 +0200 Subject: [PATCH 17/60] OP-975 Move six points calibration to a reusable class --- .../config/calibration/calibrationutils.cpp | 27 ++ .../config/calibration/calibrationutils.h | 5 +- .../calibration/sixpointcalibrationmodel.cpp | 385 +++++++++++++++++ .../calibration/sixpointcalibrationmodel.h | 101 +++++ .../src/plugins/config/config.pro | 6 +- .../src/plugins/config/configrevowidget.cpp | 403 ++---------------- .../src/plugins/config/configrevowidget.h | 44 +- .../uavobjectwidgetutils/configtaskwidget.cpp | 28 -- 8 files changed, 564 insertions(+), 435 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp index 35aa95a04..810dd7587 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp @@ -423,6 +423,33 @@ int CalibrationUtils::LinearEquationsSolve(int nDim, double *pfMatr, double *pfV return 1; } + +double CalibrationUtils::listMean(QList list) +{ + double accum = 0; + + for (int i = 0; i < list.size(); i++) { + accum += list[i]; + } + return accum / list.size(); } +double CalibrationUtils::listVar(QList list) +{ + double mean_accum = 0; + double var_accum = 0; + double mean; + for (int i = 0; i < list.size(); i++) { + mean_accum += list[i]; + } + mean = mean_accum / list.size(); + + for (int i = 0; i < list.size(); i++) { + var_accum += (list[i] - mean) * (list[i] - mean); + } + + // Use unbiased estimator + return var_accum / (list.size() - 1); +} +} diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h index 83758b2a8..216eae2ff 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h @@ -32,7 +32,7 @@ #include #include #include - +#include namespace OpenPilot { class CalibrationUtils { public: @@ -48,7 +48,8 @@ public: static float ComputeSigma(Eigen::VectorXf *samplesY); static int SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3]); - + static double listMean(QList list); + static double listVar(QList list); private: static void EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, Eigen::Vector3f *center, diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp new file mode 100644 index 000000000..a906b770f --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -0,0 +1,385 @@ +/** + ****************************************************************************** + * + * @file sixpointcalibrationmodel.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * + * @brief Six point calibration for Magnetometer and Accelerometer + * @see The GNU Public License (GPL) Version 3 + * @defgroup + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#include "sixpointcalibrationmodel.h" +#include +#include "extensionsystem/pluginmanager.h" +#include +#include "math.h" + +#define POINT_SAMPLE_SIZE 50 +#define GRAVITY 9.81f +#define sign(x) ((x < 0) ? -1 : 1) + +namespace OpenPilot { +SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : + QObject(parent), + collectingData(false), + calibratingMag(false), + calibratingAccel(false), + position(-1) +{} + +/********** Six point calibration **************/ + +void SixPointCalibrationModel::magStart() +{ + start(false, true); +} +void SixPointCalibrationModel::accelStart() +{ + start(true, false); +} + +/** + * Called by the "Start" button. Sets up the meta data and enables the + * buttons to perform six point calibration of the magnetometer (optionally + * accel) to compute the scale and bias of this sensor based on the current + * home location magnetic strength. + */ +void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) +{ + calibratingAccel = calibrateAccel; + calibratingMag = calibrateMag; + // Store and reset board rotation before calibration starts + isBoardRotationStored = false; + storeAndClearBoardRotation(); + + RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); + HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); + AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); + + Q_ASSERT(revoCalibration); + Q_ASSERT(homeLocation); + RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); + savedSettings.revoCalibration = revoCalibration->getData(); + HomeLocation::DataFields homeLocationData = homeLocation->getData(); + AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); + savedSettings.accelGyroSettings = accelGyroSettings->getData(); + + // check if Homelocation is set + if (!homeLocationData.Set) { + QMessageBox msgBox; + msgBox.setInformativeText(tr("

HomeLocation not SET.

Please set your HomeLocation and try again. Aborting calibration!

")); + msgBox.setStandardButtons(QMessageBox::Ok); + msgBox.setDefaultButton(QMessageBox::Ok); + msgBox.setIcon(QMessageBox::Information); + msgBox.exec(); + return; + } + + // Calibration accel + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = 1; + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = 1; + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = 1; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = 0; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = 0; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = 0; + + accel_accum_x.clear(); + accel_accum_y.clear(); + accel_accum_z.clear(); + + // Calibration mag + // Reset the transformation matrix to identity + for (int i = 0; i < RevoCalibration::MAG_TRANSFORM_R2C2; i++) { + revoCalibrationData.mag_transform[i] = 0; + } + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = 1; + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = 1; + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = 1; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = 0; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = 0; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = 0; + + // Disable adaptive mag nulling + initialMagCorrectionRate = revoCalibrationData.MagBiasNullingRate; + revoCalibrationData.MagBiasNullingRate = 0; + + revoCalibration->setData(revoCalibrationData); + accelGyroSettings->setData(accelGyroSettingsData); + + QThread::usleep(100000); + + mag_accum_x.clear(); + mag_accum_y.clear(); + mag_accum_z.clear(); + + UAVObject::Metadata mdata; + + /* Need to get as many accel updates as possible */ + AccelState *accelState = AccelState::GetInstance(getObjectManager()); + Q_ASSERT(accelState); + + initialAccelStateMdata = accelState->getMetadata(); + mdata = initialAccelStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + accelState->setMetadata(mdata); + + /* Need to get as many mag updates as possible */ + MagState *mag = MagState::GetInstance(getObjectManager()); + Q_ASSERT(mag); + initialMagStateMdata = mag->getMetadata(); + mdata = initialMagStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + mag->setMetadata(mdata); + + /* Show instructions and enable controls */ + displayInstructions("Place horizontally and click save position...", true); + displayVisualHelp("plane-horizontal"); + disableAllCalibrations(); + savePositionEnabledChanged(true); + position = 0; +} + +/** + * Saves the data from the aircraft in one of six positions. + * This is called when they click "save position" and starts + * averaging data for this position. + */ +void SixPointCalibrationModel::savePositionData() +{ + QMutexLocker lock(&sensorsUpdateLock); + + savePositionEnabledChanged(false); + + accel_accum_x.clear(); + accel_accum_y.clear(); + accel_accum_z.clear(); + mag_accum_x.clear(); + mag_accum_y.clear(); + mag_accum_z.clear(); + + collectingData = true; + + AccelState *accelState = AccelState::GetInstance(getObjectManager()); + Q_ASSERT(accelState); + MagState *mag = MagState::GetInstance(getObjectManager()); + Q_ASSERT(mag); + + connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + + displayInstructions("Hold...", false); +} + +/** + * Grab a sample of mag (optionally accel) data while in this position and + * store it for averaging. When sufficient points are collected advance + * to the next position (give message to user) or compute the scale and bias + */ +void SixPointCalibrationModel::getSample(UAVObject *obj) +{ + QMutexLocker lock(&sensorsUpdateLock); + + // This is necessary to prevent a race condition on disconnect signal and another update + if (collectingData == true) { + if (obj->getObjID() == AccelState::OBJID) { + AccelState *accelState = AccelState::GetInstance(getObjectManager()); + Q_ASSERT(accelState); + AccelState::DataFields accelStateData = accelState->getData(); + accel_accum_x.append(accelStateData.x); + accel_accum_y.append(accelStateData.y); + accel_accum_z.append(accelStateData.z); + } else if (obj->getObjID() == MagState::OBJID) { + MagState *mag = MagState::GetInstance(getObjectManager()); + Q_ASSERT(mag); + MagState::DataFields magData = mag->getData(); + mag_accum_x.append(magData.x); + mag_accum_y.append(magData.y); + mag_accum_z.append(magData.z); + } else { + Q_ASSERT(0); + } + } + + if (accel_accum_x.size() >= POINT_SAMPLE_SIZE && mag_accum_x.size() >= POINT_SAMPLE_SIZE && collectingData == true) { + collectingData = false; + + savePositionEnabledChanged(true); + + // Store the mean for this position for the accel + AccelState *accelState = AccelState::GetInstance(getObjectManager()); + Q_ASSERT(accelState); + disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + accel_data_x[position] = CalibrationUtils::listMean(accel_accum_x); + accel_data_y[position] = CalibrationUtils::listMean(accel_accum_y); + accel_data_z[position] = CalibrationUtils::listMean(accel_accum_z); + + // Store the mean for this position for the mag + MagState *mag = MagState::GetInstance(getObjectManager()); + Q_ASSERT(mag); + disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + mag_data_x[position] = CalibrationUtils::listMean(mag_accum_x); + mag_data_y[position] = CalibrationUtils::listMean(mag_accum_y); + mag_data_z[position] = CalibrationUtils::listMean(mag_accum_z); + + position = (position + 1) % 6; + if (position == 1) { + displayInstructions("Place with left side down and click save position...", false); + displayVisualHelp("plane-left"); + } + if (position == 2) { + displayInstructions("Place upside down and click save position...", false); + displayVisualHelp("plane-flip"); + } + if (position == 3) { + displayInstructions("Place with right side down and click save position...", false); + displayVisualHelp("plane-right"); + } + if (position == 4) { + displayInstructions("Place with nose up and click save position...", false); + displayVisualHelp("plane-up"); + } + if (position == 5) { + displayInstructions("Place with nose down and click save position...", false); + displayVisualHelp("plane-down"); + } + if (position == 0) { + compute(calibratingMag, calibratingAccel); + savePositionEnabledChanged(false); + + enableAllCalibrations(); + + /* Cleanup original settings */ + accelState->setMetadata(initialAccelStateMdata); + + mag->setMetadata(initialMagStateMdata); + + // Recall saved board rotation + recallBoardRotation(); + } + } +} + +/** + * Computes the scale and bias for the magnetomer and (compile option) + * for the accel once all the data has been collected in 6 positions. + */ +void SixPointCalibrationModel::compute(bool mag, bool accel) +{ + double S[3], b[3]; + double Be_length; + AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); + RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); + HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); + + Q_ASSERT(revoCalibration); + Q_ASSERT(homeLocation); + AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); + RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); + HomeLocation::DataFields homeLocationData = homeLocation->getData(); + + // Calibration accel + if (accel) { + OpenPilot::CalibrationUtils::SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b); + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]); + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]); + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]); + + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = -sign(S[0]) * b[0]; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = -sign(S[1]) * b[1]; + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = -sign(S[2]) * b[2]; + } + + // Calibration mag + if (mag) { + Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); + OpenPilot::CalibrationUtils::SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); + + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0]; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1]; + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2]; + } + // Restore the previous setting + revoCalibrationData.MagBiasNullingRate = initialMagCorrectionRate; + + + bool good_calibration = true; + + // Check the mag calibration is good + if (mag) { + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] == + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]; + } + // Check the accel calibration is good + if (accel) { + good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] == + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X]; + good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] == + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y]; + good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] == + accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z]; + good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] == + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X]; + good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] == + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y]; + good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] == + accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z]; + } + if (good_calibration) { + if (mag) { + revoCalibration->setData(revoCalibrationData); + } else { + revoCalibration->setData(savedSettings.revoCalibration); + } + + if (accel) { + accelGyroSettings->setData(accelGyroSettingsData); + } else { + accelGyroSettings->setData(savedSettings.accelGyroSettings); + } + displayInstructions("Computed sensor scale and bias...", true); + } else { + displayInstructions("Bad calibration. Please repeat.", true); + } + position = -1; // set to run again +} +UAVObjectManager *SixPointCalibrationModel::getObjectManager() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *objMngr = pm->getObject(); + + Q_ASSERT(objMngr); + return objMngr; +} +} diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h new file mode 100644 index 000000000..38dbaca68 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -0,0 +1,101 @@ +/** + ****************************************************************************** + * + * @file sixpointcalibrationmodel.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * + * @brief Six point calibration for Magnetometer and Accelerometer + * @see The GNU Public License (GPL) Version 3 + * @defgroup + * @{ + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#ifndef SIXPOINTCALIBRATIONMODEL_H +#define SIXPOINTCALIBRATIONMODEL_H +#include +#include +#include +#include "calibration/calibrationutils.h" + +#include +#include +#include +#include +#include +namespace OpenPilot { +class SixPointCalibrationModel : public QObject { + Q_OBJECT + + typedef struct { + RevoCalibration::DataFields revoCalibration; + AccelGyroSettings::DataFields accelGyroSettings; + } SavedSettings; +public: + explicit SixPointCalibrationModel(QObject *parent = 0); + +signals: + void displayVisualHelp(QString elementID); + void displayInstructions(QString instructions, bool replace); + void disableAllCalibrations(); + void enableAllCalibrations(); + void storeAndClearBoardRotation(); + void recallBoardRotation(); + void savePositionEnabledChanged(bool state); + +public slots: + // Slots for calibrating the mags + void magStart(); + void accelStart(); + void savePositionData(); +private slots: + void getSample(UAVObject *obj); +private: + void start(bool calibrateAccel, bool calibrateMag); + UAVObjectManager *getObjectManager(); + + + UAVObject::Metadata initialAccelStateMdata; + UAVObject::Metadata initialMagStateMdata; + float initialMagCorrectionRate; + SavedSettings savedSettings; + + int position; + + bool calibratingMag; + bool calibratingAccel; + + bool isBoardRotationStored; + + double accel_data_x[6], accel_data_y[6], accel_data_z[6]; + double mag_data_x[6], mag_data_y[6], mag_data_z[6]; + + QMutex sensorsUpdateLock; + + // ! Computes the scale and bias of the mag based on collected data + void compute(bool mag, bool accel); + + bool collectingData; + QList accel_accum_x; + QList accel_accum_y; + QList accel_accum_z; + QList mag_accum_x; + QList mag_accum_y; + QList mag_accum_z; +}; +} +#endif // SIXPOINTCALIBRATIONMODEL_H diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 06b56a8f1..087af1088 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -51,7 +51,8 @@ HEADERS += configplugin.h \ calibration/thermal/boardsetuptransition.h \ calibration/thermal/dataacquisitiontransition.h \ calibration/thermal/settingshandlingtransitions.h \ - calibration/thermal/compensationcalculationtransition.h + calibration/thermal/compensationcalculationtransition.h \ + calibration/sixpointcalibrationmodel.h SOURCES += configplugin.cpp \ configgadgetwidget.cpp \ @@ -86,7 +87,8 @@ SOURCES += configplugin.cpp \ calibration/wizardmodel.cpp \ calibration/thermal/thermalcalibration.cpp \ calibration/thermal/thermalcalibrationhelper.cpp \ - calibration/thermal/thermalcalibrationmodel.cpp + calibration/thermal/thermalcalibrationmodel.cpp \ + calibration/sixpointcalibrationmodel.cpp FORMS += airframe.ui \ airframe_ccpm.ui \ diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 973b54a25..9ffc9e3fc 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -50,10 +50,9 @@ #include #include -#define GRAVITY 9.81f #include "assertions.h" #include "calibration.h" - +#include "calibration/calibrationutils.h" #define sign(x) ((x < 0) ? -1 : 1) // Uncomment this to enable 6 point calibration on the accels @@ -76,8 +75,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : ConfigTaskWidget(parent), m_ui(new Ui_RevoSensorsWidget()), collectingData(false), - calibratingMag(false), - calibratingAccel(false), position(-1), isBoardRotationStored(false) { @@ -113,6 +110,20 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : connect(m_thermalCalibrationModel, SIGNAL(progressChanged(int)), m_ui->thermalBiasProgress, SLOT(setValue(int))); // note: init for m_thermalCalibrationModel is done in showEvent to prevent cases wiht "Start" button not enabled due to some itming issue. + m_sixPointCalibrationModel = new OpenPilot::SixPointCalibrationModel(this); + // six point calibrations + connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), m_sixPointCalibrationModel, SLOT(accelStart())); + connect(m_ui->sixPointsStartMag, SIGNAL(clicked()), m_sixPointCalibrationModel, SLOT(magStart())); + connect(m_ui->sixPointsSave, SIGNAL(clicked()), m_sixPointCalibrationModel, SLOT(savePositionData())); + + connect(m_sixPointCalibrationModel, SIGNAL(disableAllCalibrations()), this, SLOT(disableAllCalibrations())); + connect(m_sixPointCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations())); + connect(m_sixPointCalibrationModel, SIGNAL(storeAndClearBoardRotation()), this, SLOT(storeAndClearBoardRotation())); + connect(m_sixPointCalibrationModel, SIGNAL(recallBoardRotation()), this, SLOT(recallBoardRotation())); + connect(m_sixPointCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool))); + connect(m_sixPointCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString))); + connect(m_sixPointCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->sixPointsSave, SLOT(setEnabled(bool))); + // Connect the signals // gyro zero calibration connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(gyroCalibrationStart())); @@ -121,10 +132,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : connect(m_ui->boardLevelStart, SIGNAL(clicked()), this, SLOT(levelCalibrationStart())); connect(m_ui->boardLevelSavePos, SIGNAL(clicked()), this, SLOT(levelCalibrationSavePosition())); - // six point calibrations - connect(m_ui->sixPointsStartAccel, SIGNAL(clicked()), this, SLOT(sixPointCalibrationAccelStart())); - connect(m_ui->sixPointsStartMag, SIGNAL(clicked()), this, SLOT(sixPointCalibrationMagStart())); - connect(m_ui->sixPointsSave, SIGNAL(clicked()), this, SLOT(sixPointCalibrationSavePositionData())); connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); @@ -241,7 +248,7 @@ void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) collectingData == true) { collectingData = false; - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); + GyroState *gyroState = GyroState::GetInstance(getObjectManager()); disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); @@ -258,9 +265,9 @@ void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE; // Update biases based on collected data - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += listMean(gyro_accum_x); - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += listMean(gyro_accum_y); - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += listMean(gyro_accum_z); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z); revoCalibration->setData(revoCalibrationData); revoCalibration->updated(); @@ -282,22 +289,19 @@ void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) } - /******* Level calibration *******/ /** * Starts an accelerometer bias calibration. */ void ConfigRevoWidget::levelCalibrationStart() { - - // Store and reset board rotation before calibration starts disableAllCalibrations(); m_ui->boardLevelProgress->setValue(0); rot_data_pitch = 0; - rot_data_roll = 0; + rot_data_roll = 0; UAVObject::Metadata mdata; AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); @@ -314,11 +318,12 @@ void ConfigRevoWidget::levelCalibrationStart() disableAllCalibrations(); m_ui->boardLevelSavePos->setEnabled(true); position = 0; - } -void ConfigRevoWidget::levelCalibrationSavePosition(){ +void ConfigRevoWidget::levelCalibrationSavePosition() +{ QMutexLocker lock(&sensorsUpdateLock); + Q_UNUSED(lock); m_ui->boardLevelSavePos->setEnabled(false); @@ -341,6 +346,7 @@ void ConfigRevoWidget::levelCalibrationSavePosition(){ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) { QMutexLocker lock(&sensorsUpdateLock); + Q_UNUSED(lock); switch (obj->getObjID()) { @@ -370,10 +376,10 @@ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) disconnect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); position++; - switch(position){ + switch (position) { case 1: - rot_data_pitch = listMean(rot_accum_pitch); - rot_data_roll = listMean(rot_accum_roll); + rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); + rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); displayVisualHelp("plane-horizontal-rotated"); @@ -383,19 +389,19 @@ void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) m_ui->boardLevelSavePos->setEnabled(true); break; case 2: - rot_data_pitch += listMean(rot_accum_pitch); + rot_data_pitch += OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); rot_data_pitch /= 2; - rot_data_roll += listMean(rot_accum_roll); - rot_data_roll /= 2; + rot_data_roll += OpenPilot::CalibrationUtils::listMean(rot_accum_roll); + rot_data_roll /= 2; attitudeState->setMetadata(initialAttitudeStateMdata); levelCalibrationCompute(); enableAllCalibrations(); break; } - } } -void ConfigRevoWidget::levelCalibrationCompute(){ +void ConfigRevoWidget::levelCalibrationCompute() +{ enableAllCalibrations(); AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); @@ -405,346 +411,10 @@ void ConfigRevoWidget::levelCalibrationCompute(){ // Update the biases based on collected data // "rotate" the board in the opposite direction as the calculated offset attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] -= rot_data_pitch; - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] -= rot_data_roll; + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] -= rot_data_roll; attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); - - -} - -/********** Six point calibration **************/ - -void ConfigRevoWidget::sixPointCalibrationMagStart(){ - sixPointCalibrationStart(false, true); -} -void ConfigRevoWidget::sixPointCalibrationAccelStart(){ - sixPointCalibrationStart(true, false); -} - -/** - * Called by the "Start" button. Sets up the meta data and enables the - * buttons to perform six point calibration of the magnetometer (optionally - * accel) to compute the scale and bias of this sensor based on the current - * home location magnetic strength. - */ -void ConfigRevoWidget::sixPointCalibrationStart(bool calibrateAccel, bool calibrateMag) -{ - calibratingAccel = calibrateAccel; - calibratingMag = calibrateMag; - // Store and reset board rotation before calibration starts - isBoardRotationStored = false; - storeAndClearBoardRotation(); - - RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); - HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); - AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); - - Q_ASSERT(revoCalibration); - Q_ASSERT(homeLocation); - RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); - savedSettings.revoCalibration = revoCalibration->getData(); - HomeLocation::DataFields homeLocationData = homeLocation->getData(); - AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); - savedSettings.accelGyroSettings = accelGyroSettings->getData(); - - // check if Homelocation is set - if (!homeLocationData.Set) { - QMessageBox msgBox; - msgBox.setInformativeText(tr("

HomeLocation not SET.

Please set your HomeLocation and try again. Aborting calibration!

")); - msgBox.setStandardButtons(QMessageBox::Ok); - msgBox.setDefaultButton(QMessageBox::Ok); - msgBox.setIcon(QMessageBox::Information); - msgBox.exec(); - return; - } - - // Calibration accel - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = 1; - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = 1; - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = 1; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = 0; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = 0; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = 0; - - accel_accum_x.clear(); - accel_accum_y.clear(); - accel_accum_z.clear(); - - // Calibration mag - // Reset the transformation matrix to identity - for(int i = 0; i < RevoCalibration::MAG_TRANSFORM_R2C2; i++){ - revoCalibrationData.mag_transform[i] = 0; - } - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = 1; - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = 1; - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = 1; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = 0; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = 0; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = 0; - - // Disable adaptive mag nulling - initialMagCorrectionRate = revoCalibrationData.MagBiasNullingRate; - revoCalibrationData.MagBiasNullingRate = 0; - - revoCalibration->setData(revoCalibrationData); - accelGyroSettings->setData(accelGyroSettingsData); - - Thread::usleep(100000); - - gyro_accum_x.clear(); - gyro_accum_y.clear(); - gyro_accum_z.clear(); - mag_accum_x.clear(); - mag_accum_y.clear(); - mag_accum_z.clear(); - - UAVObject::Metadata mdata; - - /* Need to get as many accel updates as possible */ - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - - initialAccelStateMdata = accelState->getMetadata(); - mdata = initialAccelStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - accelState->setMetadata(mdata); - - /* Need to get as many mag updates as possible */ - MagState *mag = MagState::GetInstance(getObjectManager()); - Q_ASSERT(mag); - initialMagStateMdata = mag->getMetadata(); - mdata = initialMagStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - mag->setMetadata(mdata); - - /* Show instructions and enable controls */ - displayInstructions("Place horizontally and click save position...", true); - displayVisualHelp("plane-horizontal"); - disableAllCalibrations(); - m_ui->sixPointsSave->setEnabled(true); - position = 0; -} - -/** - * Saves the data from the aircraft in one of six positions. - * This is called when they click "save position" and starts - * averaging data for this position. - */ -void ConfigRevoWidget::sixPointCalibrationSavePositionData() -{ - QMutexLocker lock(&sensorsUpdateLock); - - m_ui->sixPointsSave->setEnabled(false); - - accel_accum_x.clear(); - accel_accum_y.clear(); - accel_accum_z.clear(); - mag_accum_x.clear(); - mag_accum_y.clear(); - mag_accum_z.clear(); - - collectingData = true; - - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - MagState *mag = MagState::GetInstance(getObjectManager()); - Q_ASSERT(mag); - - connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); - connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); - - displayInstructions("Hold..."); -} - -/** - * Grab a sample of mag (optionally accel) data while in this position and - * store it for averaging. When sufficient points are collected advance - * to the next position (give message to user) or compute the scale and bias - */ -void ConfigRevoWidget::sixPointCalibrationGetSample(UAVObject *obj) -{ - QMutexLocker lock(&sensorsUpdateLock); - - // This is necessary to prevent a race condition on disconnect signal and another update - if (collectingData == true) { - if (obj->getObjID() == AccelState::OBJID) { - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - AccelState::DataFields accelStateData = accelState->getData(); - accel_accum_x.append(accelStateData.x); - accel_accum_y.append(accelStateData.y); - accel_accum_z.append(accelStateData.z); - - } else if (obj->getObjID() == MagState::OBJID) { - MagState *mag = MagState::GetInstance(getObjectManager()); - Q_ASSERT(mag); - MagState::DataFields magData = mag->getData(); - mag_accum_x.append(magData.x); - mag_accum_y.append(magData.y); - mag_accum_z.append(magData.z); - } else { - Q_ASSERT(0); - } - } - - if (accel_accum_x.size() >= SAMPLE_SIZE && mag_accum_x.size() >= SAMPLE_SIZE && collectingData == true) { - - collectingData = false; - - m_ui->sixPointsSave->setEnabled(true); - - // Store the mean for this position for the accel - AccelState *accelState = AccelState::GetInstance(getObjectManager()); - Q_ASSERT(accelState); - disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); - accel_data_x[position] = listMean(accel_accum_x); - accel_data_y[position] = listMean(accel_accum_y); - accel_data_z[position] = listMean(accel_accum_z); - - // Store the mean for this position for the mag - MagState *mag = MagState::GetInstance(getObjectManager()); - Q_ASSERT(mag); - disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sixPointCalibrationGetSample(UAVObject *))); - mag_data_x[position] = listMean(mag_accum_x); - mag_data_y[position] = listMean(mag_accum_y); - mag_data_z[position] = listMean(mag_accum_z); - - position = (position + 1) % 6; - if (position == 1) { - displayInstructions("Place with left side down and click save position..."); - displayVisualHelp("plane-left"); - } - if (position == 2) { - displayInstructions("Place upside down and click save position..."); - displayVisualHelp("plane-flip"); - } - if (position == 3) { - displayInstructions("Place with right side down and click save position..."); - displayVisualHelp("plane-right"); - } - if (position == 4) { - displayInstructions("Place with nose up and click save position..."); - displayVisualHelp("plane-up"); - } - if (position == 5) { - displayInstructions("Place with nose down and click save position..."); - displayVisualHelp("plane-down"); - } - if (position == 0) { - sixPointCalibrationCompute(calibratingMag, calibratingAccel); - m_ui->sixPointsSave->setEnabled(false); - - enableAllCalibrations(); - - /* Cleanup original settings */ - accelState->setMetadata(initialAccelStateMdata); - - mag->setMetadata(initialMagStateMdata); - - // Recall saved board rotation - recallBoardRotation(); - } - } -} - -/** - * Computes the scale and bias for the magnetomer and (compile option) - * for the accel once all the data has been collected in 6 positions. - */ -void ConfigRevoWidget::sixPointCalibrationCompute(bool mag, bool accel) -{ - double S[3], b[3]; - double Be_length; - AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); - RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); - HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); - - Q_ASSERT(revoCalibration); - Q_ASSERT(homeLocation); - AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); - RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); - HomeLocation::DataFields homeLocationData = homeLocation->getData(); - - // Calibration accel - if(accel) { - OpenPilot::CalibrationUtils::SixPointInConstFieldCal(homeLocationData.g_e, accel_data_x, accel_data_y, accel_data_z, S, b); - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] = fabs(S[0]); - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] = fabs(S[1]); - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] = fabs(S[2]); - - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] = -sign(S[0]) * b[0]; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] = -sign(S[1]) * b[1]; - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] = -sign(S[2]) * b[2]; - } - - // Calibration mag - if(mag){ - Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); - OpenPilot::CalibrationUtils::SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); - - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0]; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1]; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2]; - } - // Restore the previous setting - revoCalibrationData.MagBiasNullingRate = initialMagCorrectionRate; - - - bool good_calibration = true; - - // Check the mag calibration is good - if(mag){ - good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] == - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]; - good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] == - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]; - good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] == - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y]; - good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] == - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z]; - } - // Check the accel calibration is good - if(accel){ - good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X] == - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_X]; - good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y] == - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Y]; - good_calibration &= accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z] == - accelGyroSettingsData.accel_scale[AccelGyroSettings::ACCEL_SCALE_Z]; - good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X] == - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_X]; - good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y] == - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Y]; - good_calibration &= accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z] == - accelGyroSettingsData.accel_bias[AccelGyroSettings::ACCEL_BIAS_Z]; - } - if (good_calibration) { - if(mag){ - revoCalibration->setData(revoCalibrationData); - } else { - revoCalibration->setData(savedSettings.revoCalibration); - } - - if(accel){ - accelGyroSettings->setData(accelGyroSettingsData); - } else { - accelGyroSettings->setData(savedSettings.accelGyroSettings); - } - displayInstructions("Computed sensor scale and bias...", true); - } else { - displayInstructions("Bad calibration. Please repeat.", true); - } - position = -1; // set to run again } void ConfigRevoWidget::storeAndClearBoardRotation() @@ -795,11 +465,12 @@ void ConfigRevoWidget::displayVisualHelp(QString elementID) m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); } -void ConfigRevoWidget::displayInstructions(QString instructions, bool replace){ - if(replace || instructions.isNull()){ +void ConfigRevoWidget::displayInstructions(QString instructions, bool replace) +{ + if (replace || instructions.isNull()) { m_ui->calibrationInstructions->clear(); } - if(!instructions.isNull()){ + if (!instructions.isNull()) { m_ui->calibrationInstructions->append(instructions); } } diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 539a980f6..8e9fcd08b 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -40,33 +40,24 @@ #include #include #include "calibration/thermal/thermalcalibrationmodel.h" -#include "calibration/calibrationutils.h" +#include "calibration/sixpointcalibrationmodel.h" class Ui_Widget; class ConfigRevoWidget : public ConfigTaskWidget { Q_OBJECT - typedef struct { - RevoCalibration::DataFields revoCalibration; - AccelGyroSettings::DataFields accelGyroSettings; - } SavedSettings; + public: ConfigRevoWidget(QWidget *parent = 0); ~ConfigRevoWidget(); private: - void displayVisualHelp(QString elementID); - - // ! Computes the scale and bias of the mag based on collected data - void sixPointCalibrationCompute(bool mag, bool accel); - - SavedSettings savedSettings; - + OpenPilot::SixPointCalibrationModel *m_sixPointCalibrationModel; OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; Ui_RevoSensorsWidget *m_ui; QMutex sensorsUpdateLock; - double maxBarHeight; + int phaseCounter; const static double maxVarValue; const static int calibrationDelay = 10; @@ -76,32 +67,17 @@ private: QList gyro_accum_x; QList gyro_accum_y; QList gyro_accum_z; - QList accel_accum_x; - QList accel_accum_y; - QList accel_accum_z; - QList mag_accum_x; - QList mag_accum_y; - QList mag_accum_z; QList rot_accum_roll; QList rot_accum_pitch; - - double accel_data_x[6], accel_data_y[6], accel_data_z[6]; - double mag_data_x[6], mag_data_y[6], mag_data_z[6]; - double rot_data_roll; double rot_data_pitch; - bool calibratingMag; - bool calibratingAccel; UAVObject::Metadata initialAttitudeStateMdata; - UAVObject::Metadata initialAccelStateMdata; UAVObject::Metadata initialGyroStateMdata; - UAVObject::Metadata initialMagStateMdata; - float initialMagCorrectionRate; int position; @@ -110,22 +86,16 @@ private: // Board rotation store/recall qint16 storedBoardRotation[3]; bool isBoardRotationStored; + +private slots: + void displayVisualHelp(QString elementID); void storeAndClearBoardRotation(); void recallBoardRotation(); void displayInstructions(QString instructions = QString(), bool replace = false); - -private slots: // ! Overriden method from the configTaskWidget to update UI virtual void refreshWidgetsValues(UAVObject *object = NULL); - // Slots for calibrating the mags - void sixPointCalibrationMagStart(); - void sixPointCalibrationAccelStart(); - void sixPointCalibrationStart(bool calibrateAccel, bool calibrateMag); - void sixPointCalibrationGetSample(UAVObject *obj); - void sixPointCalibrationSavePositionData(); - // Slots for calibrating the accel and gyro void levelCalibrationStart(); void levelCalibrationSavePosition(); diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp index 156dd26e8..0dd434c01 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp +++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp @@ -228,34 +228,6 @@ UAVObjectManager *ConfigTaskWidget::getObjectManager() return objMngr; } -double ConfigTaskWidget::listMean(QList list) -{ - double accum = 0; - - for (int i = 0; i < list.size(); i++) { - accum += list[i]; - } - return accum / list.size(); -} - -double ConfigTaskWidget::listVar(QList list) -{ - double mean_accum = 0; - double var_accum = 0; - double mean; - - for (int i = 0; i < list.size(); i++) { - mean_accum += list[i]; - } - mean = mean_accum / list.size(); - - for (int i = 0; i < list.size(); i++) { - var_accum += (list[i] - mean) * (list[i] - mean); - } - - // Use unbiased estimator - return var_accum / (list.size() - 1); -} void ConfigTaskWidget::onAutopilotDisconnect() { From 2249510c52d0bc3927e8a3a48725fe28ee302819 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 01:45:36 +0200 Subject: [PATCH 18/60] OP-975 Move board level calibration to a reusable class --- .../calibration/levelcalibrationmodel.cpp | 176 ++++++++++++++++++ .../calibration/levelcalibrationmodel.h | 75 ++++++++ .../src/plugins/config/config.pro | 6 +- .../src/plugins/config/configrevowidget.cpp | 149 ++------------- .../src/plugins/config/configrevowidget.h | 17 +- 5 files changed, 272 insertions(+), 151 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp new file mode 100644 index 000000000..96972215d --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp @@ -0,0 +1,176 @@ +/** + ****************************************************************************** + * + * @file levelcalibrationmodel.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @addtogroup board level calibration + * @{ + * @addtogroup ConfigPlugin Config Plugin + * @{ + * @brief Telemetry configuration panel + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "levelcalibrationmodel.h" +#include +#include +#include "extensionsystem/pluginmanager.h" + +static const int LEVEL_SAMPLES = 100; +namespace OpenPilot { +LevelCalibrationModel::LevelCalibrationModel(QObject *parent) : + QObject(parent) +{ +} + + +/******* Level calibration *******/ +/** + * Starts an accelerometer bias calibration. + */ +void LevelCalibrationModel::start() +{ + // Store and reset board rotation before calibration starts + + disableAllCalibrations(); + progressChanged(0); + + rot_data_pitch = 0; + rot_data_roll = 0; + UAVObject::Metadata mdata; + + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + Q_ASSERT(attitudeState); + initialAttitudeStateMdata = attitudeState->getMetadata(); + mdata = initialAttitudeStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + attitudeState->setMetadata(mdata); + + /* Show instructions and enable controls */ + displayInstructions("Place horizontally and click save position...", true); + displayVisualHelp("plane-horizontal"); + disableAllCalibrations(); + savePositionEnabledChanged(true); + position = 0; +} + +void LevelCalibrationModel::savePosition() +{ + QMutexLocker lock(&sensorsUpdateLock); + + Q_UNUSED(lock); + + savePositionEnabledChanged(false); + + rot_accum_pitch.clear(); + rot_accum_roll.clear(); + + collectingData = true; + + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + Q_ASSERT(attitudeState); + connect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + + displayInstructions("Hold...",false); +} + +/** + Updates the accel bias raw values + */ +void LevelCalibrationModel::getSample(UAVObject *obj) +{ + QMutexLocker lock(&sensorsUpdateLock); + + Q_UNUSED(lock); + + switch (obj->getObjID()) { + case AttitudeState::OBJID: + { + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + Q_ASSERT(attitudeState); + AttitudeState::DataFields attitudeStateData = attitudeState->getData(); + rot_accum_roll.append(attitudeStateData.Roll); + rot_accum_pitch.append(attitudeStateData.Pitch); + break; + } + default: + Q_ASSERT(0); + } + + // Work out the progress based on whichever has less + double p1 = (double)rot_accum_roll.size() / (double)LEVEL_SAMPLES; + progressChanged(p1 * 100); + + if (rot_accum_roll.size() >= LEVEL_SAMPLES && + collectingData == true) { + collectingData = false; + + AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); + + disconnect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + + position++; + switch (position) { + case 1: + rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); + rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); + + displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); + displayVisualHelp("plane-horizontal-rotated"); + + disableAllCalibrations(); + + savePositionEnabledChanged(true); + break; + case 2: + rot_data_pitch += OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); + rot_data_pitch /= 2; + rot_data_roll += OpenPilot::CalibrationUtils::listMean(rot_accum_roll); + rot_data_roll /= 2; + attitudeState->setMetadata(initialAttitudeStateMdata); + compute(); + enableAllCalibrations(); + break; + } + } +} +void LevelCalibrationModel::compute() +{ + enableAllCalibrations(); + + AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); + Q_ASSERT(attitudeSettings); + AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); + + // Update the biases based on collected data + // "rotate" the board in the opposite direction as the calculated offset + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] -= rot_data_pitch; + attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] -= rot_data_roll; + + attitudeSettings->setData(attitudeSettingsData); + attitudeSettings->updated(); +} +UAVObjectManager *LevelCalibrationModel::getObjectManager() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *objMngr = pm->getObject(); + + Q_ASSERT(objMngr); + return objMngr; +} +} diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h new file mode 100644 index 000000000..cc4c79428 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h @@ -0,0 +1,75 @@ +/** + ****************************************************************************** + * + * @file levelcalibrationmodel.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @addtogroup board level calibration + * @{ + * @addtogroup ConfigPlugin Config Plugin + * @{ + * @brief Telemetry configuration panel + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef LEVELCALIBRATIONMODEL_H +#define LEVELCALIBRATIONMODEL_H + +#include +#include +#include +#include "calibration/calibrationutils.h" + +#include +#include +#include +#include +#include +namespace OpenPilot { +class LevelCalibrationModel : public QObject +{ + Q_OBJECT +public: + explicit LevelCalibrationModel(QObject *parent = 0); + +signals: + void displayVisualHelp(QString elementID); + void displayInstructions(QString instructions, bool replace); + void disableAllCalibrations(); + void enableAllCalibrations(); + void savePositionEnabledChanged(bool state); + void progressChanged(int value); +public slots: + // Slots for calibrating the mags + void start(); + void savePosition(); +private slots: + void getSample(UAVObject *obj); + void compute(); +private: + QMutex sensorsUpdateLock; + int position; + bool collectingData; + + QList rot_accum_roll; + QList rot_accum_pitch; + double rot_data_roll; + double rot_data_pitch; + UAVObject::Metadata initialAttitudeStateMdata; + UAVObjectManager *getObjectManager(); +}; +} +#endif // LEVELCALIBRATIONMODEL_H diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 087af1088..3534ecfd2 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -52,7 +52,8 @@ HEADERS += configplugin.h \ calibration/thermal/dataacquisitiontransition.h \ calibration/thermal/settingshandlingtransitions.h \ calibration/thermal/compensationcalculationtransition.h \ - calibration/sixpointcalibrationmodel.h + calibration/sixpointcalibrationmodel.h \ + calibration/levelcalibrationmodel.h SOURCES += configplugin.cpp \ configgadgetwidget.cpp \ @@ -88,7 +89,8 @@ SOURCES += configplugin.cpp \ calibration/thermal/thermalcalibration.cpp \ calibration/thermal/thermalcalibrationhelper.cpp \ calibration/thermal/thermalcalibrationmodel.cpp \ - calibration/sixpointcalibrationmodel.cpp + calibration/sixpointcalibrationmodel.cpp \ + calibration/levelcalibrationmodel.cpp FORMS += airframe.ui \ airframe_ccpm.ui \ diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 9ffc9e3fc..ec08ee1ec 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -56,8 +56,8 @@ #define sign(x) ((x < 0) ? -1 : 1) // Uncomment this to enable 6 point calibration on the accels -#define SAMPLE_SIZE 40 -const double ConfigRevoWidget::maxVarValue = 0.1; +#define NOISE_SAMPLES 50 + // ***************** @@ -75,7 +75,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : ConfigTaskWidget(parent), m_ui(new Ui_RevoSensorsWidget()), collectingData(false), - position(-1), isBoardRotationStored(false) { m_ui->setupUi(this); @@ -128,9 +127,17 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // gyro zero calibration connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(gyroCalibrationStart())); + m_levelCalibrationModel = new OpenPilot::LevelCalibrationModel(); // level calibration - connect(m_ui->boardLevelStart, SIGNAL(clicked()), this, SLOT(levelCalibrationStart())); - connect(m_ui->boardLevelSavePos, SIGNAL(clicked()), this, SLOT(levelCalibrationSavePosition())); + connect(m_ui->boardLevelStart, SIGNAL(clicked()), m_levelCalibrationModel, SLOT(start())); + connect(m_ui->boardLevelSavePos, SIGNAL(clicked()), m_levelCalibrationModel, SLOT(savePosition())); + + connect(m_levelCalibrationModel, SIGNAL(disableAllCalibrations()), this, SLOT(disableAllCalibrations())); + connect(m_levelCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations())); + connect(m_levelCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool))); + connect(m_levelCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString))); + connect(m_levelCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->boardLevelSavePos, SLOT(setEnabled(bool))); + connect(m_levelCalibrationModel, SIGNAL(progressChanged(int)), this->m_ui->boardLevelProgress, SLOT(setValue(int))); connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); @@ -242,9 +249,9 @@ void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) // Work out the progress based on whichever has less double p1 = (double)gyro_accum_x.size() / (double)NOISE_SAMPLES; double p2 = (double)gyro_accum_y.size() / (double)NOISE_SAMPLES; - m_ui->gyroBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 50); + m_ui->gyroBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 100); - if (gyro_accum_y.size() >= 2 * NOISE_SAMPLES && + if (gyro_accum_y.size() >= NOISE_SAMPLES && collectingData == true) { collectingData = false; @@ -289,134 +296,6 @@ void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) } -/******* Level calibration *******/ -/** - * Starts an accelerometer bias calibration. - */ -void ConfigRevoWidget::levelCalibrationStart() -{ - // Store and reset board rotation before calibration starts - - disableAllCalibrations(); - m_ui->boardLevelProgress->setValue(0); - - rot_data_pitch = 0; - rot_data_roll = 0; - UAVObject::Metadata mdata; - - AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); - Q_ASSERT(attitudeState); - initialAttitudeStateMdata = attitudeState->getMetadata(); - mdata = initialAttitudeStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - attitudeState->setMetadata(mdata); - - /* Show instructions and enable controls */ - displayInstructions("Place horizontally and click save position...", true); - displayVisualHelp("plane-horizontal"); - disableAllCalibrations(); - m_ui->boardLevelSavePos->setEnabled(true); - position = 0; -} - -void ConfigRevoWidget::levelCalibrationSavePosition() -{ - QMutexLocker lock(&sensorsUpdateLock); - - Q_UNUSED(lock); - - m_ui->boardLevelSavePos->setEnabled(false); - - rot_accum_pitch.clear(); - rot_accum_roll.clear(); - - collectingData = true; - - AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); - Q_ASSERT(attitudeState); - connect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); - - displayInstructions("Hold..."); -} - -/** - Updates the accel bias raw values - */ -void ConfigRevoWidget::levelCalibrationGetSample(UAVObject *obj) -{ - QMutexLocker lock(&sensorsUpdateLock); - - Q_UNUSED(lock); - - switch (obj->getObjID()) { - case AttitudeState::OBJID: - { - AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); - Q_ASSERT(attitudeState); - AttitudeState::DataFields attitudeStateData = attitudeState->getData(); - rot_accum_roll.append(attitudeStateData.Roll); - rot_accum_pitch.append(attitudeStateData.Pitch); - break; - } - default: - Q_ASSERT(0); - } - - // Work out the progress based on whichever has less - double p1 = (double)rot_accum_roll.size() / (double)NOISE_SAMPLES; - m_ui->boardLevelProgress->setValue(p1 * 100); - - if (rot_accum_roll.size() >= NOISE_SAMPLES && - collectingData == true) { - collectingData = false; - - AttitudeState *attitudeState = AttitudeState::GetInstance(getObjectManager()); - - disconnect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); - - position++; - switch (position) { - case 1: - rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); - rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); - - displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); - displayVisualHelp("plane-horizontal-rotated"); - - disableAllCalibrations(); - - m_ui->boardLevelSavePos->setEnabled(true); - break; - case 2: - rot_data_pitch += OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); - rot_data_pitch /= 2; - rot_data_roll += OpenPilot::CalibrationUtils::listMean(rot_accum_roll); - rot_data_roll /= 2; - attitudeState->setMetadata(initialAttitudeStateMdata); - levelCalibrationCompute(); - enableAllCalibrations(); - break; - } - } -} -void ConfigRevoWidget::levelCalibrationCompute() -{ - enableAllCalibrations(); - - AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); - Q_ASSERT(attitudeSettings); - AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); - - // Update the biases based on collected data - // "rotate" the board in the opposite direction as the calculated offset - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] -= rot_data_pitch; - attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] -= rot_data_roll; - - attitudeSettings->setData(attitudeSettingsData); - attitudeSettings->updated(); -} - void ConfigRevoWidget::storeAndClearBoardRotation() { if (!isBoardRotationStored) { diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index 8e9fcd08b..f256076c0 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -41,7 +41,7 @@ #include #include "calibration/thermal/thermalcalibrationmodel.h" #include "calibration/sixpointcalibrationmodel.h" - +#include "calibration/levelcalibrationmodel.h" class Ui_Widget; @@ -55,11 +55,12 @@ public: private: OpenPilot::SixPointCalibrationModel *m_sixPointCalibrationModel; OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; + OpenPilot::LevelCalibrationModel *m_levelCalibrationModel; + Ui_RevoSensorsWidget *m_ui; QMutex sensorsUpdateLock; int phaseCounter; - const static double maxVarValue; const static int calibrationDelay = 10; bool collectingData; @@ -68,20 +69,8 @@ private: QList gyro_accum_y; QList gyro_accum_z; - QList rot_accum_roll; - QList rot_accum_pitch; - - - double rot_data_roll; - double rot_data_pitch; - - - UAVObject::Metadata initialAttitudeStateMdata; UAVObject::Metadata initialGyroStateMdata; - int position; - - static const int NOISE_SAMPLES = 50; // Board rotation store/recall qint16 storedBoardRotation[3]; From 9aef8b0edfca3b9c95a81d8af3e4683a95e1d0c1 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 05:41:39 +0200 Subject: [PATCH 19/60] OP-975 Move gyro zero bias calibration to a reusable class --- .../calibration/gyrobiascalibrationmodel.cpp | 172 ++++++++++++++++++ .../calibration/gyrobiascalibrationmodel.h | 69 +++++++ .../src/plugins/config/config.pro | 6 +- .../src/plugins/config/configrevowidget.cpp | 141 ++------------ .../src/plugins/config/configrevowidget.h | 25 +-- 5 files changed, 263 insertions(+), 150 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp new file mode 100644 index 000000000..f23fea746 --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp @@ -0,0 +1,172 @@ +/** + ****************************************************************************** + * + * @file gyrobiascalibrationmodel.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @addtogroup board level calibration + * @{ + * @addtogroup ConfigPlugin Config Plugin + * @{ + * @brief Telemetry configuration panel + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include +#include +#include "extensionsystem/pluginmanager.h" +#include +#include +#include +#include "calibration/gyrobiascalibrationmodel.h" +#include "calibration/calibrationutils.h" +static const int LEVEL_SAMPLES = 100; +#include "gyrobiascalibrationmodel.h" +namespace OpenPilot { +GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) : + QObject(parent), + collectingData(false) +{ +} + + +/******* gyro bias zero ******/ +void GyroBiasCalibrationModel::start() +{ + // Store and reset board rotation before calibration starts + storeAndClearBoardRotation(); + + disableAllCalibrations(); + progressChanged(0); + + RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); + Q_ASSERT(revoCalibration); + RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); + revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE; + revoCalibration->setData(revoCalibrationData); + revoCalibration->updated(); + + // Disable gyro bias correction while calibrating + AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); + Q_ASSERT(attitudeSettings); + AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); + attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; + attitudeSettings->setData(attitudeSettingsData); + attitudeSettings->updated(); + + gyro_accum_x.clear(); + gyro_accum_y.clear(); + gyro_accum_z.clear(); + + UAVObject::Metadata mdata; + + GyroState *gyroState = GyroState::GetInstance(getObjectManager()); + Q_ASSERT(gyroState); + initialGyroStateMdata = gyroState->getMetadata(); + mdata = initialGyroStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + gyroState->setMetadata(mdata); + + // Now connect to the accels and mag updates, gather for 100 samples + collectingData = true; + connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); +} + +/** + Updates the gyro bias raw values + */ +void GyroBiasCalibrationModel::getSample(UAVObject *obj) +{ + QMutexLocker lock(&sensorsUpdateLock); + + Q_UNUSED(lock); + + switch (obj->getObjID()) { + case GyroState::OBJID: + { + GyroState *gyroState = GyroState::GetInstance(getObjectManager()); + Q_ASSERT(gyroState); + GyroState::DataFields gyroStateData = gyroState->getData(); + + gyro_accum_x.append(gyroStateData.x); + gyro_accum_y.append(gyroStateData.y); + gyro_accum_z.append(gyroStateData.z); + break; + } + default: + Q_ASSERT(0); + } + + // Work out the progress based on whichever has less + double p1 = (double)gyro_accum_x.size() / (double)LEVEL_SAMPLES; + double p2 = (double)gyro_accum_y.size() / (double)LEVEL_SAMPLES; + progressChanged(((p1 < p2) ? p1 : p2) * 100); + + if (gyro_accum_y.size() >= LEVEL_SAMPLES && + collectingData == true) { + collectingData = false; + + GyroState *gyroState = GyroState::GetInstance(getObjectManager()); + + disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + + enableAllCalibrations(); + + RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); + Q_ASSERT(revoCalibration); + AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); + Q_ASSERT(accelGyroSettings); + + RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); + AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); + + revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE; + + // Update biases based on collected data + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z); + + revoCalibration->setData(revoCalibrationData); + revoCalibration->updated(); + accelGyroSettings->setData(accelGyroSettingsData); + accelGyroSettings->updated(); + + AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); + Q_ASSERT(attitudeSettings); + AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); + attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE; + attitudeSettings->setData(attitudeSettingsData); + attitudeSettings->updated(); + + gyroState->setMetadata(initialGyroStateMdata); + + // Recall saved board rotation + recallBoardRotation(); + } +} + + +UAVObjectManager *GyroBiasCalibrationModel::getObjectManager() +{ + ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); + UAVObjectManager *objMngr = pm->getObject(); + + Q_ASSERT(objMngr); + return objMngr; +} +} diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h new file mode 100644 index 000000000..057ae193a --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h @@ -0,0 +1,69 @@ +/** + ****************************************************************************** + * + * @file gyrobiascalibrationmodel.cpp + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @addtogroup board level calibration + * @{ + * @addtogroup ConfigPlugin Config Plugin + * @{ + * @brief Telemetry configuration panel + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef GYROBIASCALIBRATIONMODEL_H +#define GYROBIASCALIBRATIONMODEL_H + +#include +#include "extensionsystem/pluginmanager.h" +#include "uavobjectmanager.h" +#include "uavobject.h" +namespace OpenPilot { +class GyroBiasCalibrationModel : public QObject +{ + Q_OBJECT +public: + explicit GyroBiasCalibrationModel(QObject *parent = 0); + +signals: + void displayVisualHelp(QString elementID); + void displayInstructions(QString instructions, bool replace); + void disableAllCalibrations(); + void enableAllCalibrations(); + void storeAndClearBoardRotation(); + void recallBoardRotation(); + void progressChanged(int value); +public slots: + // Slots for gyro bias zero + void start(); +private slots: + void getSample(UAVObject *obj); + +private: + QMutex sensorsUpdateLock; + + bool collectingData; + + QList gyro_accum_x; + QList gyro_accum_y; + QList gyro_accum_z; + UAVObject::Metadata initialGyroStateMdata; + UAVObjectManager *getObjectManager(); +}; +} +#endif // GYROBIASCALIBRATIONMODEL_H diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 3534ecfd2..83ee669b3 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -53,7 +53,8 @@ HEADERS += configplugin.h \ calibration/thermal/settingshandlingtransitions.h \ calibration/thermal/compensationcalculationtransition.h \ calibration/sixpointcalibrationmodel.h \ - calibration/levelcalibrationmodel.h + calibration/levelcalibrationmodel.h \ + calibration/gyrobiascalibrationmodel.h SOURCES += configplugin.cpp \ configgadgetwidget.cpp \ @@ -90,7 +91,8 @@ SOURCES += configplugin.cpp \ calibration/thermal/thermalcalibrationhelper.cpp \ calibration/thermal/thermalcalibrationmodel.cpp \ calibration/sixpointcalibrationmodel.cpp \ - calibration/levelcalibrationmodel.cpp + calibration/levelcalibrationmodel.cpp \ + calibration/gyrobiascalibrationmodel.cpp FORMS += airframe.ui \ airframe_ccpm.ui \ diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index ec08ee1ec..b3eb0a465 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -47,7 +47,7 @@ #include #include #include -#include + #include #include "assertions.h" @@ -74,7 +74,6 @@ public: ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : ConfigTaskWidget(parent), m_ui(new Ui_RevoSensorsWidget()), - collectingData(false), isBoardRotationStored(false) { m_ui->setupUi(this); @@ -123,11 +122,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : connect(m_sixPointCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString))); connect(m_sixPointCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->sixPointsSave, SLOT(setEnabled(bool))); - // Connect the signals - // gyro zero calibration - connect(m_ui->gyroBiasStart, SIGNAL(clicked()), this, SLOT(gyroCalibrationStart())); - - m_levelCalibrationModel = new OpenPilot::LevelCalibrationModel(); + m_levelCalibrationModel = new OpenPilot::LevelCalibrationModel(this); // level calibration connect(m_ui->boardLevelStart, SIGNAL(clicked()), m_levelCalibrationModel, SLOT(start())); connect(m_ui->boardLevelSavePos, SIGNAL(clicked()), m_levelCalibrationModel, SLOT(savePosition())); @@ -139,6 +134,20 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : connect(m_levelCalibrationModel, SIGNAL(savePositionEnabledChanged(bool)), this->m_ui->boardLevelSavePos, SLOT(setEnabled(bool))); connect(m_levelCalibrationModel, SIGNAL(progressChanged(int)), this->m_ui->boardLevelProgress, SLOT(setValue(int))); + // Connect the signals + // gyro zero calibration + m_gyroBiasCalibrationModel = new OpenPilot::GyroBiasCalibrationModel(this); + connect(m_ui->gyroBiasStart, SIGNAL(clicked()), m_gyroBiasCalibrationModel, SLOT(start())); + + connect(m_gyroBiasCalibrationModel , SIGNAL(progressChanged(int)), this->m_ui->gyroBiasProgress, SLOT(setValue(int))); + + connect(m_gyroBiasCalibrationModel, SIGNAL(disableAllCalibrations()), this, SLOT(disableAllCalibrations())); + connect(m_gyroBiasCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations())); + connect(m_gyroBiasCalibrationModel, SIGNAL(storeAndClearBoardRotation()), this, SLOT(storeAndClearBoardRotation())); + connect(m_gyroBiasCalibrationModel, SIGNAL(recallBoardRotation()), this, SLOT(recallBoardRotation())); + connect(m_gyroBiasCalibrationModel, SIGNAL(displayInstructions(QString, bool)), this, SLOT(displayInstructions(QString, bool))); + connect(m_gyroBiasCalibrationModel, SIGNAL(displayVisualHelp(QString)), this, SLOT(displayVisualHelp(QString))); + connect(m_ui->hlClearButton, SIGNAL(clicked()), this, SLOT(clearHomeLocation())); @@ -177,124 +186,6 @@ void ConfigRevoWidget::resizeEvent(QResizeEvent *event) m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); } -/******* gyro bias zero ******/ -void ConfigRevoWidget::gyroCalibrationStart() -{ - // Store and reset board rotation before calibration starts - isBoardRotationStored = false; - storeAndClearBoardRotation(); - - disableAllCalibrations(); - m_ui->gyroBiasProgress->setValue(0); - - RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); - Q_ASSERT(revoCalibration); - RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); - revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_FALSE; - revoCalibration->setData(revoCalibrationData); - revoCalibration->updated(); - - // Disable gyro bias correction while calibrating - AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); - Q_ASSERT(attitudeSettings); - AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); - attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; - attitudeSettings->setData(attitudeSettingsData); - attitudeSettings->updated(); - - gyro_accum_x.clear(); - gyro_accum_y.clear(); - gyro_accum_z.clear(); - - UAVObject::Metadata mdata; - - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - Q_ASSERT(gyroState); - initialGyroStateMdata = gyroState->getMetadata(); - mdata = initialGyroStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - gyroState->setMetadata(mdata); - - // Now connect to the accels and mag updates, gather for 100 samples - collectingData = true; - connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(gyroBiasCalibrationGetSample(UAVObject *))); -} - -/** - Updates the gyro bias raw values - */ -void ConfigRevoWidget::gyroBiasCalibrationGetSample(UAVObject *obj) -{ - QMutexLocker lock(&sensorsUpdateLock); - - Q_UNUSED(lock); - - switch (obj->getObjID()) { - case GyroState::OBJID: - { - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - Q_ASSERT(gyroState); - GyroState::DataFields gyroStateData = gyroState->getData(); - - gyro_accum_x.append(gyroStateData.x); - gyro_accum_y.append(gyroStateData.y); - gyro_accum_z.append(gyroStateData.z); - break; - } - default: - Q_ASSERT(0); - } - - // Work out the progress based on whichever has less - double p1 = (double)gyro_accum_x.size() / (double)NOISE_SAMPLES; - double p2 = (double)gyro_accum_y.size() / (double)NOISE_SAMPLES; - m_ui->gyroBiasProgress->setValue(((p1 < p2) ? p1 : p2) * 100); - - if (gyro_accum_y.size() >= NOISE_SAMPLES && - collectingData == true) { - collectingData = false; - - GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - - disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(levelCalibrationGetSample(UAVObject *))); - - enableAllCalibrations(); - - RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); - Q_ASSERT(revoCalibration); - AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); - Q_ASSERT(accelGyroSettings); - - RevoCalibration::DataFields revoCalibrationData = revoCalibration->getData(); - AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); - - revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE; - - // Update biases based on collected data - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x); - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y); - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z); - - revoCalibration->setData(revoCalibrationData); - revoCalibration->updated(); - accelGyroSettings->setData(accelGyroSettingsData); - accelGyroSettings->updated(); - - AttitudeSettings *attitudeSettings = AttitudeSettings::GetInstance(getObjectManager()); - Q_ASSERT(attitudeSettings); - AttitudeSettings::DataFields attitudeSettingsData = attitudeSettings->getData(); - attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE; - attitudeSettings->setData(attitudeSettingsData); - attitudeSettings->updated(); - - gyroState->setMetadata(initialGyroStateMdata); - - // Recall saved board rotation - recallBoardRotation(); - } -} - void ConfigRevoWidget::storeAndClearBoardRotation() { diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.h b/ground/openpilotgcs/src/plugins/config/configrevowidget.h index f256076c0..62f1e48fb 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.h +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.h @@ -42,6 +42,7 @@ #include "calibration/thermal/thermalcalibrationmodel.h" #include "calibration/sixpointcalibrationmodel.h" #include "calibration/levelcalibrationmodel.h" +#include "calibration/gyrobiascalibrationmodel.h" class Ui_Widget; @@ -56,21 +57,9 @@ private: OpenPilot::SixPointCalibrationModel *m_sixPointCalibrationModel; OpenPilot::ThermalCalibrationModel *m_thermalCalibrationModel; OpenPilot::LevelCalibrationModel *m_levelCalibrationModel; + OpenPilot::GyroBiasCalibrationModel *m_gyroBiasCalibrationModel; Ui_RevoSensorsWidget *m_ui; - QMutex sensorsUpdateLock; - - int phaseCounter; - const static int calibrationDelay = 10; - - bool collectingData; - - QList gyro_accum_x; - QList gyro_accum_y; - QList gyro_accum_z; - - UAVObject::Metadata initialGyroStateMdata; - // Board rotation store/recall qint16 storedBoardRotation[3]; @@ -85,16 +74,6 @@ private slots: // ! Overriden method from the configTaskWidget to update UI virtual void refreshWidgetsValues(UAVObject *object = NULL); - // Slots for calibrating the accel and gyro - void levelCalibrationStart(); - void levelCalibrationSavePosition(); - void levelCalibrationCompute(); - void levelCalibrationGetSample(UAVObject *); - - // Slots for gyro bias zero - void gyroCalibrationStart(); - void gyroBiasCalibrationGetSample(UAVObject *obj); - // Slot for clearing home location void clearHomeLocation(); From 24af67d91a77e4b0f6b3a0d5cac6b2a4ebe7fde0 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 05:44:47 +0200 Subject: [PATCH 20/60] OP-975 cleanup --- .../src/plugins/config/calibration/sixpointcalibrationmodel.cpp | 1 - .../src/plugins/config/calibration/sixpointcalibrationmodel.h | 2 -- ground/openpilotgcs/src/plugins/config/configrevowidget.cpp | 2 -- 3 files changed, 5 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index a906b770f..e4a117334 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -66,7 +66,6 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) calibratingAccel = calibrateAccel; calibratingMag = calibrateMag; // Store and reset board rotation before calibration starts - isBoardRotationStored = false; storeAndClearBoardRotation(); RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index 38dbaca68..6d4f8e5e2 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -79,8 +79,6 @@ private: bool calibratingMag; bool calibratingAccel; - bool isBoardRotationStored; - double accel_data_x[6], accel_data_y[6], accel_data_z[6]; double mag_data_x[6], mag_data_y[6], mag_data_z[6]; diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index b3eb0a465..aa760c563 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -42,7 +42,6 @@ #include #include #include -#include #include #include #include @@ -84,7 +83,6 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers addUAVObject("RevoCalibration"); - addUAVObject("EKFConfiguration"); addUAVObject("HomeLocation"); addUAVObject("AttitudeSettings"); addUAVObject("RevoSettings"); From 37cec18e504c7c581532c51cc6e7f1ab5e86b1b3 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 06:29:56 +0200 Subject: [PATCH 21/60] OP-975 move listMean and listVar out of configtaskwidget --- .../src/plugins/config/configccattitudewidget.cpp | 14 +++++++------- .../uavobjectwidgetutils/configtaskwidget.h | 2 -- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp index 24623d503..eb08d874d 100644 --- a/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp @@ -38,7 +38,7 @@ #include "gyrostate.h" #include #include - +#include ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) : ConfigTaskWidget(parent), ui(new Ui_ccattitude) @@ -113,13 +113,13 @@ void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject *obj) disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *))); disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout())); - float x_bias = listMean(x_accum); - float y_bias = listMean(y_accum); - float z_bias = (listMean(z_accum) + 9.81); + float x_bias = OpenPilot::CalibrationUtils::listMean(x_accum); + float y_bias = OpenPilot::CalibrationUtils::listMean(y_accum); + float z_bias = OpenPilot::CalibrationUtils::listMean(z_accum) + 9.81; - float x_gyro_bias = listMean(x_gyro_accum); - float y_gyro_bias = listMean(y_gyro_accum); - float z_gyro_bias = listMean(z_gyro_accum); + float x_gyro_bias = OpenPilot::CalibrationUtils::listMean(x_gyro_accum); + float y_gyro_bias = OpenPilot::CalibrationUtils::listMean(y_gyro_accum); + float z_gyro_bias = OpenPilot::CalibrationUtils::listMean(z_gyro_accum); accelState->setMetadata(initialAccelStateMdata); gyroState->setMetadata(initialGyroStateMdata); diff --git a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h index 900aaa9a0..dfc9a9c76 100644 --- a/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h +++ b/ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h @@ -106,8 +106,6 @@ public: void saveObjectToSD(UAVObject *obj); UAVObjectManager *getObjectManager(); - static double listMean(QList list); - static double listVar(QList list); void addUAVObject(QString objectName, QList *reloadGroups = NULL); void addUAVObject(UAVObject *objectName, QList *reloadGroups = NULL); From 9fb0f980f37fef0eaa75d0c0d09fcb086f6cea90 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 20:42:42 +0200 Subject: [PATCH 22/60] OP-975 replace plane pictures and add bare board images --- .../src/plugins/config/configgadget.qrc | 9 ++++++++- .../config/images/calibration/plane-down.png | Bin 50233 -> 149190 bytes .../config/images/calibration/plane-flip.png | Bin 58158 -> 54634 bytes .../calibration/plane-horizontal-rotated.png | Bin 43502 -> 81589 bytes .../images/calibration/plane-horizontal.png | Bin 44441 -> 86477 bytes .../config/images/calibration/plane-left.png | Bin 30273 -> 72337 bytes .../config/images/calibration/plane-right.png | Bin 30527 -> 71797 bytes .../config/images/calibration/plane-up.png | Bin 54324 -> 146238 bytes .../config/images/calibration/planes.xcf | Bin 703648 -> 1676112 bytes .../config/images/calibration/revo-down.png | Bin 0 -> 138907 bytes .../config/images/calibration/revo-flip.png | Bin 0 -> 49429 bytes .../calibration/revo-horizontal-rotated.png | Bin 0 -> 53841 bytes .../images/calibration/revo-horizontal.png | Bin 0 -> 51339 bytes .../config/images/calibration/revo-left.png | Bin 0 -> 82970 bytes .../config/images/calibration/revo-right.png | Bin 0 -> 61038 bytes .../config/images/calibration/revo-up.png | Bin 0 -> 136205 bytes 16 files changed, 8 insertions(+), 1 deletion(-) create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-down.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-flip.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-horizontal-rotated.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-horizontal.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-left.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-right.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-up.png diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index ee2c42c41..02622a817 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -30,7 +30,6 @@ images/pipx-normal.png images/revolution_top.png calibration/WizardStepIndicator.qml - images/calibration/plane-down.png images/calibration/plane-flip.png images/calibration/plane-horizontal.png images/calibration/plane-left.png @@ -38,5 +37,13 @@ images/calibration/plane-up.png images/calibration/plane-horizontal-rotated.png images/calibration/snow.png + images/calibration/plane-down.png + images/calibration/revo-down.png + images/calibration/revo-flip.png + images/calibration/revo-horizontal-rotated.png + images/calibration/revo-horizontal.png + images/calibration/revo-left.png + images/calibration/revo-right.png + images/calibration/revo-up.png diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/plane-down.png b/ground/openpilotgcs/src/plugins/config/images/calibration/plane-down.png index 2c61418799d2407bd4c816f63cb9417c69da4ad3..ce36c5a7073cba79aaa924d9c680e1da5619d163 100644 GIT binary patch literal 149190 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z$*z#(_-#v(M-9pJBQ@HhIi}z%Oi1CjzCTao04`N!t#y9pETY)%VAYdqpbk;K(!8y! zT(%`Eja8v1loBBBr=VKU!7Ha?gA?TCma@4)DWy#UtbgJ*%~pecvhs4e?C|EFvtO%I zWOLf8;25Gsoe+_%aON_3`MBJ>b%+U85(9(SqH9rD`d_xUUE zxL;t!`xY0(8-SP5A8Y@F#kTzo-CzsUKg|8VE?l94Dl+43A!dR9uj#+;tO$c;dNw54 z_h6&FAh<66ugka=xICU(shJ1?Tkij7I~EwywLmzoqWYiRiyBV;^94-0*|O99@AhU? zNo77ANejOJ*$Fv>^S`W3=Vt2$qyOFB5DcFG6=Ckve^uOn4@3=GLdBdcRT&R zr^K4oQuyyD{}&jLB?cZ;*7>T9=KpTD0f#(#HpfkR{?E=Op$_T(nOAK7&#tE(Mio!v z2D)-{Ysod>a&4qgFh~c^WZ9 Date: Fri, 11 Apr 2014 20:44:16 +0200 Subject: [PATCH 23/60] OP-975 show board images for Accelerometer calibration. --- .../calibration/sixpointcalibrationmodel.cpp | 21 +++++++++++++------ .../calibration/sixpointcalibrationmodel.h | 1 + 2 files changed, 16 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index e4a117334..28ddcb2d0 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -151,7 +151,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) /* Show instructions and enable controls */ displayInstructions("Place horizontally and click save position...", true); - displayVisualHelp("plane-horizontal"); + showHelp("horizontal"); disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; @@ -242,23 +242,23 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { displayInstructions("Place with left side down and click save position...", false); - displayVisualHelp("plane-left"); + showHelp("left"); } if (position == 2) { displayInstructions("Place upside down and click save position...", false); - displayVisualHelp("plane-flip"); + showHelp("flip"); } if (position == 3) { displayInstructions("Place with right side down and click save position...", false); - displayVisualHelp("plane-right"); + showHelp("right"); } if (position == 4) { displayInstructions("Place with nose up and click save position...", false); - displayVisualHelp("plane-up"); + showHelp("up"); } if (position == 5) { displayInstructions("Place with nose down and click save position...", false); - displayVisualHelp("plane-down"); + showHelp("down"); } if (position == 0) { compute(calibratingMag, calibratingAccel); @@ -381,4 +381,13 @@ UAVObjectManager *SixPointCalibrationModel::getObjectManager() Q_ASSERT(objMngr); return objMngr; } +void SixPointCalibrationModel::showHelp(QString image){ + + if(calibratingAccel){ + displayVisualHelp("revo-" + image); + }else { + displayVisualHelp("plane-" + image); + } +} + } diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index 6d4f8e5e2..21d19536e 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -94,6 +94,7 @@ private: QList mag_accum_x; QList mag_accum_y; QList mag_accum_z; + void showHelp(QString image); }; } #endif // SIXPOINTCALIBRATIONMODEL_H From 49fae24ea040a43c2e1eddfc151a1ab70040f9e1 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 20:45:45 +0200 Subject: [PATCH 24/60] OP-975 optimize visual quality for instruction pictures --- .../src/plugins/config/configrevowidget.cpp | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index aa760c563..809ad5b53 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -79,6 +79,8 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : // Initialization of the Paper plane widget m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this)); + m_ui->calibrationVisualHelp->setRenderHint(QPainter::HighQualityAntialiasing, true); + m_ui->calibrationVisualHelp->setRenderHint(QPainter::SmoothPixmapTransform, true); displayVisualHelp("snow"); // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers @@ -171,17 +173,14 @@ ConfigRevoWidget::~ConfigRevoWidget() void ConfigRevoWidget::showEvent(QShowEvent *event) { Q_UNUSED(event); - // Thit fitInView method should only be called now, once the - // widget is shown, otherwise it cannot compute its values and - // the result is usually a sensorsBargraph that is way too small. - m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); m_thermalCalibrationModel->init(); } void ConfigRevoWidget::resizeEvent(QResizeEvent *event) { Q_UNUSED(event); - m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); } @@ -230,7 +229,7 @@ void ConfigRevoWidget::displayVisualHelp(QString elementID) QPixmap pixmap = QPixmap(":/configgadget/images/calibration/" + elementID + ".png"); m_ui->calibrationVisualHelp->scene()->addPixmap(pixmap); m_ui->calibrationVisualHelp->setSceneRect(pixmap.rect()); - m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::KeepAspectRatioByExpanding); + m_ui->calibrationVisualHelp->fitInView(m_ui->calibrationVisualHelp->scene()->sceneRect(), Qt::IgnoreAspectRatio); } void ConfigRevoWidget::displayInstructions(QString instructions, bool replace) From 818a42ec059f7c6a11b84db938be7dc9ced86885 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 11 Apr 2014 21:02:29 +0200 Subject: [PATCH 25/60] Fix revolution model filename casing --- .../Revolution/{Revolution.3DS => revolution.3ds} | Bin 1 file changed, 0 insertions(+), 0 deletions(-) rename artwork/3D Model/boards/Revolution/{Revolution.3DS => revolution.3ds} (100%) diff --git a/artwork/3D Model/boards/Revolution/Revolution.3DS b/artwork/3D Model/boards/Revolution/revolution.3ds similarity index 100% rename from artwork/3D Model/boards/Revolution/Revolution.3DS rename to artwork/3D Model/boards/Revolution/revolution.3ds From 82c81fef6e784adab20de0860879cba6be205461 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 12 Apr 2014 22:00:02 +0200 Subject: [PATCH 26/60] OP-1302 make leds more "readable" Show alarm and arming/flightmode in sequence Alarm: Warning = rP Error = rrP Critical = R Heartbeat/flightmode: disarmed = B armed/Stabilization1 = bbP armed/Stabilization2 = bbbP armed/Stabilization3 = bbbbP armed/AH/AVario/Velocitycontrol = bvP armed/PH/Pathplanner/POI = bbvP armed/Land/RTB = bbvvP note: r/b/v = short red/blue/both blink R/B/V = long red/blue/both blink p/P = short/long pause --- flight/libraries/alarms.c | 27 ++++ flight/libraries/inc/alarms.h | 2 + flight/modules/System/systemmod.c | 256 ++++++++++++++++++++++-------- 3 files changed, 218 insertions(+), 67 deletions(-) diff --git a/flight/libraries/alarms.c b/flight/libraries/alarms.c index 0ea46c5e5..5dc3cda2e 100644 --- a/flight/libraries/alarms.c +++ b/flight/libraries/alarms.c @@ -254,6 +254,33 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity) xSemaphoreGiveRecursive(lock); return 0; } +/** + * Get the highest alarm severity + * @return + */ +SystemAlarmsAlarmOptions AlarmsGetHighestSeverity() +{ + SystemAlarmsAlarmData alarmsData; + SystemAlarmsAlarmOptions highest = SYSTEMALARMS_ALARM_UNINITIALISED; + + // Lock + xSemaphoreTakeRecursive(lock, portMAX_DELAY); + + // Read alarms + SystemAlarmsAlarmGet(&alarmsData); + + // Go through alarms and find the highest severity + uint32_t n = 0; + while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) { + if (cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) { + highest = cast_struct_to_array(alarmsData, alarmsData.Actuator)[n]; + } + n++; + } + + xSemaphoreGiveRecursive(lock); + return highest; +} /** * @} diff --git a/flight/libraries/inc/alarms.h b/flight/libraries/inc/alarms.h index 1d7a4ed3b..304916dbc 100644 --- a/flight/libraries/inc/alarms.h +++ b/flight/libraries/inc/alarms.h @@ -42,9 +42,11 @@ int32_t AlarmsDefault(SystemAlarmsAlarmElem alarm); void AlarmsDefaultAll(); int32_t AlarmsClear(SystemAlarmsAlarmElem alarm); void AlarmsClearAll(); + int32_t AlarmsHasWarnings(); int32_t AlarmsHasErrors(); int32_t AlarmsHasCritical(); +SystemAlarmsAlarmOptions AlarmsGetHighestSeverity(); #endif // ALARMS_H diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c index 648e2d3a0..d785615c8 100644 --- a/flight/modules/System/systemmod.c +++ b/flight/modules/System/systemmod.c @@ -72,22 +72,65 @@ #endif // 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 -// must be updated if the FreeRTOS or compiler -// optimisation options are changed. -#endif +#define SYSTEM_UPDATE_PERIOD_MS 500 +#define LED_BLINK_PERIOD_MS 200 #if defined(PIOS_SYSTEM_STACK_SIZE) -#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE +#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE #else -#define STACK_SIZE_BYTES 1024 +#define STACK_SIZE_BYTES 1024 #endif -#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) +#ifdef PIOS_LED_ALARM +#define ALARM_LED_ON() PIOS_LED_On(PIOS_LED_ALARM) +#define ALARM_LED_OFF() PIOS_LED_Off(PIOS_LED_ALARM) +#else +#define ALARM_LED_ON() +#define ALARM_LED_OFF() +#endif + +#ifdef PIOS_LED_HEARTBEAT +#define HEARTBEAT_LED_ON() PIOS_LED_On(PIOS_LED_HEARTBEAT) +#define HEARTBEAT_LED_OFF() PIOS_LED_Off(PIOS_LED_HEARTBEAT) +#else +#define HEARTBEAT_LED_ON() +#define HEARTBEAT_LED_OFF() +#endif + +#define ALARM_BLINK_COUNT(x) \ + (x == SYSTEMALARMS_ALARM_OK ? 0 : \ + x == SYSTEMALARMS_ALARM_WARNING ? 1 : \ + x == SYSTEMALARMS_ALARM_ERROR ? 2 : \ + x == SYSTEMALARMS_ALARM_CRITICAL ? 0 : 0) + + +#define BLINK_COUNT(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 3 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 4 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 3 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 4 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 4 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 3 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 3 : 1) + +#define BLINK_RED(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? false : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? false : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? false : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? true : false) + +#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) // Private types @@ -98,6 +141,12 @@ static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_C static bool mallocFailed; static HwSettingsData bootHwSettings; static struct PIOS_FLASHFS_Stats fsStats; + +// led notification handling +static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK; +static volatile FlightStatusData currentFlightStatus; +static volatile bool started = false; + // Private functions static void objectUpdatedCb(UAVObjEvent *ev); static void hwSettingsUpdatedCb(UAVObjEvent *ev); @@ -170,8 +219,6 @@ MODULE_INITCALL(SystemModInitialize, 0); */ static void systemTask(__attribute__((unused)) void *parameters) { - uint8_t cycleCount = 0; - /* create all modules thread */ MODULE_TASKCREATE_ALL; @@ -189,9 +236,6 @@ static void systemTask(__attribute__((unused)) void *parameters) /* Record a successful boot */ PIOS_IAP_WriteBootCount(0); #endif - - // Initialize vars - // Listen for SettingPersistance object updates, connect a callback function ObjectPersistenceConnectQueue(objectPersistenceQueue); @@ -204,13 +248,13 @@ static void systemTask(__attribute__((unused)) void *parameters) TaskInfoData taskInfoData; CallbackInfoData callbackInfoData; #endif - + started = true; // Main system loop while (1) { + // get values to be used for led handling + FlightStatusGet((FlightStatusData *)¤tFlightStatus); + currentAlarmLevel = AlarmsGetHighestSeverity(); // Update the system statistics - - cycleCount = cycleCount > 0 ? cycleCount - 1 : 7; -// if(cycleCount == 1){ updateStats(); // Update the system alarms updateSystemAlarms(); @@ -230,35 +274,10 @@ static void systemTask(__attribute__((unused)) void *parameters) // } #endif // } - // Flash the heartbeat LED -#if defined(PIOS_LED_HEARTBEAT) - uint8_t armingStatus; - FlightStatusArmedGet(&armingStatus); - if ((armingStatus == FLIGHTSTATUS_ARMED_ARMED && (cycleCount & 0x1)) || - (armingStatus != FLIGHTSTATUS_ARMED_ARMED && (cycleCount & 0x4))) { - PIOS_LED_On(PIOS_LED_HEARTBEAT); - } else { - PIOS_LED_Off(PIOS_LED_HEARTBEAT); - } - - DEBUG_MSG("+ 0x%08x\r\n", 0xDEADBEEF); -#endif /* PIOS_LED_HEARTBEAT */ - - // Turn on the error LED if an alarm is set -#if defined(PIOS_LED_ALARM) - if (AlarmsHasCritical()) { - PIOS_LED_On(PIOS_LED_ALARM); - } else if ((AlarmsHasErrors() && (cycleCount & 0x1)) || - (!AlarmsHasErrors() && AlarmsHasWarnings() && (cycleCount & 0x4))) { - PIOS_LED_On(PIOS_LED_ALARM); - } else { - PIOS_LED_Off(PIOS_LED_ALARM); - } -#endif /* PIOS_LED_ALARM */ UAVObjEvent ev; - int delayTime = SYSTEM_UPDATE_PERIOD_MS / portTICK_RATE_MS / (LED_BLINK_RATE_HZ * 2); + int delayTime = SYSTEM_UPDATE_PERIOD_MS; #if defined(PIOS_INCLUDE_RFM22B) @@ -649,43 +668,146 @@ static void updateSystemAlarms() } /** - * Called by the RTOS when the CPU is idle, used to measure the CPU idle time. + * Called by the RTOS when the CPU is idle, */ void vApplicationIdleHook(void) -{} +{ + static portTickType lastRunTimestamp; + if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { + return; + } + lastRunTimestamp = xTaskGetTickCount(); + // the led will show various status information, subdivided in three phases + // - Notification + // - Alarm + // - Flight status + // they are shown using the above priority + // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end + + static enum { + STATUS_NOTIFY, + STATUS_ALARM, + STATUS_FLIGHTMODE, + STATUS_LENGHT + } status; + + static uint8_t cycleCount; + cycleCount++; + // a blink last 2 cycles. + static uint8_t blinkCount; + blinkCount = (cycleCount & 0xF) >> 1; + + if (cycleCount & 0x08) { + // add a short pause between each phase + if (cycleCount > 0xA) { + cycleCount = 0xFF; + status = (status + 1) % STATUS_LENGHT; + } + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + return; + } + + if (status == STATUS_NOTIFY) { + // Not implemented yet + status++; + } + + // Handles Alarm display + if (status == STATUS_ALARM) { +#if defined(PIOS_LED_ALARM) + if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) { + if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { + // Slow blink + ALARM_LED_OFF(); + if (cycleCount & 0x4) { + ALARM_LED_OFF(); + } else { + ALARM_LED_ON(); + } + } else { + if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && + (cycleCount & 0x1)) { + ALARM_LED_ON(); + } else { + ALARM_LED_OFF(); + } + } + } else { + status++; + } +#else /* if defined(PIOS_LED_ALARM) */ + // no alarms, handle next phase + status++; + // #endif +#endif /* PIOS_LED_ALARM */ + } + + // **** Handles flightmode display + if (status == STATUS_FLIGHTMODE) { + uint8_t flightmode = currentFlightStatus.FlightMode; + + // Flash the heartbeat LED +#if defined(PIOS_LED_HEARTBEAT) + + if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) { + // Slow blink + if (blinkCount < 3) { + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + } + } else { + if ((blinkCount < BLINK_COUNT(flightmode)) && + (cycleCount & 0x1)) { + // red led will be active active in last or last two (4 blinks case) blinks + if (BLINK_RED(flightmode) && + ((blinkCount == BLINK_COUNT(flightmode) - 1) || + blinkCount > 1)) { + ALARM_LED_ON(); + } + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + } + } + } +#endif /* PIOS_LED_HEARTBEAT */ + } /** * Called by the RTOS when a stack overflow is detected. */ #define DEBUG_STACK_OVERFLOW 0 -void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask, - __attribute__((unused)) signed portCHAR *pcTaskName) -{ - stackOverflow = STACKOVERFLOW_CRITICAL; + void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask, + __attribute__((unused)) signed portCHAR *pcTaskName) + { + stackOverflow = STACKOVERFLOW_CRITICAL; #if DEBUG_STACK_OVERFLOW - static volatile bool wait_here = true; - while (wait_here) { - ; - } - wait_here = true; + static volatile bool wait_here = true; + while (wait_here) { + ; + } + wait_here = true; #endif -} + } /** * Called by the RTOS when a malloc call fails. */ #define DEBUG_MALLOC_FAILURES 0 -void vApplicationMallocFailedHook(void) -{ - mallocFailed = true; + void vApplicationMallocFailedHook(void) + { + mallocFailed = true; #if DEBUG_MALLOC_FAILURES - static volatile bool wait_here = true; - while (wait_here) { - ; - } - wait_here = true; + static volatile bool wait_here = true; + while (wait_here) { + ; + } + wait_here = true; #endif -} + } /** * @} From 9ebb66fbce4a5f900e67aec4e720d6cc1a4112ed Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 12 Apr 2014 22:00:26 +0200 Subject: [PATCH 27/60] OP-1302 filter out telemetry alarms --- flight/libraries/alarms.c | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/flight/libraries/alarms.c b/flight/libraries/alarms.c index 5dc3cda2e..7f2688a73 100644 --- a/flight/libraries/alarms.c +++ b/flight/libraries/alarms.c @@ -244,7 +244,7 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity) // Go through alarms and check if any are of the given severity or higher for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) { - if (cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) { + if (n != SYSTEMALARMS_ALARM_TELEMETRY && cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) { xSemaphoreGiveRecursive(lock); return 1; } @@ -272,7 +272,8 @@ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity() // Go through alarms and find the highest severity uint32_t n = 0; while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) { - if (cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) { + if (n != SYSTEMALARMS_ALARM_TELEMETRY && + cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) { highest = cast_struct_to_array(alarmsData, alarmsData.Actuator)[n]; } n++; From 5d637fab87a0aa72886cb8117df26c6dc4b16f91 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 13 Apr 2014 11:54:25 +0200 Subject: [PATCH 28/60] OP-1302 move stuffs away from systemmod --- flight/libraries/inc/notification.h | 37 ++++ flight/libraries/notification.c | 197 ++++++++++++++++++ flight/modules/System/systemmod.c | 168 +-------------- .../boards/revolution/firmware/Makefile | 4 + 4 files changed, 242 insertions(+), 164 deletions(-) create mode 100644 flight/libraries/inc/notification.h create mode 100644 flight/libraries/notification.c diff --git a/flight/libraries/inc/notification.h b/flight/libraries/inc/notification.h new file mode 100644 index 000000000..62a9d1c58 --- /dev/null +++ b/flight/libraries/inc/notification.h @@ -0,0 +1,37 @@ +/** + ****************************************************************************** + * + * @file notification.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @brief notification library + * -- + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#ifndef NOTIFICATION_H +#define NOTIFICATION_H + +#define LED_BLINK_PERIOD_MS 200 + +// update the status snapshot used by notifcations +void NotificationUpdateStatus(); + +// run the led notifications +void NotificationOnboardLedsRun(); + +#endif /* NOTIFICATION_H */ diff --git a/flight/libraries/notification.c b/flight/libraries/notification.c new file mode 100644 index 000000000..f7126f08e --- /dev/null +++ b/flight/libraries/notification.c @@ -0,0 +1,197 @@ +/** + ****************************************************************************** + * + * @file notification.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @brief brief goes here. + * -- + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#include "inc/notification.h" +#include +#include +#include +#include + +#ifdef PIOS_LED_ALARM +#define ALARM_LED_ON() PIOS_LED_On(PIOS_LED_ALARM) +#define ALARM_LED_OFF() PIOS_LED_Off(PIOS_LED_ALARM) +#else +#define ALARM_LED_ON() +#define ALARM_LED_OFF() +#endif + +#ifdef PIOS_LED_HEARTBEAT +#define HEARTBEAT_LED_ON() PIOS_LED_On(PIOS_LED_HEARTBEAT) +#define HEARTBEAT_LED_OFF() PIOS_LED_Off(PIOS_LED_HEARTBEAT) +#else +#define HEARTBEAT_LED_ON() +#define HEARTBEAT_LED_OFF() +#endif + +#define ALARM_BLINK_COUNT(x) \ + (x == SYSTEMALARMS_ALARM_OK ? 0 : \ + x == SYSTEMALARMS_ALARM_WARNING ? 1 : \ + x == SYSTEMALARMS_ALARM_ERROR ? 2 : \ + x == SYSTEMALARMS_ALARM_CRITICAL ? 0 : 0) + + +#define BLINK_COUNT(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 3 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 4 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 3 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 4 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 4 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 3 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 3 : 1) + +#define BLINK_RED(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? false : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? false : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? false : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? true : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? true : false) + +// led notification handling +static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK; +static volatile FlightStatusData currentFlightStatus; +static volatile bool started = false; + +void NotificationUpdateStatus(){ + started = true; + // get values to be used for led handling + FlightStatusGet((FlightStatusData *)¤tFlightStatus); + currentAlarmLevel = AlarmsGetHighestSeverity(); +} + +void NotificationOnboardLedsRun(){ + static portTickType lastRunTimestamp; + + if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { + return; + } + lastRunTimestamp = xTaskGetTickCount(); + // the led will show various status information, subdivided in three phases + // - Notification + // - Alarm + // - Flight status + // they are shown using the above priority + // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end + + static enum { + STATUS_NOTIFY, + STATUS_ALARM, + STATUS_FLIGHTMODE, + STATUS_LENGHT + } status; + + static uint8_t cycleCount; + cycleCount++; + // a blink last 2 cycles. + static uint8_t blinkCount; + blinkCount = (cycleCount & 0xF) >> 1; + + if (cycleCount & 0x08) { + // add a short pause between each phase + if (cycleCount > 0xA) { + cycleCount = 0xFF; + status = (status + 1) % STATUS_LENGHT; + } + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + return; + } + + if (status == STATUS_NOTIFY) { + // Not implemented yet + status++; + } + + // Handles Alarm display + if (status == STATUS_ALARM) { +#if defined(PIOS_LED_ALARM) + if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) { + if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { + // Slow blink + ALARM_LED_OFF(); + if (cycleCount & 0x4) { + ALARM_LED_OFF(); + } else { + ALARM_LED_ON(); + } + } else { + if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && + (cycleCount & 0x1)) { + ALARM_LED_ON(); + } else { + ALARM_LED_OFF(); + } + } + } else { + status++; + } +#else /* if defined(PIOS_LED_ALARM) */ + // no alarms, handle next phase + status++; + // #endif +#endif /* PIOS_LED_ALARM */ + } + + // **** Handles flightmode display + if (status == STATUS_FLIGHTMODE) { + uint8_t flightmode = currentFlightStatus.FlightMode; + + // Flash the heartbeat LED +#if defined(PIOS_LED_HEARTBEAT) + + if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) { + // Slow blink + if (blinkCount < 3) { + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + } + } else { + if ((blinkCount < BLINK_COUNT(flightmode)) && + (cycleCount & 0x1)) { + // red led will be active active in last or last two (4 blinks case) blinks + if (BLINK_RED(flightmode) && + ((blinkCount == BLINK_COUNT(flightmode) - 1) || + blinkCount > 1)) { + ALARM_LED_ON(); + } + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + } + } + } +#endif /* PIOS_LED_HEARTBEAT */ +} diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c index d785615c8..1ad8b188e 100644 --- a/flight/modules/System/systemmod.c +++ b/flight/modules/System/systemmod.c @@ -42,7 +42,7 @@ #include // private includes #include "inc/systemmod.h" - +#include "notification.h" // UAVOs #include @@ -73,7 +73,6 @@ // Private constants #define SYSTEM_UPDATE_PERIOD_MS 500 -#define LED_BLINK_PERIOD_MS 200 #if defined(PIOS_SYSTEM_STACK_SIZE) #define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE @@ -81,55 +80,6 @@ #define STACK_SIZE_BYTES 1024 #endif -#ifdef PIOS_LED_ALARM -#define ALARM_LED_ON() PIOS_LED_On(PIOS_LED_ALARM) -#define ALARM_LED_OFF() PIOS_LED_Off(PIOS_LED_ALARM) -#else -#define ALARM_LED_ON() -#define ALARM_LED_OFF() -#endif - -#ifdef PIOS_LED_HEARTBEAT -#define HEARTBEAT_LED_ON() PIOS_LED_On(PIOS_LED_HEARTBEAT) -#define HEARTBEAT_LED_OFF() PIOS_LED_Off(PIOS_LED_HEARTBEAT) -#else -#define HEARTBEAT_LED_ON() -#define HEARTBEAT_LED_OFF() -#endif - -#define ALARM_BLINK_COUNT(x) \ - (x == SYSTEMALARMS_ALARM_OK ? 0 : \ - x == SYSTEMALARMS_ALARM_WARNING ? 1 : \ - x == SYSTEMALARMS_ALARM_ERROR ? 2 : \ - x == SYSTEMALARMS_ALARM_CRITICAL ? 0 : 0) - - -#define BLINK_COUNT(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 4 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 4 : \ - x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 4 : \ - x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POI ? 3 : 1) - -#define BLINK_RED(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? false : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? false : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? false : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_LAND ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_POI ? true : false) - #define TASK_PRIORITY (tskIDLE_PRIORITY + 1) // Private types @@ -142,11 +92,6 @@ static bool mallocFailed; static HwSettingsData bootHwSettings; static struct PIOS_FLASHFS_Stats fsStats; -// led notification handling -static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK; -static volatile FlightStatusData currentFlightStatus; -static volatile bool started = false; - // Private functions static void objectUpdatedCb(UAVObjEvent *ev); static void hwSettingsUpdatedCb(UAVObjEvent *ev); @@ -248,12 +193,9 @@ static void systemTask(__attribute__((unused)) void *parameters) TaskInfoData taskInfoData; CallbackInfoData callbackInfoData; #endif - started = true; // Main system loop while (1) { - // get values to be used for led handling - FlightStatusGet((FlightStatusData *)¤tFlightStatus); - currentAlarmLevel = AlarmsGetHighestSeverity(); + NotificationUpdateStatus(); // Update the system statistics updateStats(); // Update the system alarms @@ -672,110 +614,8 @@ static void updateSystemAlarms() */ void vApplicationIdleHook(void) { - static portTickType lastRunTimestamp; - - if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { - return; - } - lastRunTimestamp = xTaskGetTickCount(); - // the led will show various status information, subdivided in three phases - // - Notification - // - Alarm - // - Flight status - // they are shown using the above priority - // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end - - static enum { - STATUS_NOTIFY, - STATUS_ALARM, - STATUS_FLIGHTMODE, - STATUS_LENGHT - } status; - - static uint8_t cycleCount; - cycleCount++; - // a blink last 2 cycles. - static uint8_t blinkCount; - blinkCount = (cycleCount & 0xF) >> 1; - - if (cycleCount & 0x08) { - // add a short pause between each phase - if (cycleCount > 0xA) { - cycleCount = 0xFF; - status = (status + 1) % STATUS_LENGHT; - } - HEARTBEAT_LED_OFF(); - ALARM_LED_OFF(); - return; - } - - if (status == STATUS_NOTIFY) { - // Not implemented yet - status++; - } - - // Handles Alarm display - if (status == STATUS_ALARM) { -#if defined(PIOS_LED_ALARM) - if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) { - if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { - // Slow blink - ALARM_LED_OFF(); - if (cycleCount & 0x4) { - ALARM_LED_OFF(); - } else { - ALARM_LED_ON(); - } - } else { - if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && - (cycleCount & 0x1)) { - ALARM_LED_ON(); - } else { - ALARM_LED_OFF(); - } - } - } else { - status++; - } -#else /* if defined(PIOS_LED_ALARM) */ - // no alarms, handle next phase - status++; - // #endif -#endif /* PIOS_LED_ALARM */ - } - - // **** Handles flightmode display - if (status == STATUS_FLIGHTMODE) { - uint8_t flightmode = currentFlightStatus.FlightMode; - - // Flash the heartbeat LED -#if defined(PIOS_LED_HEARTBEAT) - - if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) { - // Slow blink - if (blinkCount < 3) { - HEARTBEAT_LED_ON(); - } else { - HEARTBEAT_LED_OFF(); - } - } else { - if ((blinkCount < BLINK_COUNT(flightmode)) && - (cycleCount & 0x1)) { - // red led will be active active in last or last two (4 blinks case) blinks - if (BLINK_RED(flightmode) && - ((blinkCount == BLINK_COUNT(flightmode) - 1) || - blinkCount > 1)) { - ALARM_LED_ON(); - } - HEARTBEAT_LED_ON(); - } else { - HEARTBEAT_LED_OFF(); - ALARM_LED_OFF(); - } - } - } -#endif /* PIOS_LED_HEARTBEAT */ - } + NotificationOnboardLedsRun(); +} /** * Called by the RTOS when a stack overflow is detected. */ diff --git a/flight/targets/boards/revolution/firmware/Makefile b/flight/targets/boards/revolution/firmware/Makefile index 5b89372a1..93aea56d0 100644 --- a/flight/targets/boards/revolution/firmware/Makefile +++ b/flight/targets/boards/revolution/firmware/Makefile @@ -53,6 +53,8 @@ MODULES += Telemetry OPTMODULES += ComUsbBridge +SRC += $(FLIGHTLIB)/notification.c + # Include all camera options CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF @@ -96,7 +98,9 @@ endif # Optional component libraries include $(FLIGHTLIB)/rscode/library.mk + #include $(FLIGHTLIB)/PyMite/pymite.mk + include $(ROOT_DIR)/make/apps-defs.mk include $(ROOT_DIR)/make/common-defs.mk From 132aa83dff90044da7c61808be44e76dc6bdd82e Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 13 Apr 2014 12:38:07 +0200 Subject: [PATCH 29/60] OP-1302 Fix other targets --- flight/targets/boards/coptercontrol/firmware/Makefile | 4 ++++ flight/targets/boards/osd/firmware/Makefile | 2 ++ flight/targets/boards/revoproto/firmware/Makefile | 2 ++ flight/targets/boards/simposix/firmware/Makefile | 2 ++ 4 files changed, 10 insertions(+) diff --git a/flight/targets/boards/coptercontrol/firmware/Makefile b/flight/targets/boards/coptercontrol/firmware/Makefile index 6c0038305..c0cf05285 100644 --- a/flight/targets/boards/coptercontrol/firmware/Makefile +++ b/flight/targets/boards/coptercontrol/firmware/Makefile @@ -48,9 +48,13 @@ OPTMODULES += Osd/osdoutput #OPTMODULES += Altitude #OPTMODULES += Fault +SRC += $(FLIGHTLIB)/notification.c + # Include all camera options CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF + + # Erase flash firmware should be buildable from command line ifeq ($(ERASE_FLASH), YES) CDEFS += -DERASE_FLASH diff --git a/flight/targets/boards/osd/firmware/Makefile b/flight/targets/boards/osd/firmware/Makefile index 14d863b1b..3744ee56a 100644 --- a/flight/targets/boards/osd/firmware/Makefile +++ b/flight/targets/boards/osd/firmware/Makefile @@ -37,6 +37,8 @@ MODULES += Telemetry OPTMODULES = +SRC += $(FLIGHTLIB)/notification.c + # Some diagnostics CDEFS += -DDIAG_TASKS diff --git a/flight/targets/boards/revoproto/firmware/Makefile b/flight/targets/boards/revoproto/firmware/Makefile index 2e5df1ac3..16e4d7072 100644 --- a/flight/targets/boards/revoproto/firmware/Makefile +++ b/flight/targets/boards/revoproto/firmware/Makefile @@ -50,6 +50,8 @@ MODULES += Osd/osdoutout MODULES += Logging MODULES += Telemetry +SRC += $(FLIGHTLIB)/notification.c + OPTMODULES += ComUsbBridge # Include all camera options diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile index beda566a8..d6c1f0a14 100644 --- a/flight/targets/boards/simposix/firmware/Makefile +++ b/flight/targets/boards/simposix/firmware/Makefile @@ -45,6 +45,8 @@ MODULES += Airspeed MODULES += AltitudeHold #MODULES += OveroSync +SRC += $(FLIGHTLIB)/notification.c + # Paths OPSYSTEM = . BOARDINC = .. From 299f388245d25d5d72593809028a6717c3488701 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 13 Apr 2014 17:42:57 +0200 Subject: [PATCH 30/60] OP-1302 Add a stub pios_notify API for user interaction/notifications right now all notifications produces the same output, the DRAW_ATTENTION sequence --- flight/libraries/inc/notification.h | 29 ++- flight/libraries/notification.c | 233 +++++++++++------- flight/modules/System/systemmod.c | 42 ++-- flight/pios/common/pios_notify.c | 49 ++++ flight/pios/inc/pios_notify.h | 58 +++++ .../targets/boards/simposix/firmware/Makefile | 2 + make/apps-defs.mk | 2 +- 7 files changed, 295 insertions(+), 120 deletions(-) create mode 100644 flight/pios/common/pios_notify.c create mode 100644 flight/pios/inc/pios_notify.h diff --git a/flight/libraries/inc/notification.h b/flight/libraries/inc/notification.h index 62a9d1c58..65b902d1d 100644 --- a/flight/libraries/inc/notification.h +++ b/flight/libraries/inc/notification.h @@ -1,32 +1,35 @@ /** ****************************************************************************** * - * @file notification.h + * @file notification.h * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. * @brief notification library * -- * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #ifndef NOTIFICATION_H #define NOTIFICATION_H -#define LED_BLINK_PERIOD_MS 200 +// period of each blink phase +#define LED_BLINK_PERIOD_MS 200 +// Define the pause in half blink periods to be added between phases +#define LED_PAUSE_BETWEEN_PHASES 3 // update the status snapshot used by notifcations void NotificationUpdateStatus(); diff --git a/flight/libraries/notification.c b/flight/libraries/notification.c index f7126f08e..a7f722bc2 100644 --- a/flight/libraries/notification.c +++ b/flight/libraries/notification.c @@ -1,26 +1,26 @@ /** ****************************************************************************** * - * @file notification.c + * @file notification.c * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. - * @brief brief goes here. + * @brief notification library. * -- * @see The GNU Public License (GPL) Version 3 * *****************************************************************************/ -/* - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 3 of the License, or +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, but - * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY - * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * for more details. - * - * You should have received a copy of the GNU General Public License along - * with this program; if not, write to the Free Software Foundation, Inc., + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA */ #include "inc/notification.h" @@ -28,6 +28,7 @@ #include #include #include +#include #ifdef PIOS_LED_ALARM #define ALARM_LED_ON() PIOS_LED_On(PIOS_LED_ALARM) @@ -53,9 +54,9 @@ #define BLINK_COUNT(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 4 : \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 1 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 2 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 3 : \ x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \ x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \ x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \ @@ -82,27 +83,31 @@ static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK; static volatile FlightStatusData currentFlightStatus; static volatile bool started = false; +static volatile pios_notify_notification nextNotification = NOTIFY_NONE; -void NotificationUpdateStatus(){ +#ifdef PIOS_LED_ALARM +static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount); +#endif // PIOS_LED_ALARM +static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification); +static void handleStatus(uint8_t cycleCount, uint8_t blinkCount); + +void NotificationUpdateStatus() +{ started = true; // get values to be used for led handling FlightStatusGet((FlightStatusData *)¤tFlightStatus); currentAlarmLevel = AlarmsGetHighestSeverity(); + if (nextNotification == NOTIFY_NONE) { + nextNotification = PIOS_NOTIFY_GetActiveNotification(true); + } } -void NotificationOnboardLedsRun(){ +void NotificationOnboardLedsRun() +{ static portTickType lastRunTimestamp; - - if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { - return; - } - lastRunTimestamp = xTaskGetTickCount(); - // the led will show various status information, subdivided in three phases - // - Notification - // - Alarm - // - Flight status - // they are shown using the above priority - // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end + static uint8_t blinkCount; // number of blinks since phase start + static uint8_t cycleCount; // cound the number of cycles (half of a blink) + static pios_notify_notification runningNotification = NOTIFY_NONE; static enum { STATUS_NOTIFY, @@ -111,87 +116,145 @@ void NotificationOnboardLedsRun(){ STATUS_LENGHT } status; - static uint8_t cycleCount; - cycleCount++; - // a blink last 2 cycles. - static uint8_t blinkCount; - blinkCount = (cycleCount & 0xF) >> 1; - if (cycleCount & 0x08) { - // add a short pause between each phase - if (cycleCount > 0xA) { - cycleCount = 0xFF; - status = (status + 1) % STATUS_LENGHT; - } - HEARTBEAT_LED_OFF(); - ALARM_LED_OFF(); + if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { return; } + lastRunTimestamp = xTaskGetTickCount(); + + // the led will show various status information, subdivided in three phases + // - Notification + // - Alarm + // - Flight status + // they are shown using the above priority + // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end + + cycleCount++; + + // Notifications are "modal" to other statuses so they takes precedence + if (status != STATUS_NOTIFY && nextNotification != NOTIFY_NONE) { + // Force a notification status + runningNotification = nextNotification; + nextNotification = NOTIFY_NONE; + + status = STATUS_NOTIFY; + cycleCount = 0; // instantly start a notify cycle + } + + // check if a phase has just finished + if (cycleCount & 0x08) { + // add a short pause between each phase + if (cycleCount > 0x8 + LED_PAUSE_BETWEEN_PHASES) { + // ready to start a new phase + cycleCount = 0x0; + + // Notification has been already shown, so clear the running one + if (status == STATUS_NOTIFY) { + runningNotification = NOTIFY_NONE; + } + status = (status + 1) % STATUS_LENGHT; + } else { + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + return; + } + } + + // a blink last 2 cycles. + blinkCount = (cycleCount & 0xF) >> 1; + if (status == STATUS_NOTIFY) { - // Not implemented yet - status++; + if (!handleNotifications(cycleCount, runningNotification)) { + status++; + } } // Handles Alarm display if (status == STATUS_ALARM) { -#if defined(PIOS_LED_ALARM) - if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) { - if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { - // Slow blink - ALARM_LED_OFF(); - if (cycleCount & 0x4) { - ALARM_LED_OFF(); - } else { - ALARM_LED_ON(); - } - } else { - if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && - (cycleCount & 0x1)) { - ALARM_LED_ON(); - } else { - ALARM_LED_OFF(); - } - } - } else { +#ifdef PIOS_LED_ALARM + if (!handleAlarms(cycleCount, blinkCount)) { status++; } -#else /* if defined(PIOS_LED_ALARM) */ - // no alarms, handle next phase +#else status++; - // #endif -#endif /* PIOS_LED_ALARM */ +#endif // PIOS_LED_ALARM } - // **** Handles flightmode display if (status == STATUS_FLIGHTMODE) { - uint8_t flightmode = currentFlightStatus.FlightMode; + handleStatus(cycleCount, blinkCount); + } +} - // Flash the heartbeat LED -#if defined(PIOS_LED_HEARTBEAT) - - if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) { +#if defined(PIOS_LED_ALARM) +static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount) +{ + if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) { + if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { // Slow blink - if (blinkCount < 3) { - HEARTBEAT_LED_ON(); + ALARM_LED_OFF(); + if (cycleCount & 0x4) { + ALARM_LED_OFF(); } else { - HEARTBEAT_LED_OFF(); + ALARM_LED_ON(); } } else { - if ((blinkCount < BLINK_COUNT(flightmode)) && + if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && (cycleCount & 0x1)) { - // red led will be active active in last or last two (4 blinks case) blinks - if (BLINK_RED(flightmode) && - ((blinkCount == BLINK_COUNT(flightmode) - 1) || - blinkCount > 1)) { - ALARM_LED_ON(); - } - HEARTBEAT_LED_ON(); + ALARM_LED_ON(); } else { - HEARTBEAT_LED_OFF(); ALARM_LED_OFF(); } } + return true; + } else { + return false; + } +} +#endif /* PIOS_LED_ALARM */ + + +static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification) +{ + if (runningNotification == NOTIFY_NONE) { + return false; + } + if (cycleCount & 0x1) { + ALARM_LED_OFF(); + HEARTBEAT_LED_ON(); + } else { + ALARM_LED_ON(); + HEARTBEAT_LED_OFF(); + } + return true; +} + +static void handleStatus(uint8_t cycleCount, uint8_t blinkCount) +{ + // Flash the heartbeat LED +#if defined(PIOS_LED_HEARTBEAT) + uint8_t flightmode = currentFlightStatus.FlightMode; + if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) { + // Slow blink + if (blinkCount < 3) { + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + } + } else { + if ((blinkCount < BLINK_COUNT(flightmode)) && + (cycleCount & 0x1)) { + // red led will be active active in last or last two (4 blinks case) blinks + if (BLINK_RED(flightmode) && + ((blinkCount == BLINK_COUNT(flightmode) - 1) || + blinkCount > 1)) { + ALARM_LED_ON(); + } + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + } } #endif /* PIOS_LED_HEARTBEAT */ } diff --git a/flight/modules/System/systemmod.c b/flight/modules/System/systemmod.c index 1ad8b188e..c61a3bbc6 100644 --- a/flight/modules/System/systemmod.c +++ b/flight/modules/System/systemmod.c @@ -72,7 +72,7 @@ #endif // Private constants -#define SYSTEM_UPDATE_PERIOD_MS 500 +#define SYSTEM_UPDATE_PERIOD_MS 250 #if defined(PIOS_SYSTEM_STACK_SIZE) #define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE @@ -80,7 +80,7 @@ #define STACK_SIZE_BYTES 1024 #endif -#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) +#define TASK_PRIORITY (tskIDLE_PRIORITY + 1) // Private types @@ -620,34 +620,34 @@ void vApplicationIdleHook(void) * Called by the RTOS when a stack overflow is detected. */ #define DEBUG_STACK_OVERFLOW 0 - void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask, - __attribute__((unused)) signed portCHAR *pcTaskName) - { - stackOverflow = STACKOVERFLOW_CRITICAL; +void vApplicationStackOverflowHook(__attribute__((unused)) xTaskHandle *pxTask, + __attribute__((unused)) signed portCHAR *pcTaskName) +{ + stackOverflow = STACKOVERFLOW_CRITICAL; #if DEBUG_STACK_OVERFLOW - static volatile bool wait_here = true; - while (wait_here) { - ; - } - wait_here = true; -#endif + static volatile bool wait_here = true; + while (wait_here) { + ; } + wait_here = true; +#endif +} /** * Called by the RTOS when a malloc call fails. */ #define DEBUG_MALLOC_FAILURES 0 - void vApplicationMallocFailedHook(void) - { - mallocFailed = true; +void vApplicationMallocFailedHook(void) +{ + mallocFailed = true; #if DEBUG_MALLOC_FAILURES - static volatile bool wait_here = true; - while (wait_here) { - ; - } - wait_here = true; -#endif + static volatile bool wait_here = true; + while (wait_here) { + ; } + wait_here = true; +#endif +} /** * @} diff --git a/flight/pios/common/pios_notify.c b/flight/pios/common/pios_notify.c new file mode 100644 index 000000000..bf83c22eb --- /dev/null +++ b/flight/pios/common/pios_notify.c @@ -0,0 +1,49 @@ +/** + ****************************************************************************** + * + * @file pios_notify.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @brief Handles user notifications. + * -- + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "pios_notify.h" + +static volatile pios_notify_notification currentNotification = NOTIFY_NONE; +static volatile pios_notify_priority currentPriority; + + +void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority) +{ + if (currentNotification == NOTIFY_NONE || currentPriority < priority) { + currentPriority = priority; + currentNotification = notification; + } +} + +pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear) +{ + pios_notify_notification ret = currentNotification; + + if (clear && ret != NOTIFY_NONE) { + currentNotification = NOTIFY_NONE; + } + return ret; +} diff --git a/flight/pios/inc/pios_notify.h b/flight/pios/inc/pios_notify.h new file mode 100644 index 000000000..1e800df5c --- /dev/null +++ b/flight/pios/inc/pios_notify.h @@ -0,0 +1,58 @@ +/** + ****************************************************************************** + * + * @file pios_notify.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014. + * @brief Handles user notifications. + * -- + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#ifndef PIOS_NOTIFY_H_ +#define PIOS_NOTIFY_H_ +#include + +typedef enum { + NOTIFY_NONE = 0, + NOTIFY_OK, + NOTIFY_NOK, + NOTIFY_DRAW_ATTENTION +} pios_notify_notification; + +typedef enum { + NOTIFY_PRIORITY_CRITICAL = 2, + NOTIFY_PRIORITY_REGULAR = 1, + NOTIFY_PRIORITY_LOW = 0, +} pios_notify_priority; + +/** + * start a new notification. If a notification is active it will be overwritten if its priority is lower than the new one. + * The new will be discarded otherwise + * @param notification kind of notification + * @param priority priority of the new notification + */ +void PIOS_NOTIFY_StartNotification(pios_notify_notification notification, pios_notify_priority priority); + +/** + * retrieve any active notification + * @param clear + * @return + */ +pios_notify_notification PIOS_NOTIFY_GetActiveNotification(bool clear); + +#endif /* PIOS_NOTIFY_H_ */ diff --git a/flight/targets/boards/simposix/firmware/Makefile b/flight/targets/boards/simposix/firmware/Makefile index d6c1f0a14..5169ef268 100644 --- a/flight/targets/boards/simposix/firmware/Makefile +++ b/flight/targets/boards/simposix/firmware/Makefile @@ -104,6 +104,8 @@ SRC += $(PIOSCORECOMMON)/pios_dosfs_logfs.c SRC += $(PIOSCORECOMMON)/pios_debuglog.c SRC += $(PIOSCORECOMMON)/pios_callbackscheduler.c SRC += $(PIOSCORECOMMON)/pios_deltatime.c +SRC += $(PIOSCORECOMMON)/pios_notify.c + ## PIOS Hardware include $(PIOS)/posix/library.mk diff --git a/make/apps-defs.mk b/make/apps-defs.mk index 20853c568..88dfe4121 100644 --- a/make/apps-defs.mk +++ b/make/apps-defs.mk @@ -99,7 +99,7 @@ SRC += $(PIOSCOMMON)/pios_usb_util.c ## PIOS system code SRC += $(PIOSCOMMON)/pios_task_monitor.c SRC += $(PIOSCOMMON)/pios_callbackscheduler.c - +SRC += $(PIOSCOMMON)/pios_notify.c ## Misc library functions SRC += $(FLIGHTLIB)/fifo_buffer.c SRC += $(FLIGHTLIB)/sanitycheck.c From 20508314f25f96c296bc6998da443dd148a15c6b Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 13 Apr 2014 17:56:20 +0200 Subject: [PATCH 31/60] OP-1302 use pios_notify api to alert user of ongoing CF gyro calibration --- flight/libraries/notification.c | 57 ++++++++++++----------- flight/modules/Attitude/attitude.c | 4 +- flight/modules/StateEstimation/filtercf.c | 4 +- 3 files changed, 35 insertions(+), 30 deletions(-) diff --git a/flight/libraries/notification.c b/flight/libraries/notification.c index a7f722bc2..1b5a9c752 100644 --- a/flight/libraries/notification.c +++ b/flight/libraries/notification.c @@ -116,13 +116,11 @@ void NotificationOnboardLedsRun() STATUS_LENGHT } status; - if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { return; } lastRunTimestamp = xTaskGetTickCount(); - // the led will show various status information, subdivided in three phases // - Notification // - Alarm @@ -131,25 +129,24 @@ void NotificationOnboardLedsRun() // a phase last exactly 8 cycles (so bit 1<<4 is used to determine if a phase end cycleCount++; - // Notifications are "modal" to other statuses so they takes precedence if (status != STATUS_NOTIFY && nextNotification != NOTIFY_NONE) { - // Force a notification status + // read next notification to show runningNotification = nextNotification; nextNotification = NOTIFY_NONE; - + // Force a notification status status = STATUS_NOTIFY; cycleCount = 0; // instantly start a notify cycle } // check if a phase has just finished if (cycleCount & 0x08) { - // add a short pause between each phase + // add a pause between each phase if (cycleCount > 0x8 + LED_PAUSE_BETWEEN_PHASES) { // ready to start a new phase cycleCount = 0x0; - // Notification has been already shown, so clear the running one + // Notification has been just shown, cleanup if (status == STATUS_NOTIFY) { runningNotification = NOTIFY_NONE; } @@ -161,11 +158,12 @@ void NotificationOnboardLedsRun() } } - // a blink last 2 cycles. + // a blink last 2 cycles(on and off cycle). blinkCount = (cycleCount & 0xF) >> 1; if (status == STATUS_NOTIFY) { if (!handleNotifications(cycleCount, runningNotification)) { + // no notifications, advance status++; } } @@ -174,12 +172,15 @@ void NotificationOnboardLedsRun() if (status == STATUS_ALARM) { #ifdef PIOS_LED_ALARM if (!handleAlarms(cycleCount, blinkCount)) { + // no alarms, advance status++; } #else + // no alarms leds, advance status++; #endif // PIOS_LED_ALARM } + // **** Handles flightmode display if (status == STATUS_FLIGHTMODE) { handleStatus(cycleCount, blinkCount); @@ -189,27 +190,27 @@ void NotificationOnboardLedsRun() #if defined(PIOS_LED_ALARM) static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount) { - if (currentAlarmLevel > SYSTEMALARMS_ALARM_OK) { - if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { - // Slow blink - ALARM_LED_OFF(); - if (cycleCount & 0x4) { - ALARM_LED_OFF(); - } else { - ALARM_LED_ON(); - } - } else { - if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && - (cycleCount & 0x1)) { - ALARM_LED_ON(); - } else { - ALARM_LED_OFF(); - } - } - return true; - } else { + if (currentAlarmLevel == SYSTEMALARMS_ALARM_OK) { return false; } + + if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { + // Slow blink + ALARM_LED_OFF(); + if (cycleCount & 0x4) { + ALARM_LED_OFF(); + } else { + ALARM_LED_ON(); + } + } else { + if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && + (cycleCount & 0x1)) { + ALARM_LED_ON(); + } else { + ALARM_LED_OFF(); + } + } + return true; } #endif /* PIOS_LED_ALARM */ @@ -244,7 +245,7 @@ static void handleStatus(uint8_t cycleCount, uint8_t blinkCount) } else { if ((blinkCount < BLINK_COUNT(flightmode)) && (cycleCount & 0x1)) { - // red led will be active active in last or last two (4 blinks case) blinks + // red led will be active active on last (1-3 blinks) or last two (4 blinks case) blinks if (BLINK_RED(flightmode) && ((blinkCount == BLINK_COUNT(flightmode) - 1) || blinkCount > 1)) { diff --git a/flight/modules/Attitude/attitude.c b/flight/modules/Attitude/attitude.c index e004c04b3..92f07ae01 100644 --- a/flight/modules/Attitude/attitude.c +++ b/flight/modules/Attitude/attitude.c @@ -63,7 +63,7 @@ #include "taskinfo.h" #include "CoordinateConversions.h" - +#include // Private constants #define STACK_SIZE_BYTES 540 @@ -252,6 +252,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters) rollPitchBiasRate = 0.01f; accel_filter_enabled = false; init = 0; + PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR); } else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) { accelKp = 1.0f; accelKi = 0.0f; @@ -259,6 +260,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters) rollPitchBiasRate = 0.01f; accel_filter_enabled = false; init = 0; + PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR); } else if (init == 0) { // Reload settings (all the rates) AttitudeSettingsAccelKiGet(&accelKi); diff --git a/flight/modules/StateEstimation/filtercf.c b/flight/modules/StateEstimation/filtercf.c index 992eef8ef..0daea0928 100644 --- a/flight/modules/StateEstimation/filtercf.c +++ b/flight/modules/StateEstimation/filtercf.c @@ -42,7 +42,7 @@ #include #include - +#include // Private constants #define STACK_REQUIRED 512 @@ -295,6 +295,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel this->accel_filter_enabled = false; this->rollPitchBiasRate = 0.01f; this->attitudeSettings.MagKp = this->magCalibrated ? 1.0f : 0.0f; + PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR); } else if ((this->attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE) && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) { this->attitudeSettings.AccelKp = 1.0f; this->attitudeSettings.AccelKi = 0.0f; @@ -303,6 +304,7 @@ static int32_t complementaryFilter(struct data *this, float gyro[3], float accel this->rollPitchBiasRate = 0.01f; this->attitudeSettings.MagKp = this->magCalibrated ? 1.0f : 0.0f; this->init = 0; + PIOS_NOTIFY_StartNotification(NOTIFY_DRAW_ATTENTION, NOTIFY_PRIORITY_REGULAR); } else if (this->init == 0) { // Reload settings (all the rates) AttitudeSettingsGet(&this->attitudeSettings); From e1653240197f91c7127fd245d82793f488aa6f85 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 13 Apr 2014 19:26:07 +0200 Subject: [PATCH 32/60] OP-975 Add some graphic/text hints to gyrocalibration --- .../plugins/config/calibration/gyrobiascalibrationmodel.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp index f23fea746..ae12cbc94 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp @@ -66,6 +66,8 @@ void GyroBiasCalibrationModel::start() attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); + displayVisualHelp("plane-horizontal"); + displayInstructions("Calibrating the gyroscopes. Keep the copter/plane steady...", true); gyro_accum_x.clear(); gyro_accum_y.clear(); @@ -155,6 +157,7 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) gyroState->setMetadata(initialGyroStateMdata); + displayInstructions("Calibration done!", false); // Recall saved board rotation recallBoardRotation(); } From ee91207ede61b56715df0dc0434fcb6561fe73b0 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 16 Apr 2014 07:57:15 +0200 Subject: [PATCH 33/60] OP-1302 simplify the code adding some pattern "tables" --- flight/libraries/inc/notification.h | 4 +- flight/libraries/notification.c | 219 +++++++++++++++------------- 2 files changed, 117 insertions(+), 106 deletions(-) diff --git a/flight/libraries/inc/notification.h b/flight/libraries/inc/notification.h index 65b902d1d..2053a9609 100644 --- a/flight/libraries/inc/notification.h +++ b/flight/libraries/inc/notification.h @@ -27,9 +27,7 @@ #define NOTIFICATION_H // period of each blink phase -#define LED_BLINK_PERIOD_MS 200 -// Define the pause in half blink periods to be added between phases -#define LED_PAUSE_BETWEEN_PHASES 3 +#define LED_BLINK_PERIOD_MS 200 // update the status snapshot used by notifcations void NotificationUpdateStatus(); diff --git a/flight/libraries/notification.c b/flight/libraries/notification.c index 1b5a9c752..4df6f71bb 100644 --- a/flight/libraries/notification.c +++ b/flight/libraries/notification.c @@ -46,38 +46,82 @@ #define HEARTBEAT_LED_OFF() #endif -#define ALARM_BLINK_COUNT(x) \ +#define BLINK_R_ALARM_PATTERN(x) \ (x == SYSTEMALARMS_ALARM_OK ? 0 : \ - x == SYSTEMALARMS_ALARM_WARNING ? 1 : \ - x == SYSTEMALARMS_ALARM_ERROR ? 2 : \ + x == SYSTEMALARMS_ALARM_WARNING ? 0b0000000001000000 : \ + x == SYSTEMALARMS_ALARM_ERROR ? 0b0000001000100000 : \ + x == SYSTEMALARMS_ALARM_CRITICAL ? 0b0111111111111110 : 0) +#define BLINK_B_ALARM_PATTERN(x) \ + (x == SYSTEMALARMS_ALARM_OK ? 0 : \ + x == SYSTEMALARMS_ALARM_WARNING ? 0 : \ + x == SYSTEMALARMS_ALARM_ERROR ? 0 : \ x == SYSTEMALARMS_ALARM_CRITICAL ? 0 : 0) -#define BLINK_COUNT(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 1 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 2 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 4 : \ - x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 4 : \ - x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 3 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POI ? 3 : 1) +#define BLINK_B_FM_ARMED_PATTERN(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000010000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0000000000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0000000000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0000000000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100010001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100010001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000010000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000010000100001 : 0b0000000000000001) -#define BLINK_RED(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? false : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? false : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? false : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_LAND ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? true : \ - x == FLIGHTSTATUS_FLIGHTMODE_POI ? true : false) +#define BLINK_R_FM_ARMED_PATTERN(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0000000000100000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0000000000100000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0000000000100000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000010000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000010000000000 : 0b0000010000000000) + +#define BLINK_B_FM_DISARMED_PATTERN(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0001111111111111 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0001111111111111 : 0b0001111111111111) + +#define BLINK_R_FM_DISARMED_PATTERN(x) \ + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0 : 0) + + +#define BLINK_B_NOTIFY_PATTERN(x) \ + (x == NOTIFY_NONE ? 0 : \ + x == NOTIFY_OK ? 0b0000100100111111 : \ + x == NOTIFY_NOK ? 0b0000000000111111 : \ + x == NOTIFY_DRAW_ATTENTION ? 0b0101010101010101 : 0b0101010101010101) + +#define BLINK_R_NOTIFY_PATTERN(x) \ + (x == NOTIFY_NONE ? 0 : \ + x == NOTIFY_OK ? 0b0000000000001111 : \ + x == NOTIFY_NOK ? 0b0011000011001111 : \ + x == NOTIFY_DRAW_ATTENTION ? 0b1010101010101010 : 0b1010101010101010) // led notification handling static volatile SystemAlarmsAlarmOptions currentAlarmLevel = SYSTEMALARMS_ALARM_OK; @@ -86,10 +130,10 @@ static volatile bool started = false; static volatile pios_notify_notification nextNotification = NOTIFY_NONE; #ifdef PIOS_LED_ALARM -static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount); +static bool handleAlarms(uint16_t *r_pattern, uint16_t *b_pattern); #endif // PIOS_LED_ALARM -static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification); -static void handleStatus(uint8_t cycleCount, uint8_t blinkCount); +static bool handleNotifications(pios_notify_notification runningNotification, uint16_t *r_pattern, uint16_t *b_pattern); +static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern); void NotificationUpdateStatus() { @@ -105,8 +149,9 @@ void NotificationUpdateStatus() void NotificationOnboardLedsRun() { static portTickType lastRunTimestamp; - static uint8_t blinkCount; // number of blinks since phase start - static uint8_t cycleCount; // cound the number of cycles (half of a blink) + static uint16_t r_pattern; + static uint16_t b_pattern; + static uint8_t cycleCount; // count the number of cycles static pios_notify_notification runningNotification = NOTIFY_NONE; static enum { @@ -116,7 +161,7 @@ void NotificationOnboardLedsRun() STATUS_LENGHT } status; - if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 2)) { + if (!started || (xTaskGetTickCount() - lastRunTimestamp) < (LED_BLINK_PERIOD_MS * portTICK_RATE_MS / 4)) { return; } @@ -140,29 +185,19 @@ void NotificationOnboardLedsRun() } // check if a phase has just finished - if (cycleCount & 0x08) { - // add a pause between each phase - if (cycleCount > 0x8 + LED_PAUSE_BETWEEN_PHASES) { - // ready to start a new phase - cycleCount = 0x0; - - // Notification has been just shown, cleanup - if (status == STATUS_NOTIFY) { - runningNotification = NOTIFY_NONE; - } - status = (status + 1) % STATUS_LENGHT; - } else { - HEARTBEAT_LED_OFF(); - ALARM_LED_OFF(); - return; + if (cycleCount & 0x10) { + HEARTBEAT_LED_OFF(); + ALARM_LED_OFF(); + cycleCount = 0x0; + // Notification has been just shown, cleanup + if (status == STATUS_NOTIFY) { + runningNotification = NOTIFY_NONE; } + status = (status + 1) % STATUS_LENGHT; } - // a blink last 2 cycles(on and off cycle). - blinkCount = (cycleCount & 0xF) >> 1; - if (status == STATUS_NOTIFY) { - if (!handleNotifications(cycleCount, runningNotification)) { + if (!cycleCount && !handleNotifications(runningNotification, &r_pattern, &b_pattern)) { // no notifications, advance status++; } @@ -171,7 +206,7 @@ void NotificationOnboardLedsRun() // Handles Alarm display if (status == STATUS_ALARM) { #ifdef PIOS_LED_ALARM - if (!handleAlarms(cycleCount, blinkCount)) { + if (!cycleCount && !handleAlarms(&r_pattern, &b_pattern)) { // no alarms, advance status++; } @@ -182,80 +217,58 @@ void NotificationOnboardLedsRun() } // **** Handles flightmode display - if (status == STATUS_FLIGHTMODE) { - handleStatus(cycleCount, blinkCount); + if (status == STATUS_FLIGHTMODE && !cycleCount) { + handleStatus(&r_pattern, &b_pattern); } + + // led output + if (b_pattern & 0x1) { + HEARTBEAT_LED_ON(); + } else { + HEARTBEAT_LED_OFF(); + } + if (r_pattern & 0x1) { + ALARM_LED_ON(); + } else { + ALARM_LED_OFF(); + } + r_pattern >>= 1; + b_pattern >>= 1; } #if defined(PIOS_LED_ALARM) -static bool handleAlarms(uint8_t cycleCount, uint8_t blinkCount) +static bool handleAlarms(uint16_t *r_pattern, uint16_t *b_pattern) { if (currentAlarmLevel == SYSTEMALARMS_ALARM_OK) { return false; } - - if (currentAlarmLevel == SYSTEMALARMS_ALARM_CRITICAL) { - // Slow blink - ALARM_LED_OFF(); - if (cycleCount & 0x4) { - ALARM_LED_OFF(); - } else { - ALARM_LED_ON(); - } - } else { - if ((blinkCount < (ALARM_BLINK_COUNT(currentAlarmLevel))) && - (cycleCount & 0x1)) { - ALARM_LED_ON(); - } else { - ALARM_LED_OFF(); - } - } + *b_pattern = BLINK_B_ALARM_PATTERN(currentAlarmLevel); + *r_pattern = BLINK_R_ALARM_PATTERN(currentAlarmLevel); return true; } #endif /* PIOS_LED_ALARM */ -static bool handleNotifications(uint8_t cycleCount, pios_notify_notification runningNotification) +static bool handleNotifications(pios_notify_notification runningNotification, uint16_t *r_pattern, uint16_t *b_pattern) { if (runningNotification == NOTIFY_NONE) { return false; } - if (cycleCount & 0x1) { - ALARM_LED_OFF(); - HEARTBEAT_LED_ON(); - } else { - ALARM_LED_ON(); - HEARTBEAT_LED_OFF(); - } + *b_pattern = BLINK_B_NOTIFY_PATTERN(runningNotification); + *r_pattern = BLINK_R_NOTIFY_PATTERN(runningNotification); return true; } -static void handleStatus(uint8_t cycleCount, uint8_t blinkCount) +static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern) { // Flash the heartbeat LED -#if defined(PIOS_LED_HEARTBEAT) uint8_t flightmode = currentFlightStatus.FlightMode; + if (currentFlightStatus.Armed == FLIGHTSTATUS_ARMED_DISARMED) { - // Slow blink - if (blinkCount < 3) { - HEARTBEAT_LED_ON(); - } else { - HEARTBEAT_LED_OFF(); - } + *b_pattern = BLINK_B_FM_DISARMED_PATTERN(flightmode); + *r_pattern = BLINK_R_FM_DISARMED_PATTERN(flightmode); } else { - if ((blinkCount < BLINK_COUNT(flightmode)) && - (cycleCount & 0x1)) { - // red led will be active active on last (1-3 blinks) or last two (4 blinks case) blinks - if (BLINK_RED(flightmode) && - ((blinkCount == BLINK_COUNT(flightmode) - 1) || - blinkCount > 1)) { - ALARM_LED_ON(); - } - HEARTBEAT_LED_ON(); - } else { - HEARTBEAT_LED_OFF(); - ALARM_LED_OFF(); - } + *b_pattern = BLINK_B_FM_ARMED_PATTERN(flightmode); + *r_pattern = BLINK_R_FM_ARMED_PATTERN(flightmode); } -#endif /* PIOS_LED_HEARTBEAT */ } From d0a33030183fe02461c0ea8700337e58d98a7ef3 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 18 Apr 2014 14:43:50 +0200 Subject: [PATCH 34/60] OP-975 replace empty model image. --- .../config/images/calibration/snow.png | Bin 119798 -> 9688 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/snow.png b/ground/openpilotgcs/src/plugins/config/images/calibration/snow.png index 925635059a96207cb1e8055813f40eb63b2bc461..f8f611ffd8e134b5220a152acdafd6b63ce2ffe8 100644 GIT binary patch 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z?%U?T6cymB&elB6WjSo5YFgLczzxLVwNQ^T=WMAt6tMiS^uvsCU7w$y&swe}QOKdNuPnc4i)Asj zoV9!mkNdeJ0?xtGBkB&hjUBWRnejY}13Kg_PUz9^`<5k5HK`3IqZ2aXS=$9 zEH}pl(i4IVgvTHptZ3`v?%bbfhvP8&8xkG{%~mR>V(U<1ndjCXYjkJ^H~_dpcTm_N z>)I|2Nk&Bs2U1dX_7Ex9l?vRv%+k!_Gy$x3D(XHWX z?HQS&b^6y|IOdoLj-%iRE??XMrDgZ@lf5)mOim*YYs$(eSqXqSsJaCWlD{HpJYf-Q%L0}+r7c;^=(5P+cIh5|p zvnH>nG!CpKYSlQethPw|R;*ZyN+Qz^v1`VT72d2{zGHo0NGqv-&J;@DQa84%0C6HB zaZ)ATIxpxF2k(EV0ldq&o=|Luc4R>QcQ~AD-XJ|q*K?^885ZiBXT~8{5K&fAy4+;H zBPac&<(>8HscosgZ&d3MD(d>qtJFi%yvG)-vGUN~zS3r11MSoFr!Rxd5nG)7`QxLh zde*kNFd}VhBl4FOuzC>w>|~MH;1v$z#D3_g<_ty5>eic#w_f9?_eM8cAB=j}TlS zDz+?#Kv((seDa!29tX>}={PkE6^o7+Iwdoi_*XtZpTh8G`dUZ@cK10ao>+io5Ggk1 zfPBPMbB;jk4RmdZ6U|HqfU2*^wFJ3r&I{qeP}`}>vlhw&#KAU!QdkdV%36+9Z@C@J jW;4Z5dwSIU!r$@#?KhpyO}jtZ00000NkvXXu0mjfbqczV From 7e6875bf3bf1385e591f6d9b583f44f745b232e9 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Tue, 22 Apr 2014 17:39:12 +0200 Subject: [PATCH 35/60] OP-975 give to empty image a meaningful name --- .../src/plugins/config/configgadget.qrc | 2 +- .../src/plugins/config/configrevowidget.cpp | 2 +- .../images/calibration/{snow.png => empty.png} | Bin 3 files changed, 2 insertions(+), 2 deletions(-) rename ground/openpilotgcs/src/plugins/config/images/calibration/{snow.png => empty.png} (100%) diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index 02622a817..ae09ffc9c 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -36,7 +36,7 @@ images/calibration/plane-right.png images/calibration/plane-up.png images/calibration/plane-horizontal-rotated.png - images/calibration/snow.png + images/calibration/empty.png images/calibration/plane-down.png images/calibration/revo-down.png images/calibration/revo-flip.png diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 809ad5b53..3c9408609 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -81,7 +81,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : m_ui->calibrationVisualHelp->setScene(new QGraphicsScene(this)); m_ui->calibrationVisualHelp->setRenderHint(QPainter::HighQualityAntialiasing, true); m_ui->calibrationVisualHelp->setRenderHint(QPainter::SmoothPixmapTransform, true); - displayVisualHelp("snow"); + displayVisualHelp("empty"); // Must set up the UI (above) before setting up the UAVO mappings or refreshWidgetValues // will be dealing with some null pointers addUAVObject("RevoCalibration"); diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/snow.png b/ground/openpilotgcs/src/plugins/config/images/calibration/empty.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/snow.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/empty.png From 0aa9ef4b57c806852a9180768651ea4fa5f68953 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Fri, 31 May 2013 11:39:49 +0200 Subject: [PATCH 36/60] OP-1307 Bare f4 discovery platform with no sensor, for development pourpose --- Makefile | 7 +- .../Source/discoveryf4bare/system_stm32f4xx.c | 560 +++++ .../boards/discoveryf4bare/board-info.mk | 50 + .../boards/discoveryf4bare/board_hw_defs.c | 1812 +++++++++++++++++ .../discoveryf4bare/bootloader/Makefile | 26 + .../discoveryf4bare/bootloader/inc/common.h | 115 ++ .../bootloader/inc/pios_config.h | 44 + .../bootloader/inc/pios_usb_board_data.h | 52 + .../boards/discoveryf4bare/bootloader/main.c | 252 +++ .../discoveryf4bare/bootloader/pios_board.c | 84 + .../boards/discoveryf4bare/firmware/Makefile | 100 + .../discoveryf4bare/firmware/UAVObjects.inc | 118 ++ .../firmware/cm3_fault_handlers.c | 90 + .../discoveryf4bare/firmware/dcc_stdio.c | 149 ++ .../firmware/discoveryf4bare.c | 139 ++ .../firmware/inc/FreeRTOSConfig.h | 105 + .../discoveryf4bare/firmware/inc/dcc_stdio.h | 36 + .../discoveryf4bare/firmware/inc/openpilot.h | 51 + .../firmware/inc/pios_board_sim.h | 82 + .../firmware/inc/pios_config.h | 178 ++ .../firmware/inc/pios_config_sim.h | 80 + .../firmware/inc/pios_usb_board_data.h | 46 + .../discoveryf4bare/firmware/pios_board.c | 940 +++++++++ .../discoveryf4bare/firmware/pios_board_sim.c | 227 +++ .../boards/discoveryf4bare/pios_board.h | 294 +++ .../discoveryf4bare/pios_usb_board_data.c | 100 + make/common-defs.mk | 4 + 27 files changed, 5738 insertions(+), 3 deletions(-) create mode 100644 flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c create mode 100644 flight/targets/boards/discoveryf4bare/board-info.mk create mode 100644 flight/targets/boards/discoveryf4bare/board_hw_defs.c create mode 100644 flight/targets/boards/discoveryf4bare/bootloader/Makefile create mode 100644 flight/targets/boards/discoveryf4bare/bootloader/inc/common.h create mode 100644 flight/targets/boards/discoveryf4bare/bootloader/inc/pios_config.h create mode 100644 flight/targets/boards/discoveryf4bare/bootloader/inc/pios_usb_board_data.h create mode 100644 flight/targets/boards/discoveryf4bare/bootloader/main.c create mode 100644 flight/targets/boards/discoveryf4bare/bootloader/pios_board.c create mode 100644 flight/targets/boards/discoveryf4bare/firmware/Makefile create mode 100644 flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc create mode 100644 flight/targets/boards/discoveryf4bare/firmware/cm3_fault_handlers.c create mode 100644 flight/targets/boards/discoveryf4bare/firmware/dcc_stdio.c create mode 100644 flight/targets/boards/discoveryf4bare/firmware/discoveryf4bare.c create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/FreeRTOSConfig.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/dcc_stdio.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/openpilot.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/pios_board_sim.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/pios_config_sim.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/inc/pios_usb_board_data.h create mode 100644 flight/targets/boards/discoveryf4bare/firmware/pios_board.c create mode 100644 flight/targets/boards/discoveryf4bare/firmware/pios_board_sim.c create mode 100644 flight/targets/boards/discoveryf4bare/pios_board.h create mode 100644 flight/targets/boards/discoveryf4bare/pios_usb_board_data.c diff --git a/Makefile b/Makefile index 112654a14..0ccc88737 100644 --- a/Makefile +++ b/Makefile @@ -197,7 +197,7 @@ export OPUAVSYNTHDIR := $(BUILD_DIR)/uavobject-synthetics/flight export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics # Define supported board lists -ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix +ALL_BOARDS := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare # Short names of each board (used to display board name in parallel builds) coptercontrol_short := 'cc ' @@ -206,6 +206,7 @@ revolution_short := 'revo' osd_short := 'osd ' revoproto_short := 'revp' simposix_short := 'posx' +discoveryf4bare_short := 'df4b' # SimPosix only builds on Linux so drop it from the list for # all other platforms. @@ -697,8 +698,8 @@ endif ############################## # Firmware files to package -PACKAGE_FW_TARGETS := $(filter-out fw_simposix, $(FW_TARGETS)) -PACKAGE_ELF_TARGETS := $(filter fw_simposix, $(FW_TARGETS)) +PACKAGE_FW_TARGETS := $(filter-out fw_simposix fw_discoveryf4bare, $(FW_TARGETS)) +PACKAGE_ELF_TARGETS := $(filter fw_simposix fw_discoveryf4bare, $(FW_TARGETS)) # Rules to generate GCS resources used to embed firmware binaries into the GCS. # They are used later by the vehicle setup wizard to update board firmware. diff --git a/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c b/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c new file mode 100644 index 000000000..e6ffcd777 --- /dev/null +++ b/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c @@ -0,0 +1,560 @@ +/** + ****************************************************************************** + * @file system_stm32f4xx.c + * @author MCD Application Team + * @version V1.1.0 + * @date 11-January-2013 + * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File. + * This file contains the system clock configuration for STM32F4xx devices, + * and is generated by the clock configuration tool + * stm32f4xx_Clock_Configuration_V1.1.0.xls + * + * 1. This file provides two functions and one global variable to be called from + * user application: + * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier + * and Divider factors, AHB/APBx prescalers and Flash settings), + * depending on the configuration made in the clock xls tool. + * This function is called at startup just after reset and + * before branch to main program. This call is made inside + * the "startup_stm32f4xx.s" file. + * + * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used + * by the user application to setup the SysTick + * timer or configure other parameters. + * + * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must + * be called whenever the core clock is changed + * during program execution. + * + * 2. After each device reset the HSI (16 MHz) is used as system clock source. + * Then SystemInit() function is called, in "startup_stm32f4xx.s" file, to + * configure the system clock before to branch to main program. + * + * 3. If the system clock source selected by user fails to startup, the SystemInit() + * function will do nothing and HSI still used as system clock source. User can + * add some code to deal with this issue inside the SetSysClock() function. + * + * 4. The default value of HSE crystal is set to 25MHz, refer to "HSE_VALUE" define + * in "stm32f4xx.h" file. When HSE is used as system clock source, directly or + * through PLL, and you are using different crystal you have to adapt the HSE + * value to your own configuration. + * + * 5. This file configures the system clock as follows: + *============================================================================= + *============================================================================= + * Supported STM32F40xx/41xx/427x/437x devices + *----------------------------------------------------------------------------- + * System Clock source | PLL (HSE) + *----------------------------------------------------------------------------- + * SYSCLK(Hz) | 168000000 + *----------------------------------------------------------------------------- + * HCLK(Hz) | 168000000 + *----------------------------------------------------------------------------- + * AHB Prescaler | 1 + *----------------------------------------------------------------------------- + * APB1 Prescaler | 4 + *----------------------------------------------------------------------------- + * APB2 Prescaler | 2 + *----------------------------------------------------------------------------- + * HSE Frequency(Hz) | 8000000 + *----------------------------------------------------------------------------- + * PLL_M | 10 + *----------------------------------------------------------------------------- + * PLL_N | 420 + *----------------------------------------------------------------------------- + * PLL_P | 2 + *----------------------------------------------------------------------------- + * PLL_Q | 7 + *----------------------------------------------------------------------------- + * PLLI2S_N | NA + *----------------------------------------------------------------------------- + * PLLI2S_R | NA + *----------------------------------------------------------------------------- + * I2S input clock | NA + *----------------------------------------------------------------------------- + * VDD(V) | 3.3 + *----------------------------------------------------------------------------- + * Main regulator output voltage | Scale1 mode + *----------------------------------------------------------------------------- + * Flash Latency(WS) | 5 + *----------------------------------------------------------------------------- + * Prefetch Buffer | ON + *----------------------------------------------------------------------------- + * Instruction cache | ON + *----------------------------------------------------------------------------- + * Data cache | ON + *----------------------------------------------------------------------------- + * Require 48MHz for USB OTG FS, | Enabled + * SDIO and RNG clock | + *----------------------------------------------------------------------------- + *============================================================================= + ****************************************************************************** + * @attention + * + *

    © COPYRIGHT 2013 STMicroelectronics

    + * + * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); + * You may not use this file except in compliance with the License. + * You may obtain a copy of the License at: + * + * http://www.st.com/software_license_agreement_liberty_v2 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + * + ****************************************************************************** + */ + +/** @addtogroup CMSIS + * @{ + */ + +/** @addtogroup stm32f4xx_system + * @{ + */ + +/** @addtogroup STM32F4xx_System_Private_Includes + * @{ + */ + +#include "stm32f4xx.h" + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_TypesDefinitions + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Defines + * @{ + */ + +/************************* Miscellaneous Configuration ************************/ +/*!< Uncomment the following line if you need to use external SRAM mounted + on STM324xG_EVAL/STM324x7I_EVAL boards as data memory */ +/* #define DATA_IN_ExtSRAM */ + +/*!< Uncomment the following line if you need to relocate your vector Table in + Internal SRAM. */ +/* #define VECT_TAB_SRAM */ +#define VECT_TAB_OFFSET 0x00 /*!< Vector Table base offset field. + This value must be a multiple of 0x200. */ +/******************************************************************************/ + +/************************* PLL Parameters *************************************/ +/* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N */ +#define PLL_M 10 +#define PLL_N 420 + +/* SYSCLK = PLL_VCO / PLL_P */ +#define PLL_P 2 + +/* USB OTG FS, SDIO and RNG Clock = PLL_VCO / PLLQ */ +#define PLL_Q 7 + +/******************************************************************************/ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Macros + * @{ + */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Variables + * @{ + */ + + uint32_t SystemCoreClock = 168000000; + + __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9}; + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_FunctionPrototypes + * @{ + */ + +static void SetSysClock(void); +#ifdef DATA_IN_ExtSRAM + static void SystemInit_ExtMemCtl(void); +#endif /* DATA_IN_ExtSRAM */ + +/** + * @} + */ + +/** @addtogroup STM32F4xx_System_Private_Functions + * @{ + */ + +/** + * @brief Setup the microcontroller system + * Initialize the Embedded Flash Interface, the PLL and update the + * SystemFrequency variable. + * @param None + * @retval None + */ +void SystemInit(void) +{ + /* FPU settings ------------------------------------------------------------*/ + #if (__FPU_PRESENT == 1) && (__FPU_USED == 1) + SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */ + #endif + /* Reset the RCC clock configuration to the default reset state ------------*/ + /* Set HSION bit */ + RCC->CR |= (uint32_t)0x00000001; + + /* Reset CFGR register */ + RCC->CFGR = 0x00000000; + + /* Reset HSEON, CSSON and PLLON bits */ + RCC->CR &= (uint32_t)0xFEF6FFFF; + + /* Reset PLLCFGR register */ + RCC->PLLCFGR = 0x24003010; + + /* Reset HSEBYP bit */ + RCC->CR &= (uint32_t)0xFFFBFFFF; + + /* Disable all interrupts */ + RCC->CIR = 0x00000000; + +#ifdef DATA_IN_ExtSRAM + SystemInit_ExtMemCtl(); +#endif /* DATA_IN_ExtSRAM */ + + /* Configure the System clock source, PLL Multiplier and Divider factors, + AHB/APBx prescalers and Flash settings ----------------------------------*/ + SetSysClock(); + + /* Configure the Vector Table location add offset address ------------------*/ +#ifdef VECT_TAB_SRAM + SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM */ +#else + SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH */ +#endif +} + +/** + * @brief Update SystemCoreClock variable according to Clock Register Values. + * The SystemCoreClock variable contains the core clock (HCLK), it can + * be used by the user application to setup the SysTick timer or configure + * other parameters. + * + * @note Each time the core clock (HCLK) changes, this function must be called + * to update SystemCoreClock variable value. Otherwise, any configuration + * based on this variable will be incorrect. + * + * @note - The system frequency computed by this function is not the real + * frequency in the chip. It is calculated based on the predefined + * constant and the selected clock source: + * + * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*) + * + * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**) + * + * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**) + * or HSI_VALUE(*) multiplied/divided by the PLL factors. + * + * (*) HSI_VALUE is a constant defined in stm32f4xx.h file (default value + * 16 MHz) but the real value may vary depending on the variations + * in voltage and temperature. + * + * (**) HSE_VALUE is a constant defined in stm32f4xx.h file (default value + * 25 MHz), user has to ensure that HSE_VALUE is same as the real + * frequency of the crystal used. Otherwise, this function may + * have wrong result. + * + * - The result of this function could be not correct when using fractional + * value for HSE crystal. + * + * @param None + * @retval None + */ +void SystemCoreClockUpdate(void) +{ + uint32_t tmp = 0, pllvco = 0, pllp = 2, pllsource = 0, pllm = 2; + + /* Get SYSCLK source -------------------------------------------------------*/ + tmp = RCC->CFGR & RCC_CFGR_SWS; + + switch (tmp) + { + case 0x00: /* HSI used as system clock source */ + SystemCoreClock = HSI_VALUE; + break; + case 0x04: /* HSE used as system clock source */ + SystemCoreClock = HSE_VALUE; + break; + case 0x08: /* PLL used as system clock source */ + + /* PLL_VCO = (HSE_VALUE or HSI_VALUE / PLL_M) * PLL_N + SYSCLK = PLL_VCO / PLL_P + */ + pllsource = (RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) >> 22; + pllm = RCC->PLLCFGR & RCC_PLLCFGR_PLLM; + + if (pllsource != 0) + { + /* HSE used as PLL clock source */ + pllvco = (HSE_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + else + { + /* HSI used as PLL clock source */ + pllvco = (HSI_VALUE / pllm) * ((RCC->PLLCFGR & RCC_PLLCFGR_PLLN) >> 6); + } + + pllp = (((RCC->PLLCFGR & RCC_PLLCFGR_PLLP) >>16) + 1 ) *2; + SystemCoreClock = pllvco/pllp; + break; + default: + SystemCoreClock = HSI_VALUE; + break; + } + /* Compute HCLK frequency --------------------------------------------------*/ + /* Get HCLK prescaler */ + tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)]; + /* HCLK frequency */ + SystemCoreClock >>= tmp; +} + +/** + * @brief Configures the System clock source, PLL Multiplier and Divider factors, + * AHB/APBx prescalers and Flash settings + * @Note This function should be called only once the RCC clock configuration + * is reset to the default reset state (done in SystemInit() function). + * @param None + * @retval None + */ +static void SetSysClock(void) +{ +/******************************************************************************/ +/* PLL (clocked by HSE) used as System clock source */ +/******************************************************************************/ + __IO uint32_t StartUpCounter = 0, HSEStatus = 0; + + /* Enable HSE */ + RCC->CR |= ((uint32_t)RCC_CR_HSEON); + + /* Wait till HSE is ready and if Time out is reached exit */ + do + { + HSEStatus = RCC->CR & RCC_CR_HSERDY; + StartUpCounter++; + } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT)); + + if ((RCC->CR & RCC_CR_HSERDY) != RESET) + { + HSEStatus = (uint32_t)0x01; + } + else + { + HSEStatus = (uint32_t)0x00; + } + + if (HSEStatus == (uint32_t)0x01) + { + /* Select regulator voltage output Scale 1 mode, System frequency up to 168 MHz */ + RCC->APB1ENR |= RCC_APB1ENR_PWREN; + PWR->CR |= PWR_CR_VOS; + + /* HCLK = SYSCLK / 1*/ + RCC->CFGR |= RCC_CFGR_HPRE_DIV1; + + /* PCLK2 = HCLK / 2*/ + RCC->CFGR |= RCC_CFGR_PPRE2_DIV2; + + /* PCLK1 = HCLK / 4*/ + RCC->CFGR |= RCC_CFGR_PPRE1_DIV4; + + /* Configure the main PLL */ + RCC->PLLCFGR = PLL_M | (PLL_N << 6) | (((PLL_P >> 1) -1) << 16) | + (RCC_PLLCFGR_PLLSRC_HSE) | (PLL_Q << 24); + + /* Enable the main PLL */ + RCC->CR |= RCC_CR_PLLON; + + /* Wait till the main PLL is ready */ + while((RCC->CR & RCC_CR_PLLRDY) == 0) + { + } + + /* Configure Flash prefetch, Instruction cache, Data cache and wait state */ + FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS; + + /* Select the main PLL as system clock source */ + RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); + RCC->CFGR |= RCC_CFGR_SW_PLL; + + /* Wait till the main PLL is used as system clock source */ + while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL); + { + } + } + else + { /* If HSE fails to start-up, the application will have wrong clock + configuration. User can add here some code to deal with this error */ + } + +} + +/** + * @brief Setup the external memory controller. Called in startup_stm32f4xx.s + * before jump to __main + * @param None + * @retval None + */ +#ifdef DATA_IN_ExtSRAM +/** + * @brief Setup the external memory controller. + * Called in startup_stm32f4xx.s before jump to main. + * This function configures the external SRAM mounted on STM324xG_EVAL/STM324x7I boards + * This SRAM will be used as program data memory (including heap and stack). + * @param None + * @retval None + */ +void SystemInit_ExtMemCtl(void) +{ +/*-- GPIOs Configuration -----------------------------------------------------*/ +/* + +-------------------+--------------------+------------------+------------------+ + + SRAM pins assignment + + +-------------------+--------------------+------------------+------------------+ + | PD0 <-> FSMC_D2 | PE0 <-> FSMC_NBL0 | PF0 <-> FSMC_A0 | PG0 <-> FSMC_A10 | + | PD1 <-> FSMC_D3 | PE1 <-> FSMC_NBL1 | PF1 <-> FSMC_A1 | PG1 <-> FSMC_A11 | + | PD4 <-> FSMC_NOE | PE2 <-> FSMC_A23 | PF2 <-> FSMC_A2 | PG2 <-> FSMC_A12 | + | PD5 <-> FSMC_NWE | PE3 <-> FSMC_A19 | PF3 <-> FSMC_A3 | PG3 <-> FSMC_A13 | + | PD8 <-> FSMC_D13 | PE4 <-> FSMC_A20 | PF4 <-> FSMC_A4 | PG4 <-> FSMC_A14 | + | PD9 <-> FSMC_D14 | PE5 <-> FSMC_A21 | PF5 <-> FSMC_A5 | PG5 <-> FSMC_A15 | + | PD10 <-> FSMC_D15 | PE6 <-> FSMC_A22 | PF12 <-> FSMC_A6 | PG9 <-> FSMC_NE2 | + | PD11 <-> FSMC_A16 | PE7 <-> FSMC_D4 | PF13 <-> FSMC_A7 |------------------+ + | PD12 <-> FSMC_A17 | PE8 <-> FSMC_D5 | PF14 <-> FSMC_A8 | + | PD13 <-> FSMC_A18 | PE9 <-> FSMC_D6 | PF15 <-> FSMC_A9 | + | PD14 <-> FSMC_D0 | PE10 <-> FSMC_D7 |------------------+ + | PD15 <-> FSMC_D1 | PE11 <-> FSMC_D8 | + +-------------------| PE12 <-> FSMC_D9 | + | PE13 <-> FSMC_D10 | + | PE14 <-> FSMC_D11 | + | PE15 <-> FSMC_D12 | + +--------------------+ +*/ + /* Enable GPIOD, GPIOE, GPIOF and GPIOG interface clock */ + RCC->AHB1ENR |= 0x00000078; + + /* Connect PDx pins to FSMC Alternate function */ + GPIOD->AFR[0] = 0x00cc00cc; + GPIOD->AFR[1] = 0xcccccccc; + /* Configure PDx pins in Alternate function mode */ + GPIOD->MODER = 0xaaaa0a0a; + /* Configure PDx pins speed to 100 MHz */ + GPIOD->OSPEEDR = 0xffff0f0f; + /* Configure PDx pins Output type to push-pull */ + GPIOD->OTYPER = 0x00000000; + /* No pull-up, pull-down for PDx pins */ + GPIOD->PUPDR = 0x00000000; + + /* Connect PEx pins to FSMC Alternate function */ + GPIOE->AFR[0] = 0xcccccccc; + GPIOE->AFR[1] = 0xcccccccc; + /* Configure PEx pins in Alternate function mode */ + GPIOE->MODER = 0xaaaaaaaa; + /* Configure PEx pins speed to 100 MHz */ + GPIOE->OSPEEDR = 0xffffffff; + /* Configure PEx pins Output type to push-pull */ + GPIOE->OTYPER = 0x00000000; + /* No pull-up, pull-down for PEx pins */ + GPIOE->PUPDR = 0x00000000; + + /* Connect PFx pins to FSMC Alternate function */ + GPIOF->AFR[0] = 0x00cccccc; + GPIOF->AFR[1] = 0xcccc0000; + /* Configure PFx pins in Alternate function mode */ + GPIOF->MODER = 0xaa000aaa; + /* Configure PFx pins speed to 100 MHz */ + GPIOF->OSPEEDR = 0xff000fff; + /* Configure PFx pins Output type to push-pull */ + GPIOF->OTYPER = 0x00000000; + /* No pull-up, pull-down for PFx pins */ + GPIOF->PUPDR = 0x00000000; + + /* Connect PGx pins to FSMC Alternate function */ + GPIOG->AFR[0] = 0x00cccccc; + GPIOG->AFR[1] = 0x000000c0; + /* Configure PGx pins in Alternate function mode */ + GPIOG->MODER = 0x00080aaa; + /* Configure PGx pins speed to 100 MHz */ + GPIOG->OSPEEDR = 0x000c0fff; + /* Configure PGx pins Output type to push-pull */ + GPIOG->OTYPER = 0x00000000; + /* No pull-up, pull-down for PGx pins */ + GPIOG->PUPDR = 0x00000000; + +/*-- FSMC Configuration ------------------------------------------------------*/ + /* Enable the FSMC interface clock */ + RCC->AHB3ENR |= 0x00000001; + + /* Configure and enable Bank1_SRAM2 */ + FSMC_Bank1->BTCR[2] = 0x00001011; + FSMC_Bank1->BTCR[3] = 0x00000201; + FSMC_Bank1E->BWTR[2] = 0x0fffffff; +/* + Bank1_SRAM2 is configured as follow: + + p.FSMC_AddressSetupTime = 1; + p.FSMC_AddressHoldTime = 0; + p.FSMC_DataSetupTime = 2; + p.FSMC_BusTurnAroundDuration = 0; + p.FSMC_CLKDivision = 0; + p.FSMC_DataLatency = 0; + p.FSMC_AccessMode = FSMC_AccessMode_A; + + FSMC_NORSRAMInitStructure.FSMC_Bank = FSMC_Bank1_NORSRAM2; + FSMC_NORSRAMInitStructure.FSMC_DataAddressMux = FSMC_DataAddressMux_Disable; + FSMC_NORSRAMInitStructure.FSMC_MemoryType = FSMC_MemoryType_SRAM; + FSMC_NORSRAMInitStructure.FSMC_MemoryDataWidth = FSMC_MemoryDataWidth_16b; + FSMC_NORSRAMInitStructure.FSMC_BurstAccessMode = FSMC_BurstAccessMode_Disable; + FSMC_NORSRAMInitStructure.FSMC_AsynchronousWait = FSMC_AsynchronousWait_Disable; + FSMC_NORSRAMInitStructure.FSMC_WaitSignalPolarity = FSMC_WaitSignalPolarity_Low; + FSMC_NORSRAMInitStructure.FSMC_WrapMode = FSMC_WrapMode_Disable; + FSMC_NORSRAMInitStructure.FSMC_WaitSignalActive = FSMC_WaitSignalActive_BeforeWaitState; + FSMC_NORSRAMInitStructure.FSMC_WriteOperation = FSMC_WriteOperation_Enable; + FSMC_NORSRAMInitStructure.FSMC_WaitSignal = FSMC_WaitSignal_Disable; + FSMC_NORSRAMInitStructure.FSMC_ExtendedMode = FSMC_ExtendedMode_Disable; + FSMC_NORSRAMInitStructure.FSMC_WriteBurst = FSMC_WriteBurst_Disable; + FSMC_NORSRAMInitStructure.FSMC_ReadWriteTimingStruct = &p; + FSMC_NORSRAMInitStructure.FSMC_WriteTimingStruct = &p; +*/ +} +#endif /* DATA_IN_ExtSRAM */ + + +/** + * @} + */ + +/** + * @} + */ + +/** + * @} + */ +/******************* (C) COPYRIGHT 2011 STMicroelectronics *****END OF FILE****/ diff --git a/flight/targets/boards/discoveryf4bare/board-info.mk b/flight/targets/boards/discoveryf4bare/board-info.mk new file mode 100644 index 000000000..4e7f7e2ed --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/board-info.mk @@ -0,0 +1,50 @@ +BOARD_TYPE := 0x09 +BOARD_REVISION := 0x03 +BOOTLOADER_VERSION := 0x06 +HW_TYPE := 0x00 + +MCU := cortex-m4 +CHIP := STM32F407VGT +BOARD := STM32F4xx_DI +MODEL := HD +MODEL_SUFFIX := + +OPENOCD_JTAG_CONFIG := stlink-v2.cfg +OPENOCD_CONFIG := stm32f4xx.stlink.cfg + +# Flash memory map for Revolution: +# Sector start size use +# 0 0x0800 0000 16k BL +# 1 0x0800 4000 16k BL +# 2 0x0800 8000 16k EE +# 3 0x0800 C000 16k EE +# 4 0x0801 0000 64k Unused +# 5 0x0802 0000 128k FW +# 6 0x0804 0000 128k FW +# 7 0x0806 0000 128k FW +# 8 0x0808 0000 128k Unused +# 9 0x080A 0000 128k Unused +# 10 0x080C 0000 128k Unused .. +# 11 0x080E 0000 128k Unused + +# Note: These must match the values in link_$(BOARD)_memory.ld +BL_BANK_BASE := 0x08000000 # Start of bootloader flash +BL_BANK_SIZE := 0x00008000 # Should include BD_INFO region + +# 16KB for settings storage + +EE_BANK_BASE := 0x08008000 # EEPROM storage area +EE_BANK_SIZE := 0x00008000 # Size of EEPROM storage area + +USER_EE_BANK_BASE := 0x080C0000 # EEPROM storage area +USER_EE_BANK_SIZE := 0x00040000 # Size of EEPROM storage area + +# Leave the remaining 64KB sectors for other uses + +FW_BANK_BASE := 0x08020000 # Start of firmware flash +FW_BANK_SIZE := 0x000A0000 # Should include FW_DESC_SIZE + +FW_DESC_SIZE := 0x00000064 + +OSCILLATOR_FREQ := 8000000 +SYSCLK_FREQ := 168000000 diff --git a/flight/targets/boards/discoveryf4bare/board_hw_defs.c b/flight/targets/boards/discoveryf4bare/board_hw_defs.c new file mode 100644 index 000000000..c847e00d9 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/board_hw_defs.c @@ -0,0 +1,1812 @@ +/** + ****************************************************************************** + * @file board_hw_defs.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012 + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * @brief Defines board specific static initializers for hardware for the Revolution board. + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#if defined(PIOS_INCLUDE_LED) + +#include +static const struct pios_gpio pios_leds[] = { + [PIOS_LED_HEARTBEAT] = { + .pin = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .active_low = false + }, + [PIOS_LED_ALARM] = { + .pin = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .active_low = false + }, + [PIOS_LED_D1] = { + .pin = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .active_low = false + }, + [PIOS_LED_D2] = { + .pin = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .active_low = false + }, +}; + +static const struct pios_gpio_cfg pios_led_cfg = { + .gpios = pios_leds, + .num_gpios = NELEMENTS(pios_leds), +}; + + +const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision) +{ + return &pios_led_cfg; +} + +#endif /* PIOS_INCLUDE_LED */ + +#if defined(PIOS_INCLUDE_SPI) +#include + +#if defined(PIOS_OVERO_SPI) +/* SPI2 Interface + * - Used for Flexi/IO/Overo communications + 3: PB12 = SPI2 NSS, CAN2 RX + 4: PB13 = SPI2 SCK, CAN2 TX, USART3 CTS + 5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS + 6: PB15 = SPI2 MOSI, TIM12 CH2 + */ +#include +void PIOS_OVERO_irq_handler(void); +void DMA1_Stream7_IRQHandler(void) __attribute__((alias("PIOS_OVERO_irq_handler"))); +static const struct pios_overo_cfg pios_overo_cfg = { + .regs = SPI2, + .remap = GPIO_AF_SPI2, + .init = { + .SPI_Mode = SPI_Mode_Slave, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Hard, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2, + }, + .use_crc = false, + .dma = { + .irq = { + // Note this is the stream ID that triggers interrupts (in this case TX) + .flags = (DMA_IT_TCIF7), + .init = { + .NVIC_IRQChannel = DMA1_Stream7_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + + .rx = { + .channel = DMA1_Stream0, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR), + .DMA_DIR = DMA_DIR_PeripheralToMemory, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Circular, + .DMA_Priority = DMA_Priority_Medium, + // TODO: Enable FIFO + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + .tx = { + .channel = DMA1_Stream7, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI2->DR), + .DMA_DIR = DMA_DIR_MemoryToPeripheral, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Circular, + .DMA_Priority = DMA_Priority_Medium, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + }, + .sclk = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_13, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .miso = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .mosi = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .slave_count = 1, + .ssel = { + { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + } + }, +}; +uint32_t pios_overo_id = 0; +void PIOS_OVERO_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_OVERO_DMA_irq_handler(pios_overo_id); +} + +#endif /* PIOS_OVERO_SPI */ + +/* + * SPI1 Interface + * Used for MPU6000 gyro and accelerometer + */ +void PIOS_SPI_gyro_irq_handler(void); +void DMA2_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); +void DMA2_Stream3_IRQHandler(void) __attribute__((alias("PIOS_SPI_gyro_irq_handler"))); +static const struct pios_spi_cfg pios_spi_gyro_cfg = { + .regs = SPI1, + .remap = GPIO_AF_SPI1, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_High, + .SPI_CPHA = SPI_CPHA_2Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, + }, + .use_crc = false, + .dma = { + .irq = { + .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), + .init = { + .NVIC_IRQChannel = DMA2_Stream0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + + .rx = { + .channel = DMA2_Stream0, + .init = { + .DMA_Channel = DMA_Channel_3, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), + .DMA_DIR = DMA_DIR_PeripheralToMemory, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + /* .DMA_FIFOThreshold */ + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + .tx = { + .channel = DMA2_Stream3, + .init = { + .DMA_Channel = DMA_Channel_3, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR), + .DMA_DIR = DMA_DIR_MemoryToPeripheral, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_High, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + /* .DMA_FIFOThreshold */ + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + }, + .sclk = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_5, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .miso = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .mosi = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .slave_count = 1, + .ssel = { + { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + } + } + } +}; + +static uint32_t pios_spi_gyro_id; +void PIOS_SPI_gyro_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_SPI_IRQ_Handler(pios_spi_gyro_id); +} + + +#if false +/* + * SPI3 Interface + * Used for Flash and the RFM22B + */ +void PIOS_SPI_telem_flash_irq_handler(void); +void DMA1_Stream0_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler"))); +void DMA1_Stream5_IRQHandler(void) __attribute__((alias("PIOS_SPI_telem_flash_irq_handler"))); +static const struct pios_spi_cfg pios_spi_telem_flash_cfg = { + .regs = SPI3, + .remap = GPIO_AF_SPI3, + .init = { + .SPI_Mode = SPI_Mode_Master, + .SPI_Direction = SPI_Direction_2Lines_FullDuplex, + .SPI_DataSize = SPI_DataSize_8b, + .SPI_NSS = SPI_NSS_Soft, + .SPI_FirstBit = SPI_FirstBit_MSB, + .SPI_CRCPolynomial = 7, + .SPI_CPOL = SPI_CPOL_Low, + .SPI_CPHA = SPI_CPHA_1Edge, + .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8, + }, + .use_crc = false, + .dma = { + .irq = { + // Note this is the stream ID that triggers interrupts (in this case RX) + .flags = (DMA_IT_TCIF0 | DMA_IT_TEIF0 | DMA_IT_HTIF0), + .init = { + .NVIC_IRQChannel = DMA1_Stream0_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + + .rx = { + .channel = DMA1_Stream0, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR), + .DMA_DIR = DMA_DIR_PeripheralToMemory, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + // TODO: Enable FIFO + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + .tx = { + .channel = DMA1_Stream5, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR), + .DMA_DIR = DMA_DIR_MemoryToPeripheral, + .DMA_PeripheralInc = DMA_PeripheralInc_Disable, + .DMA_MemoryInc = DMA_MemoryInc_Enable, + .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte, + .DMA_MemoryDataSize = DMA_MemoryDataSize_Byte, + .DMA_Mode = DMA_Mode_Normal, + .DMA_Priority = DMA_Priority_Medium, + .DMA_FIFOMode = DMA_FIFOMode_Disable, + .DMA_FIFOThreshold = DMA_FIFOThreshold_Full, + .DMA_MemoryBurst = DMA_MemoryBurst_Single, + .DMA_PeripheralBurst = DMA_PeripheralBurst_Single, + }, + }, + }, + .sclk = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .miso = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .mosi = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_12, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, + .slave_count = 2, + .ssel = { + { // RFM22b + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + } + }, + { // Flash + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + } + }, + }, +}; + +uint32_t pios_spi_telem_flash_id; +void PIOS_SPI_telem_flash_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_SPI_IRQ_Handler(pios_spi_telem_flash_id); +} + + +#if defined(PIOS_INCLUDE_RFM22B) +#include + +static const struct pios_exti_cfg pios_exti_rfm22b_cfg __exti_config = { + .vector = PIOS_RFM22_EXT_Int, + .line = EXTI_Line2, + .pin = { + .gpio = GPIOD, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI2_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line2, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Falling, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +const struct pios_rfm22b_cfg pios_rfm22b_rm1_cfg = { + .spi_cfg = &pios_spi_telem_flash_cfg, + .exti_cfg = &pios_exti_rfm22b_cfg, + .RFXtalCap = 0x7f, + .slave_num = 0, + .gpio_direction = GPIO0_RX_GPIO1_TX, +}; + +const struct pios_rfm22b_cfg pios_rfm22b_rm2_cfg = { + .spi_cfg = &pios_spi_telem_flash_cfg, + .exti_cfg = &pios_exti_rfm22b_cfg, + .RFXtalCap = 0x7f, + .slave_num = 0, + .gpio_direction = GPIO0_TX_GPIO1_RX, +}; + +const struct pios_rfm22b_cfg *PIOS_BOARD_HW_DEFS_GetRfm22Cfg(uint32_t board_revision) +{ + switch (board_revision) { + case 2: + return &pios_rfm22b_rm1_cfg; + + break; + case 3: + return &pios_rfm22b_rm2_cfg; + + break; + default: + PIOS_DEBUG_Assert(0); + } + return NULL; +} + +#endif /* PIOS_INCLUDE_RFM22B */ +#endif /* false */ +#endif /* PIOS_INCLUDE_SPI */ + +#if defined(PIOS_INCLUDE_FLASH) +#include "pios_flashfs_logfs_priv.h" +#include "pios_flash_jedec_priv.h" +#include "pios_flash_internal_priv.h" + +static const struct flashfs_logfs_cfg flashfs_external_cfg = { + .fs_magic = 0x99abceef, + .total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */ + .arena_size = 0x00010000, /* 256 * slot size */ + .slot_size = 0x00000100, /* 256 bytes */ + + .start_offset = 0, /* start at the beginning of the chip */ + .sector_size = 0x00010000, /* 64K bytes */ + .page_size = 0x00000100, /* 256 bytes */ +}; + + +static const struct pios_flash_internal_cfg flash_internal_system_cfg = {}; + +static const struct flashfs_logfs_cfg flashfs_internal_cfg = { + .fs_magic = 0x99abcfef, + .total_fs_size = EE_BANK_SIZE, /* 32K bytes (2x16KB sectors) */ + .arena_size = 0x00004000, /* 64 * slot size = 16K bytes = 1 sector */ + .slot_size = 0x00000100, /* 256 bytes */ + + .start_offset = EE_BANK_BASE, /* start after the bootloader */ + .sector_size = 0x00004000, /* 16K bytes */ + .page_size = 0x00004000, /* 16K bytes */ +}; + +static const struct flashfs_logfs_cfg flashfs_internal_user_cfg = { + .fs_magic = 0x99abcfef, + .total_fs_size = USER_EE_BANK_SIZE, /* 128K bytes (2x16KB sectors) */ + .arena_size = 0x00020000, /* 64 * slot size = 16K bytes = 1 sector */ + .slot_size = 0x00000100, /* 256 bytes */ + + .start_offset = USER_EE_BANK_BASE, /* start after the bootloader */ + .sector_size = 0x00020000, /* 128K bytes */ + .page_size = 0x00020000, /* 128K bytes */ +}; +#endif /* PIOS_INCLUDE_FLASH */ + +#include + +#ifdef PIOS_INCLUDE_COM_TELEM + +/* + * MAIN USART + */ +static const struct pios_usart_cfg pios_usart_main_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .init = { + .USART_BaudRate = 57600, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; +#endif /* PIOS_INCLUDE_COM_TELEM */ + +#ifdef PIOS_INCLUDE_DSM + +#include "pios_dsm_priv.h" +static const struct pios_usart_cfg pios_usart_dsm_main_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .init = { + .USART_BaudRate = 115200, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + +// Because of the inverter on the main port this will not +// work. Notice the mode is set to IN to maintain API +// compatibility but protect the pins +static const struct pios_dsm_cfg pios_dsm_main_cfg = { + .bind = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +#endif /* PIOS_INCLUDE_DSM */ + +#include +#if defined(PIOS_INCLUDE_SBUS) +/* + * S.Bus USART + */ +#include + +static const struct pios_usart_cfg pios_usart_sbus_main_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .init = { + .USART_BaudRate = 100000, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_Even, + .USART_StopBits = USART_StopBits_2, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +#endif /* PIOS_INCLUDE_SBUS */ + +// Need this defined regardless to be able to turn it off +static const struct pios_sbus_cfg pios_sbus_cfg = { + /* Inverter configuration */ + .inv = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .gpio_inv_enable = Bit_SET, + .gpio_inv_disable = Bit_RESET, + .gpio_clk_func = RCC_AHB1PeriphClockCmd, + .gpio_clk_periph = RCC_AHB1Periph_GPIOC, +}; + + +#ifdef PIOS_INCLUDE_COM_FLEXI +/* + * FLEXI PORT + */ +static const struct pios_usart_cfg pios_usart_flexi_cfg = { + .regs = USART3, + .remap = GPIO_AF_USART3, + .init = { + .USART_BaudRate = 57600, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = + USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + +#endif /* PIOS_INCLUDE_COM_FLEXI */ + +#ifdef PIOS_INCLUDE_DSM + +#include "pios_dsm_priv.h" +static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = { + .regs = USART3, + .remap = GPIO_AF_USART3, + .init = { + .USART_BaudRate = 115200, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + +static const struct pios_dsm_cfg pios_dsm_flexi_cfg = { + .bind = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_OUT, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_NOPULL + }, + }, +}; + +#endif /* PIOS_INCLUDE_DSM */ + +/* + * HK OSD + */ +static const struct pios_usart_cfg pios_usart_hkosd_main_cfg = { + .regs = USART1, + .remap = GPIO_AF_USART1, + .init = { + .USART_BaudRate = 57600, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART1_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + +static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = { + .regs = USART3, + .remap = GPIO_AF_USART3, + .init = { + .USART_BaudRate = 57600, + .USART_WordLength = USART_WordLength_8b, + .USART_Parity = USART_Parity_No, + .USART_StopBits = USART_StopBits_1, + .USART_HardwareFlowControl = USART_HardwareFlowControl_None, + .USART_Mode = USART_Mode_Rx | USART_Mode_Tx, + }, + .irq = { + .init = { + .NVIC_IRQChannel = USART3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, + .tx = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + }, +}; + +#if defined(PIOS_INCLUDE_COM) + +#include + +#endif /* PIOS_INCLUDE_COM */ + +#if defined(PIOS_INCLUDE_I2C) + +#include + +/* + * I2C Adapters + */ +void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void); +void PIOS_I2C_mag_pressureadapter_er_irq_handler(void); +void I2C1_EV_IRQHandler() +__attribute__((alias("PIOS_I2C_mag_pressure_adapter_ev_irq_handler"))); +void I2C1_ER_IRQHandler() +__attribute__((alias("PIOS_I2C_mag_pressure_adapter_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_mag_pressure_adapter_cfg = { + .regs = I2C1, + .remap = GPIO_AF_I2C1, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_OwnAddress1 = 0, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_DutyCycle = I2C_DutyCycle_2, + .I2C_ClockSpeed = 400000, /* bits/s */ + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .event = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C1_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +uint32_t pios_i2c_mag_pressure_adapter_id; +void PIOS_I2C_mag_pressure_adapter_ev_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_EV_IRQ_Handler(pios_i2c_mag_pressure_adapter_id); +} + +void PIOS_I2C_mag_pressure_adapter_er_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_ER_IRQ_Handler(pios_i2c_mag_pressure_adapter_id); +} + + +void PIOS_I2C_flexiport_adapter_ev_irq_handler(void); +void PIOS_I2C_flexiport_adapter_er_irq_handler(void); +void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_ev_irq_handler"))); +void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexiport_adapter_er_irq_handler"))); + +static const struct pios_i2c_adapter_cfg pios_i2c_flexiport_adapter_cfg = { + .regs = I2C2, + .remap = GPIO_AF_I2C2, + .init = { + .I2C_Mode = I2C_Mode_I2C, + .I2C_OwnAddress1 = 0, + .I2C_Ack = I2C_Ack_Enable, + .I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit, + .I2C_DutyCycle = I2C_DutyCycle_2, + .I2C_ClockSpeed = 400000, /* bits/s */ + }, + .transfer_timeout_ms = 50, + .scl = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_10, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .sda = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_11, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_Speed = GPIO_Speed_50MHz, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .event = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C2_EV_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .error = { + .flags = 0, /* FIXME: check this */ + .init = { + .NVIC_IRQChannel = I2C2_ER_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +uint32_t pios_i2c_flexiport_adapter_id; +void PIOS_I2C_flexiport_adapter_ev_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexiport_adapter_id); +} + +void PIOS_I2C_flexiport_adapter_er_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexiport_adapter_id); +} + + +void PIOS_I2C_pressure_adapter_ev_irq_handler(void); +void PIOS_I2C_pressure_adapter_er_irq_handler(void); + +#endif /* PIOS_INCLUDE_I2C */ + +#if defined(PIOS_INCLUDE_RTC) +/* + * Realtime Clock (RTC) + */ +#include + +void PIOS_RTC_IRQ_Handler(void); +void RTC_WKUP_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler"))); +static const struct pios_rtc_cfg pios_rtc_main_cfg = { + .clksrc = RCC_RTCCLKSource_HSE_Div8, // Divide 8 Mhz crystal down to 1 + // For some reason it's acting like crystal is 16 Mhz. This clock is then divided + // by another 16 to give a nominal 62.5 khz clock + .prescaler = 100, // Every 100 cycles gives 625 Hz + .irq = { + .init = { + .NVIC_IRQChannel = RTC_WKUP_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +void PIOS_RTC_IRQ_Handler(void) +{ + PIOS_RTC_irq_handler(); +} + +#endif /* if defined(PIOS_INCLUDE_RTC) */ + +#include "pios_tim_priv.h" + +static const TIM_TimeBaseInitTypeDef tim_3_5_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; +static const TIM_TimeBaseInitTypeDef tim_9_10_11_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1), + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_3_cfg = { + .timer = TIM3, + .time_base_init = &tim_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM3_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_5_cfg = { + .timer = TIM5, + .time_base_init = &tim_3_5_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_9_cfg = { + .timer = TIM9, + .time_base_init = &tim_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_BRK_TIM9_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_10_cfg = { + .timer = TIM10, + .time_base_init = &tim_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_UP_TIM10_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_11_cfg = { + .timer = TIM11, + .time_base_init = &tim_9_10_11_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_TRG_COM_TIM11_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +// Set up timers that only have inputs on APB1 +// TIM2,3,4,5,6,7,12,13,14 +static const TIM_TimeBaseInitTypeDef tim_apb1_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB1_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, + .TIM_RepetitionCounter = 0x0000, +}; + + +// Set up timers that only have inputs on APB2 +// TIM1,8,9,10,11 +static const TIM_TimeBaseInitTypeDef tim_apb2_time_base = { + .TIM_Prescaler = (PIOS_PERIPHERAL_APB2_CLOCK / 1000000) - 1, + .TIM_ClockDivision = TIM_CKD_DIV1, + .TIM_CounterMode = TIM_CounterMode_Up, + .TIM_Period = 0xFFFF, + .TIM_RepetitionCounter = 0x0000, +}; + +static const struct pios_tim_clock_cfg tim_1_cfg = { + .timer = TIM1, + .time_base_init = &tim_apb2_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM1_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_4_cfg = { + .timer = TIM4, + .time_base_init = &tim_apb1_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; +static const struct pios_tim_clock_cfg tim_8_cfg = { + .timer = TIM8, + .time_base_init = &tim_apb2_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM8_CC_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + +static const struct pios_tim_clock_cfg tim_12_cfg = { + .timer = TIM12, + .time_base_init = &tim_apb1_time_base, + .irq = { + .init = { + .NVIC_IRQChannel = TIM8_BRK_TIM12_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, +}; + + +/** + * Pios servo configuration structures + * Using TIM3, TIM9, TIM2, TIM5 + */ +#include +static const struct pios_tim_channel pios_tim_servoport_all_pins[] = { + { + .timer = TIM3, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource0, + }, + .remap = GPIO_AF_TIM3, + }, + { + .timer = TIM3, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + .remap = GPIO_AF_TIM3, + }, + { + .timer = TIM9, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_3, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource3, + }, + .remap = GPIO_AF_TIM9, + }, + { + .timer = TIM2, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_2, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource2, + }, + .remap = GPIO_AF_TIM2, + }, + { + .timer = TIM5, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_1, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource1, + }, + .remap = GPIO_AF_TIM5, + }, + { + .timer = TIM5, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_0, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource0, + }, + .remap = GPIO_AF_TIM5, + }, + // PWM pins on FlexiIO(receiver) port + { + // * 6: PB15 = SPI2 MOSI, TIM12 CH2 + + .timer = TIM12, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource15, + }, + .remap = GPIO_AF_TIM12, + }, + { + // * 7: PC6 = TIM8 CH1, USART6 TX + .timer = TIM8, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource6, + }, + .remap = GPIO_AF_TIM8, + }, + + { + // * 8: PC7 = TIM8 CH2, USART6 RX + .timer = TIM8, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource7, + }, + .remap = GPIO_AF_TIM8, + }, + + { + // * 9: PC8 = TIM8 CH3 + .timer = TIM8, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource8, + }, + .remap = GPIO_AF_TIM8, + }, + + { + // * 10: PC9 = TIM8 CH4 + .timer = TIM8, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource9, + }, + .remap = GPIO_AF_TIM8, + }, + + { + // * 5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS + .timer = TIM12, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource14, + }, + .remap = GPIO_AF_TIM12, + }, +}; +#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6 +#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM 11 +#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN 12 + +const struct pios_servo_cfg pios_servo_cfg_out = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_servoport_all_pins, + .num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT, +}; +// All servo outputs, servo input ch1 ppm, ch2-6 outputs +const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_servoport_all_pins, + .num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM, +}; +// All servo outputs, servo inputs ch1-6 Outputs +const struct pios_servo_cfg pios_servo_cfg_out_in = { + .tim_oc_init = { + .TIM_OCMode = TIM_OCMode_PWM1, + .TIM_OutputState = TIM_OutputState_Enable, + .TIM_OutputNState = TIM_OutputNState_Disable, + .TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION, + .TIM_OCPolarity = TIM_OCPolarity_High, + .TIM_OCNPolarity = TIM_OCPolarity_High, + .TIM_OCIdleState = TIM_OCIdleState_Reset, + .TIM_OCNIdleState = TIM_OCNIdleState_Reset, + }, + .channels = pios_tim_servoport_all_pins, + .num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN, +}; + + +/* + * PWM Inputs + * TIM1, TIM8, TIM12 + */ +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) +#include +static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = { + { + .timer = TIM12, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_14, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource14, + }, + .remap = GPIO_AF_TIM12, + }, + { + .timer = TIM12, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_15, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource15, + }, + .remap = GPIO_AF_TIM12, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_1, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_6, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource6, + }, + .remap = GPIO_AF_TIM8, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_2, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource7, + }, + .remap = GPIO_AF_TIM8, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_3, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_8, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource8, + }, + .remap = GPIO_AF_TIM8, + }, + { + .timer = TIM8, + .timer_chan = TIM_Channel_4, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_AF, + .GPIO_OType = GPIO_OType_PP, + .GPIO_PuPd = GPIO_PuPd_UP + }, + .pin_source = GPIO_PinSource9, + }, + .remap = GPIO_AF_TIM8, + }, +}; + +const struct pios_pwm_cfg pios_pwm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + }, + .channels = pios_tim_rcvrport_all_channels, + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), +}; +// this configures outputs 2-6 as pwm inputs +const struct pios_pwm_cfg pios_pwm_ppm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + }, + .channels = &pios_tim_rcvrport_all_channels[1], + .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1, +}; + +#endif /* if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PPM) */ + +/* + * PPM Input + */ +#if defined(PIOS_INCLUDE_PPM) +#include +static const struct pios_ppm_cfg pios_ppm_cfg = { + .tim_ic_init = { + .TIM_ICPolarity = TIM_ICPolarity_Rising, + .TIM_ICSelection = TIM_ICSelection_DirectTI, + .TIM_ICPrescaler = TIM_ICPSC_DIV1, + .TIM_ICFilter = 0x0, + .TIM_Channel = TIM_Channel_1, + }, + /* Use only the first channel for ppm */ + .channels = &pios_tim_rcvrport_all_channels[0], + .num_channels = 1, +}; + +#endif // PPM + +#if defined(PIOS_INCLUDE_GCSRCVR) +#include "pios_gcsrcvr_priv.h" +#endif /* PIOS_INCLUDE_GCSRCVR */ + +#if defined(PIOS_INCLUDE_RCVR) +#include "pios_rcvr_priv.h" +#endif /* PIOS_INCLUDE_RCVR */ + +#if defined(PIOS_INCLUDE_USB) +#include "pios_usb_priv.h" + +static const struct pios_usb_cfg pios_usb_discovery_cfg = { + .irq = { + .init = { + .NVIC_IRQChannel = OTG_FS_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, // PriorityGroup=4 + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .vsense = { + .gpio = GPIOA, + .init = { + .GPIO_Pin = GPIO_Pin_9, + .GPIO_Speed = GPIO_Speed_25MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + }, + }, + .vsense_active_low = false +}; + +const struct pios_usb_cfg *PIOS_BOARD_HW_DEFS_GetUsbCfg(__attribute__((unused)) uint32_t board_revision) +{ + return &pios_usb_discovery_cfg; +} + +#include "pios_usb_board_data_priv.h" +#include "pios_usb_desc_hid_cdc_priv.h" +#include "pios_usb_desc_hid_only_priv.h" +#include "pios_usbhook.h" + +#endif /* PIOS_INCLUDE_USB */ + +#if defined(PIOS_INCLUDE_COM_MSG) + +#include + +#endif /* PIOS_INCLUDE_COM_MSG */ + +#if defined(PIOS_INCLUDE_USB_HID) && !defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { + .data_if = 0, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; +#endif /* PIOS_INCLUDE_USB_HID && !PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_USB_CDC) +#include + +const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = { + .ctrl_if = 0, + .ctrl_tx_ep = 2, + + .data_if = 1, + .data_rx_ep = 3, + .data_tx_ep = 3, +}; + +#include + +const struct pios_usb_hid_cfg pios_usb_hid_cfg = { + .data_if = 2, + .data_rx_ep = 1, + .data_tx_ep = 1, +}; +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_USB_CDC */ diff --git a/flight/targets/boards/discoveryf4bare/bootloader/Makefile b/flight/targets/boards/discoveryf4bare/bootloader/Makefile new file mode 100644 index 000000000..e046f6e80 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/bootloader/Makefile @@ -0,0 +1,26 @@ +# +# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, but +# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY +# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +# for more details. +# +# You should have received a copy of the GNU General Public License along +# with this program; if not, write to the Free Software Foundation, Inc., +# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# + +ifndef OPENPILOT_IS_COOL + $(error Top level Makefile must be used to build this target) +endif + +include ../board-info.mk +include $(ROOT_DIR)/make/firmware-defs.mk +include $(ROOT_DIR)/make/boot-defs.mk +include $(ROOT_DIR)/make/common-defs.mk diff --git a/flight/targets/boards/discoveryf4bare/bootloader/inc/common.h b/flight/targets/boards/discoveryf4bare/bootloader/inc/common.h new file mode 100644 index 000000000..e64b89014 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/bootloader/inc/common.h @@ -0,0 +1,115 @@ +/** + ****************************************************************************** + * @addtogroup CopterControlBL CopterControl BootLoader + * @brief These files contain the code to the CopterControl Bootloader. + * + * @{ + * @file common.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief This file contains various common defines for the BootLoader + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ +#ifndef COMMON_H_ +#define COMMON_H_ + +// #include "board.h" + +typedef enum { + start, keepgoing, +} DownloadAction; + +/**************************************************/ +/* OP_DFU states */ +/**************************************************/ + +typedef enum { + DFUidle, // 0 + uploading, // 1 + wrong_packet_received, // 2 + too_many_packets, // 3 + too_few_packets, // 4 + Last_operation_Success, // 5 + downloading, // 6 + BLidle, // 7 + Last_operation_failed, // 8 + uploadingStarting, // 9 + outsideDevCapabilities, // 10 + CRC_Fail, // 11 + failed_jump, +// 12 +} DFUStates; +/**************************************************/ +/* OP_DFU commands */ +/**************************************************/ +typedef enum { + Reserved, // 0 + Req_Capabilities, // 1 + Rep_Capabilities, // 2 + EnterDFU, // 3 + JumpFW, // 4 + Reset, // 5 + Abort_Operation, // 6 + Upload, // 7 + Op_END, // 8 + Download_Req, // 9 + Download, // 10 + Status_Request, // 11 + Status_Rep +// 12 +} DFUCommands; + +typedef enum { + High_Density, Medium_Density +} DeviceType; +/**************************************************/ +/* OP_DFU transfer types */ +/**************************************************/ +typedef enum { + FW, // 0 + Descript +// 2 +} DFUTransfer; +/**************************************************/ +/* OP_DFU transfer port */ +/**************************************************/ +typedef enum { + Usb, // 0 + Serial +// 2 +} DFUPort; +/**************************************************/ +/* OP_DFU programable programable HW types */ +/**************************************************/ +typedef enum { + Self_flash, // 0 + Remote_flash_via_spi +// 1 +} DFUProgType; +/**************************************************/ +/* OP_DFU programable sources */ +/**************************************************/ +#define USB 0 +#define SPI 1 + +#define DownloadDelay 100000 + +#define MAX_DEL_RETRYS 3 +#define MAX_WRI_RETRYS 3 + +#endif /* COMMON_H_ */ diff --git a/flight/targets/boards/discoveryf4bare/bootloader/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/bootloader/inc/pios_config.h new file mode 100644 index 000000000..7f2a165d7 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/bootloader/inc/pios_config.h @@ -0,0 +1,44 @@ +/** + ****************************************************************************** + * + * @file pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief PiOS configuration header. + * - Central compile time config for the project. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + + +#define PIOS_INCLUDE_DELAY +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_IRQ +#define PIOS_INCLUDE_USB +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_IAP +#define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_COM +#define PIOS_INCLUDE_COM_MSG +#define PIOS_INCLUDE_BL_HELPER +#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT + +#endif /* PIOS_CONFIG_H */ diff --git a/flight/targets/boards/discoveryf4bare/bootloader/inc/pios_usb_board_data.h b/flight/targets/boards/discoveryf4bare/bootloader/inc/pios_usb_board_data.h new file mode 100644 index 000000000..4e9c7c063 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/bootloader/inc/pios_usb_board_data.h @@ -0,0 +1,52 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 2 + +#include /* struct usb_* */ + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_BL) +#define PIOS_USB_BOARD_SN_SUFFIX "+BL" + +/* + * The bootloader uses a simplified report structure + * BL: ... + * FW: ... + * This define changes the behaviour in pios_usb_hid.c + */ +#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/targets/boards/discoveryf4bare/bootloader/main.c b/flight/targets/boards/discoveryf4bare/bootloader/main.c new file mode 100644 index 000000000..033f14a6c --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/bootloader/main.c @@ -0,0 +1,252 @@ +/** + ****************************************************************************** + * @addtogroup RevolutionBL Revolution BootLoader + * @brief These files contain the code to the Revolution Bootloader. + * + * @{ + * @file main.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief This is the file with the main function of the Revolution BootLoader + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include +#include +#include +#include +#include +#include +#include /* PIOS_USBHOOK_* */ +#include + +/* Prototype of PIOS_Board_Init() function */ +extern void PIOS_Board_Init(void); +extern void FLASH_Download(); +void check_bor(); +#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1) + +/* Private typedef -----------------------------------------------------------*/ +typedef void (*pFunction)(void); +/* Private define ------------------------------------------------------------*/ +/* Private macro -------------------------------------------------------------*/ +/* Private variables ---------------------------------------------------------*/ +pFunction Jump_To_Application; +uint32_t JumpAddress; + +/// LEDs PWM +uint32_t period1 = 5000; // 5 mS +uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS +uint32_t period2 = 5000; // 5 mS +uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS + + +//////////////////////////////////////// +uint8_t tempcount = 0; + +/* Extern variables ----------------------------------------------------------*/ +DFUStates DeviceState; +int16_t status = 0; +bool JumpToApp = false; +bool GO_dfu = false; +bool USB_connected = false; +bool User_DFU_request = false; +static uint8_t mReceive_Buffer[63]; +/* Private function prototypes -----------------------------------------------*/ +uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count); +uint8_t processRX(); +void jump_to_app(); + +int main() +{ + PIOS_SYS_Init(); + PIOS_Board_Init(); + PIOS_IAP_Init(); + + // Make sure the brown out reset value for this chip + // is 2.7 volts + check_bor(); + + USB_connected = PIOS_USB_CheckAvailable(0); + + if (PIOS_IAP_CheckRequest() == true) { + PIOS_DELAY_WaitmS(1000); + User_DFU_request = true; + PIOS_IAP_ClearRequest(); + } + + GO_dfu = (USB_connected == true) || (User_DFU_request == true); + + if (GO_dfu == true) { + if (User_DFU_request == true) { + DeviceState = DFUidle; + } else { + DeviceState = BLidle; + } + } else { + JumpToApp = true; + } + + uint32_t stopwatch = 0; + uint32_t prev_ticks = PIOS_DELAY_GetuS(); + while (true) { + /* Update the stopwatch */ + uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks); + prev_ticks += elapsed_ticks; + stopwatch += elapsed_ticks; + + if (JumpToApp == true) { + jump_to_app(); + } + + switch (DeviceState) { + case Last_operation_Success: + case uploadingStarting: + case DFUidle: + period1 = 5000; + sweep_steps1 = 100; + PIOS_LED_Off(PIOS_LED_HEARTBEAT); + period2 = 0; + break; + case uploading: + period1 = 5000; + sweep_steps1 = 100; + period2 = 2500; + sweep_steps2 = 50; + break; + case downloading: + period1 = 2500; + sweep_steps1 = 50; + PIOS_LED_Off(PIOS_LED_HEARTBEAT); + period2 = 0; + break; + case BLidle: + period1 = 0; + PIOS_LED_On(PIOS_LED_HEARTBEAT); + period2 = 0; + break; + default: // error + period1 = 5000; + sweep_steps1 = 100; + period2 = 5000; + sweep_steps2 = 100; + } + + if (period1 != 0) { + if (LedPWM(period1, sweep_steps1, stopwatch)) { + PIOS_LED_On(PIOS_LED_HEARTBEAT); + } else { + PIOS_LED_Off(PIOS_LED_HEARTBEAT); + } + } else { + PIOS_LED_On(PIOS_LED_HEARTBEAT); + } + + if (period2 != 0) { + if (LedPWM(period2, sweep_steps2, stopwatch)) { + PIOS_LED_On(PIOS_LED_HEARTBEAT); + } else { + PIOS_LED_Off(PIOS_LED_HEARTBEAT); + } + } else { + PIOS_LED_Off(PIOS_LED_HEARTBEAT); + } + + if (stopwatch > 50 * 1000 * 1000) { + stopwatch = 0; + } + if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) { + JumpToApp = true; + } + + processRX(); + DataDownload(start); + } +} + +void jump_to_app() +{ + const struct pios_board_info *bdinfo = &pios_board_info_blob; + + PIOS_LED_On(PIOS_LED_HEARTBEAT); + // Look at cm3_vectors struct in startup. In a fw image the first uint32_t contains the address of the top of irqstack + uint32_t fwIrqStackBase = (*(__IO uint32_t *)bdinfo->fw_base) & 0xFFFE0000; + // Check for the two possible irqstack locations (sram or core coupled sram) + if (fwIrqStackBase == 0x20000000 || fwIrqStackBase == 0x10000000) { + /* Jump to user application */ + FLASH_Lock(); + RCC_APB2PeriphResetCmd(0xffffffff, ENABLE); + RCC_APB1PeriphResetCmd(0xffffffff, ENABLE); + RCC_APB2PeriphResetCmd(0xffffffff, DISABLE); + RCC_APB1PeriphResetCmd(0xffffffff, DISABLE); + + PIOS_USBHOOK_Deactivate(); + + JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4); + Jump_To_Application = (pFunction)JumpAddress; + /* Initialize user application's Stack Pointer */ + __set_MSP(*(__IO uint32_t *)bdinfo->fw_base); + Jump_To_Application(); + } else { + DeviceState = failed_jump; + return; + } +} +uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count) +{ + uint32_t curr_step = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */ + uint32_t pwm_duty = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */ + + uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */ + + if (curr_sweep & 1) { + pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */ + } + return ((count % pwm_period) > pwm_duty) ? 1 : 0; +} + +uint8_t processRX() +{ + if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) { + processComand(mReceive_Buffer); + } + return true; +} + +/** + * Check the brown out reset threshold is 2.7 volts and if not + * resets it. This solves an issue that can prevent boards + * powering up with some BEC + */ +void check_bor() +{ + uint8_t bor = FLASH_OB_GetBOR(); + + if (bor != OB_BOR_LEVEL3) { + FLASH_OB_Unlock(); + FLASH_OB_BORConfig(OB_BOR_LEVEL3); + FLASH_OB_Launch(); + while (FLASH_WaitForLastOperation() == FLASH_BUSY) { + ; + } + FLASH_OB_Lock(); + while (FLASH_WaitForLastOperation() == FLASH_BUSY) { + ; + } + } +} diff --git a/flight/targets/boards/discoveryf4bare/bootloader/pios_board.c b/flight/targets/boards/discoveryf4bare/bootloader/pios_board.c new file mode 100644 index 000000000..5352c7f73 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/bootloader/pios_board.c @@ -0,0 +1,84 @@ +/** + ****************************************************************************** + * + * @file pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines board specific static initializers for hardware for the AHRS board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include +#include + +/* + * Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ +#include "../board_hw_defs.c" + +uint32_t pios_com_telem_usb_id; + +static bool board_init_complete = false; +void PIOS_Board_Init() +{ + if (board_init_complete) { + return; + } + + /* Delay system */ + PIOS_DELAY_Init(); + + const struct pios_board_info *bdinfo = &pios_board_info_blob; + +#if defined(PIOS_INCLUDE_LED) + const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); + PIOS_Assert(led_cfg); + PIOS_LED_Init(led_cfg); +#endif /* PIOS_INCLUDE_LED */ + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Activate the HID-only USB configuration */ + PIOS_USB_DESC_HID_ONLY_Init(); + + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); + +#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG) + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) { + PIOS_Assert(0); + } +#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */ + + PIOS_USBHOOK_Activate(); + +#endif /* PIOS_INCLUDE_USB */ + + board_init_complete = true; +} diff --git a/flight/targets/boards/discoveryf4bare/firmware/Makefile b/flight/targets/boards/discoveryf4bare/firmware/Makefile new file mode 100644 index 000000000..501703980 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/Makefile @@ -0,0 +1,100 @@ +# +# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org +# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, but +# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY +# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +# for more details. +# +# You should have received a copy of the GNU General Public License along +# with this program; if not, write to the Free Software Foundation, Inc., +# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +##### + +ifndef OPENPILOT_IS_COOL + $(error Top level Makefile must be used to build this target) +endif + +include ../board-info.mk +include $(ROOT_DIR)/make/firmware-defs.mk + +# ARM DSP library +USE_DSP_LIB ?= NO + +# List of mandatory modules to include +#MODULES += Sensors +#MODULES += Attitude/revolution +#MODULES += StateEstimation # use instead of Attitude +#MODULES += Altitude/revolution +#MODULES += Airspeed +#MODULES += AltitudeHold +#MODULES += Stabilization +MODULES += VtolPathFollower +MODULES += ManualControl +MODULES += Actuator +MODULES += GPS +MODULES += TxPID +MODULES += CameraStab +MODULES += Battery +MODULES += FirmwareIAP +#MODULES += Radio +MODULES += PathPlanner +MODULES += FixedWingPathFollower +MODULES += Osd/osdoutout +MODULES += Logging +MODULES += Telemetry + +OPTMODULES += ComUsbBridge + +# Include all camera options +CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF + +# Some diagnostics +CDEFS += -DDIAG_TASKS + +# Misc options +CFLAGS += -ffast-math + +# List C source files here (C dependencies are automatically generated). +# Use file-extension c for "c-only"-files +ifndef TESTAPP + ## Application Core + SRC += ../pios_usb_board_data.c + SRC += $(OPMODULEDIR)/System/systemmod.c + SRC += $(OPSYSTEM)/discoveryf4bare.c + SRC += $(OPSYSTEM)/pios_board.c + SRC += $(FLIGHTLIB)/alarms.c + SRC += $(OPUAVTALK)/uavtalk.c + SRC += $(OPUAVOBJ)/uavobjectmanager.c + SRC += $(OPUAVOBJ)/eventdispatcher.c + #ifeq ($(DEBUG), YES) + SRC += $(OPSYSTEM)/dcc_stdio.c + SRC += $(OPSYSTEM)/cm3_fault_handlers.c + #endif + + ## Misc library functions + SRC += $(FLIGHTLIB)/paths.c + SRC += $(FLIGHTLIB)/WorldMagModel.c + SRC += $(FLIGHTLIB)/insgps13state.c + + ## UAVObjects + include ./UAVObjects.inc + SRC += $(UAVOBJSRC) +else + ## Test Code + SRC += $(OPTESTS)/test_common.c + SRC += $(OPTESTS)/$(TESTAPP).c +endif + +# Optional component libraries +include $(FLIGHTLIB)/rscode/library.mk +#include $(FLIGHTLIB)/PyMite/pymite.mk + +include $(ROOT_DIR)/make/apps-defs.mk +include $(ROOT_DIR)/make/common-defs.mk diff --git a/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc new file mode 100644 index 000000000..72f51cbec --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc @@ -0,0 +1,118 @@ +# +# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org +# +# This program is free software; you can redistribute it and/or modify +# it under the terms of the GNU General Public License as published by +# the Free Software Foundation; either version 3 of the License, or +# (at your option) any later version. +# +# This program is distributed in the hope that it will be useful, but +# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY +# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License +# for more details. +# +# You should have received a copy of the GNU General Public License along +# with this program; if not, write to the Free Software Foundation, Inc., +# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA +# + +# These are the UAVObjects supposed to be build as part of the OpenPilot target +# (all architectures) +UAVOBJSRCFILENAMES = +UAVOBJSRCFILENAMES += accelgyrosettings +UAVOBJSRCFILENAMES += accessorydesired +UAVOBJSRCFILENAMES += actuatorcommand +UAVOBJSRCFILENAMES += actuatordesired +UAVOBJSRCFILENAMES += actuatorsettings +UAVOBJSRCFILENAMES += attitudesettings +UAVOBJSRCFILENAMES += attitudestate +UAVOBJSRCFILENAMES += gyrostate +UAVOBJSRCFILENAMES += gyrosensor +UAVOBJSRCFILENAMES += accelstate +UAVOBJSRCFILENAMES += accelsensor +UAVOBJSRCFILENAMES += magsensor +UAVOBJSRCFILENAMES += magstate +UAVOBJSRCFILENAMES += barosensor +UAVOBJSRCFILENAMES += airspeedsensor +UAVOBJSRCFILENAMES += airspeedsettings +UAVOBJSRCFILENAMES += airspeedstate +UAVOBJSRCFILENAMES += debuglogsettings +UAVOBJSRCFILENAMES += debuglogcontrol +UAVOBJSRCFILENAMES += debuglogstatus +UAVOBJSRCFILENAMES += debuglogentry +UAVOBJSRCFILENAMES += flightbatterysettings +UAVOBJSRCFILENAMES += firmwareiapobj +UAVOBJSRCFILENAMES += flightbatterystate +UAVOBJSRCFILENAMES += flightplancontrol +UAVOBJSRCFILENAMES += flightplansettings +UAVOBJSRCFILENAMES += flightplanstatus +UAVOBJSRCFILENAMES += flighttelemetrystats +UAVOBJSRCFILENAMES += gcstelemetrystats +UAVOBJSRCFILENAMES += gcsreceiver +UAVOBJSRCFILENAMES += gpspositionsensor +UAVOBJSRCFILENAMES += gpssatellites +UAVOBJSRCFILENAMES += gpstime +UAVOBJSRCFILENAMES += gpsvelocitysensor +UAVOBJSRCFILENAMES += gpssettings +UAVOBJSRCFILENAMES += fixedwingpathfollowersettings +UAVOBJSRCFILENAMES += fixedwingpathfollowerstatus +UAVOBJSRCFILENAMES += vtolpathfollowersettings +UAVOBJSRCFILENAMES += homelocation +UAVOBJSRCFILENAMES += i2cstats +UAVOBJSRCFILENAMES += manualcontrolcommand +UAVOBJSRCFILENAMES += manualcontrolsettings +UAVOBJSRCFILENAMES += flightmodesettings +UAVOBJSRCFILENAMES += mixersettings +UAVOBJSRCFILENAMES += mixerstatus +UAVOBJSRCFILENAMES += nedaccel +UAVOBJSRCFILENAMES += objectpersistence +UAVOBJSRCFILENAMES += oplinkreceiver +UAVOBJSRCFILENAMES += overosyncstats +UAVOBJSRCFILENAMES += overosyncsettings +UAVOBJSRCFILENAMES += pathaction +UAVOBJSRCFILENAMES += pathdesired +UAVOBJSRCFILENAMES += pathplan +UAVOBJSRCFILENAMES += pathstatus +UAVOBJSRCFILENAMES += positionstate +UAVOBJSRCFILENAMES += ratedesired +UAVOBJSRCFILENAMES += relaytuning +UAVOBJSRCFILENAMES += relaytuningsettings +UAVOBJSRCFILENAMES += ekfconfiguration +UAVOBJSRCFILENAMES += ekfstatevariance +UAVOBJSRCFILENAMES += revocalibration +UAVOBJSRCFILENAMES += revosettings +UAVOBJSRCFILENAMES += sonaraltitude +UAVOBJSRCFILENAMES += stabilizationdesired +UAVOBJSRCFILENAMES += stabilizationsettings +UAVOBJSRCFILENAMES += stabilizationsettingsbank1 +UAVOBJSRCFILENAMES += stabilizationsettingsbank2 +UAVOBJSRCFILENAMES += stabilizationsettingsbank3 +UAVOBJSRCFILENAMES += stabilizationbank +UAVOBJSRCFILENAMES += systemalarms +UAVOBJSRCFILENAMES += systemsettings +UAVOBJSRCFILENAMES += systemstats +UAVOBJSRCFILENAMES += taskinfo +UAVOBJSRCFILENAMES += callbackinfo +UAVOBJSRCFILENAMES += velocitystate +UAVOBJSRCFILENAMES += velocitydesired +UAVOBJSRCFILENAMES += watchdogstatus +UAVOBJSRCFILENAMES += flightstatus +UAVOBJSRCFILENAMES += hwsettings +UAVOBJSRCFILENAMES += receiveractivity +UAVOBJSRCFILENAMES += cameradesired +UAVOBJSRCFILENAMES += camerastabsettings +UAVOBJSRCFILENAMES += altitudeholdsettings +UAVOBJSRCFILENAMES += oplinksettings +UAVOBJSRCFILENAMES += oplinkstatus +UAVOBJSRCFILENAMES += altitudefiltersettings +UAVOBJSRCFILENAMES += altitudeholddesired +UAVOBJSRCFILENAMES += altitudeholdstatus +UAVOBJSRCFILENAMES += waypoint +UAVOBJSRCFILENAMES += waypointactive +UAVOBJSRCFILENAMES += poilocation +UAVOBJSRCFILENAMES += poilearnsettings +UAVOBJSRCFILENAMES += mpu6000settings +UAVOBJSRCFILENAMES += txpidsettings + +UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c ) +UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) ) diff --git a/flight/targets/boards/discoveryf4bare/firmware/cm3_fault_handlers.c b/flight/targets/boards/discoveryf4bare/firmware/cm3_fault_handlers.c new file mode 100644 index 000000000..e74ffa76a --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/cm3_fault_handlers.c @@ -0,0 +1,90 @@ +/* + * cm3_fault_handlers.c + * + * Created on: Apr 24, 2011 + * Author: msmith + */ + +#include +#include "inc/dcc_stdio.h" +#ifdef STM32F4XX +# include +#endif +#ifdef STM32F2XX +# include +#endif + +#define FAULT_TRAMPOLINE(_vec) \ + __attribute__((naked, no_instrument_function)) \ + void \ + _vec##_Handler(void) \ + { \ + __asm(".syntax unified\n" \ + "MOVS R0, #4 \n" \ + "MOV R1, LR \n" \ + "TST R0, R1 \n" \ + "BEQ 1f \n" \ + "MRS R0, PSP \n" \ + "B " #_vec "_Handler2 \n" \ + "1: \n" \ + "MRS R0, MSP \n" \ + "B " #_vec "_Handler2 \n" \ + ".syntax divided\n"); \ + } \ + struct hack + +struct cm3_frame { + uint32_t r0; + uint32_t r1; + uint32_t r2; + uint32_t r3; + uint32_t r12; + uint32_t lr; + uint32_t pc; + uint32_t psr; +}; + +FAULT_TRAMPOLINE(HardFault); +FAULT_TRAMPOLINE(BusFault); +FAULT_TRAMPOLINE(UsageFault); + +/* this is a hackaround to avoid an issue where dereferencing SCB seems to result in bad codegen and a link error */ +#define SCB_REG(_reg) (*(uint32_t *)&(SCB->_reg)) + +void HardFault_Handler2(struct cm3_frame *frame) +{ + dbg_write_str("\nHARD FAULT"); + dbg_write_hex32(frame->pc); + dbg_write_char('\n'); + dbg_write_hex32(SCB_REG(HFSR)); + dbg_write_char('\n'); + for (;;) { + ; + } +} + +void BusFault_Handler2(struct cm3_frame *frame) +{ + dbg_write_str("\nBUS FAULT"); + dbg_write_hex32(frame->pc); + dbg_write_char('\n'); + dbg_write_hex32(SCB_REG(CFSR)); + dbg_write_char('\n'); + dbg_write_hex32(SCB_REG(BFAR)); + dbg_write_char('\n'); + for (;;) { + ; + } +} + +void UsageFault_Handler2(struct cm3_frame *frame) +{ + dbg_write_str("\nUSAGE FAULT"); + dbg_write_hex32(frame->pc); + dbg_write_char('\n'); + dbg_write_hex32(SCB_REG(CFSR)); + dbg_write_char('\n'); + for (;;) { + ; + } +} diff --git a/flight/targets/boards/discoveryf4bare/firmware/dcc_stdio.c b/flight/targets/boards/discoveryf4bare/firmware/dcc_stdio.c new file mode 100644 index 000000000..1a522e9a0 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/dcc_stdio.c @@ -0,0 +1,149 @@ +/*************************************************************************** +* Copyright (C) 2008 by Dominic Rath * +* Dominic.Rath@gmx.de * +* Copyright (C) 2008 by Spencer Oliver * +* spen@spen-soft.co.uk * +* Copyright (C) 2008 by Frederik Kriewtz * +* frederik@kriewitz.eu * +* * +* This program is free software; you can redistribute it and/or modify * +* it under the terms of the GNU General Public License as published by * +* the Free Software Foundation; either version 2 of the License, or * +* (at your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, * +* but WITHOUT ANY WARRANTY; without even the implied warranty of * +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * +* GNU General Public License for more details. * +* * +* You should have received a copy of the GNU General Public License * +* along with this program; if not, write to the * +* Free Software Foundation, Inc., * +* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * +***************************************************************************/ + +#include "inc/dcc_stdio.h" + +#define TARGET_REQ_TRACEMSG 0x00 +#define TARGET_REQ_DEBUGMSG_ASCII 0x01 +#define TARGET_REQ_DEBUGMSG_HEXMSG(size) (0x01 | ((size & 0xff) << 8)) +#define TARGET_REQ_DEBUGCHAR 0x02 + +/* we use the cortex_m3 DCRDR reg to simulate a arm7_9 dcc channel + * DCRDR[7:0] is used by target for status + * DCRDR[15:8] is used by target for write buffer + * DCRDR[23:16] is used for by host for status + * DCRDR[31:24] is used for by host for write buffer */ + +#define NVIC_DBG_DATA_R (*((volatile unsigned short *)0xE000EDF8)) + +#define BUSY 1 + +void dbg_write(unsigned long dcc_data) +{ + int len = 4; + + while (len--) { + /* wait for data ready */ + while (NVIC_DBG_DATA_R & BUSY) { + ; + } + + /* write our data and set write flag - tell host there is data*/ + NVIC_DBG_DATA_R = (unsigned short)(((dcc_data & 0xff) << 8) | BUSY); + dcc_data >>= 8; + } +} + +void dbg_trace_point(unsigned long number) +{ + dbg_write(TARGET_REQ_TRACEMSG | (number << 8)); +} + +void dbg_write_u32(const unsigned long *val, long len) +{ + dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(4) | ((len & 0xffff) << 16)); + + while (len > 0) { + dbg_write(*val); + + val++; + len--; + } +} + +void dbg_write_u16(const unsigned short *val, long len) +{ + unsigned long dcc_data; + + dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(2) | ((len & 0xffff) << 16)); + + while (len > 0) { + dcc_data = val[0] + | ((len > 1) ? val[1] << 16 : 0x0000); + + dbg_write(dcc_data); + + val += 2; + len -= 2; + } +} + +void dbg_write_u8(const unsigned char *val, long len) +{ + unsigned long dcc_data; + + dbg_write(TARGET_REQ_DEBUGMSG_HEXMSG(1) | ((len & 0xffff) << 16)); + + while (len > 0) { + dcc_data = val[0] + | ((len > 1) ? val[1] << 8 : 0x00) + | ((len > 2) ? val[2] << 16 : 0x00) + | ((len > 3) ? val[3] << 24 : 0x00); + + dbg_write(dcc_data); + + val += 4; + len -= 4; + } +} + +void dbg_write_str(const char *msg) +{ + long len; + unsigned long dcc_data; + + for (len = 0; msg[len] && (len < 65536); len++) { + ; + } + + dbg_write(TARGET_REQ_DEBUGMSG_ASCII | ((len & 0xffff) << 16)); + + while (len > 0) { + dcc_data = msg[0] + | ((len > 1) ? msg[1] << 8 : 0x00) + | ((len > 2) ? msg[2] << 16 : 0x00) + | ((len > 3) ? msg[3] << 24 : 0x00); + dbg_write(dcc_data); + + msg += 4; + len -= 4; + } +} + +void dbg_write_char(char msg) +{ + dbg_write(TARGET_REQ_DEBUGCHAR | ((msg & 0xff) << 16)); +} + +void dbg_write_hex32(const unsigned long val) +{ + static const char hextab[] = { + '0', '1', '2', '3', '4', '5', '6', '7', + '8', '9', 'a', 'b', 'c', 'd', 'e', 'f' + }; + + for (int shift = 28; shift >= 0; shift -= 4) { + dbg_write_char(hextab[(val >> shift) & 0xf]); + } +} diff --git a/flight/targets/boards/discoveryf4bare/firmware/discoveryf4bare.c b/flight/targets/boards/discoveryf4bare/firmware/discoveryf4bare.c new file mode 100644 index 000000000..42b4a995e --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/discoveryf4bare.c @@ -0,0 +1,139 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @brief These files are the core system files of OpenPilot. + * They are the ground layer just above PiOS. In practice, OpenPilot actually starts + * in the main() function of openpilot.c + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @brief This is where the OP firmware starts. Those files also define the compile-time + * options of the firmware. + * @{ + * @file openpilot.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Sets up and runs main OpenPilot tasks. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#include "inc/openpilot.h" +#include + +/* Task Priorities */ +#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3) + +/* Global Variables */ + +/* Local Variables */ +#define INCLUDE_TEST_TASKS 0 +#if INCLUDE_TEST_TASKS +static uint8_t sdcard_available; +#endif +char Buffer[1024]; +uint32_t Cache; + +/* Function Prototypes */ +#if INCLUDE_TEST_TASKS +static void TaskTick(void *pvParameters); +static void TaskTesting(void *pvParameters); +static void TaskHIDTest(void *pvParameters); +static void TaskServos(void *pvParameters); +static void TaskSDCard(void *pvParameters); +#endif +int32_t CONSOLE_Parse(uint8_t port, char c); +void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value); + +/* Prototype of PIOS_Board_Init() function */ +extern void PIOS_Board_Init(void); +extern void Stack_Change(void); +static void Stack_Change_Weak() __attribute__((weakref("Stack_Change"))); + +/* Local Variables */ +#define INIT_TASK_PRIORITY (tskIDLE_PRIORITY + configMAX_PRIORITIES - 1) // max priority +#define INIT_TASK_STACK (1024 / 4) // XXX this seems excessive +static xTaskHandle initTaskHandle; + +/* Function Prototypes */ +static void initTask(void *parameters); + +/* Prototype of generated InitModules() function */ +extern void InitModules(void); + +/** + * OpenPilot Main function: + * + * Initialize PiOS
    + * Create the "System" task (SystemModInitializein Modules/System/systemmod.c)
    + * Start FreeRTOS Scheduler (vTaskStartScheduler)
    + * If something goes wrong, blink LED1 and LED2 every 100ms + * + */ +int main() +{ + int result; + + /* NOTE: Do NOT modify the following start-up sequence */ + /* Any new initialization functions should be added in OpenPilotInit() */ + vPortInitialiseBlocks(); + + /* Brings up System using CMSIS functions, enables the LEDs. */ + PIOS_SYS_Init(); + + /* For Revolution we use a FreeRTOS task to bring up the system so we can */ + /* always rely on FreeRTOS primitive */ + result = xTaskCreate(initTask, (const signed char *)"init", + INIT_TASK_STACK, NULL, INIT_TASK_PRIORITY, + &initTaskHandle); + PIOS_Assert(result == pdPASS); + + /* Start the FreeRTOS scheduler */ + vTaskStartScheduler(); + + /* If all is well we will never reach here as the scheduler will now be running. */ + /* Do some PIOS_LED_HEARTBEAT to user that something bad just happened */ + PIOS_LED_Off(PIOS_LED_HEARTBEAT); \ + for (;;) { \ + PIOS_LED_Toggle(PIOS_LED_HEARTBEAT); \ + PIOS_DELAY_WaitmS(100); \ + } + ; + + return 0; +} +/** + * Initialisation task. + * + * Runs board and module initialisation, then terminates. + */ +void initTask(__attribute__((unused)) void *parameters) +{ + /* board driver init */ + PIOS_Board_Init(); + + /* Initialize modules */ + MODULE_INITIALISE_ALL; + + /* terminate this task */ + vTaskDelete(NULL); +} + +/** + * @} + * @} + */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/FreeRTOSConfig.h b/flight/targets/boards/discoveryf4bare/firmware/inc/FreeRTOSConfig.h new file mode 100644 index 000000000..d6e27772f --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/FreeRTOSConfig.h @@ -0,0 +1,105 @@ +#ifndef FREERTOS_CONFIG_H +#define FREERTOS_CONFIG_H + +/*----------------------------------------------------------- +* Application specific definitions. +* +* These definitions should be adjusted for your particular hardware and +* application requirements. +* +* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE +* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE. +* +* See http://www.freertos.org/a00110.html. +*----------------------------------------------------------*/ + +/** + * @addtogroup PIOS PIOS + * @{ + * @addtogroup FreeRTOS FreeRTOS + * @{ + */ + +/* Notes: We use 5 task priorities */ + +#define configCPU_CLOCK_HZ (SYSCLK_FREQ) // really the NVIC clock ... +#define configTICK_RATE_HZ ((portTickType)1000) +#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5) +#define configMINIMAL_STACK_SIZE ((unsigned short)512) +#define configTOTAL_HEAP_SIZE ((size_t)(180 * 1024)) // this is minimum, not total +#define configMAX_TASK_NAME_LEN (16) + +#define configUSE_PREEMPTION 1 +#define configUSE_IDLE_HOOK 1 +#define configUSE_TICK_HOOK 0 +#define configUSE_TRACE_FACILITY 0 +#define configUSE_16_BIT_TICKS 0 +#define configIDLE_SHOULD_YIELD 0 +#define configUSE_MUTEXES 1 +#define configUSE_RECURSIVE_MUTEXES 1 +#define configUSE_COUNTING_SEMAPHORES 0 +#define configUSE_ALTERNATIVE_API 0 +#define configCHECK_FOR_STACK_OVERFLOW 2 +#define configQUEUE_REGISTRY_SIZE 10 + +#define configUSE_TIMERS 1 +#define configTIMER_TASK_PRIORITY (configMAX_PRIORITIES - 1) /* run timers at max priority */ +#define configTIMER_QUEUE_LENGTH 10 +#define configTIMER_TASK_STACK_DEPTH configMINIMAL_STACK_SIZE + +/* Co-routine definitions. */ +#define configUSE_CO_ROUTINES 0 +#define configMAX_CO_ROUTINE_PRIORITIES (2) + +/* Set the following definitions to 1 to include the API function, or zero + to exclude the API function. */ + +#define INCLUDE_vTaskPrioritySet 1 +#define INCLUDE_uxTaskPriorityGet 1 +#define INCLUDE_vTaskDelete 1 +#define INCLUDE_vTaskCleanUpResources 1 +#define INCLUDE_vTaskSuspend 1 +#define INCLUDE_vTaskDelayUntil 1 +#define INCLUDE_vTaskDelay 1 +#define INCLUDE_xTaskGetSchedulerState 1 +#define INCLUDE_xTaskGetCurrentTaskHandle 1 +#define INCLUDE_uxTaskGetStackHighWaterMark 1 +#define INCLUDE_xTaskGetIdleTaskHandle 1 + + +/* This is the raw value as per the Cortex-M3 NVIC. Values can be 255 + (lowest) to 1 (highest maskable) to 0 (highest non-maskable). */ +#define configKERNEL_INTERRUPT_PRIORITY 15 << 4 /* equivalent to NVIC priority 15 */ + #define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority 3 */ + +/* This is the value being used as per the ST library which permits 16 + priority values, 0 to 15. This must correspond to the + configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest + NVIC value of 255. */ +#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15 + +/* Enable run time stats collection */ +#define configGENERATE_RUN_TIME_STATS 1 +#define INCLUDE_uxTaskGetRunTime 1 + +/* + * Once we move to CMSIS2 we can at least use: + * + * CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk; + * + * (still nothing for the DWT registers, surprisingly) + */ +#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \ + do { \ + (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \ + (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \ + } \ + while (0) +#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */ + + +/** + * @} + */ + +#endif /* FREERTOS_CONFIG_H */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/dcc_stdio.h b/flight/targets/boards/discoveryf4bare/firmware/inc/dcc_stdio.h new file mode 100644 index 000000000..3d7354918 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/dcc_stdio.h @@ -0,0 +1,36 @@ +/*************************************************************************** +* Copyright (C) 2008 by Dominic Rath * +* Dominic.Rath@gmx.de * +* Copyright (C) 2008 by Spencer Oliver * +* spen@spen-soft.co.uk * +* * +* This program is free software; you can redistribute it and/or modify * +* it under the terms of the GNU General Public License as published by * +* the Free Software Foundation; either version 2 of the License, or * +* (at your option) any later version. * +* * +* This program is distributed in the hope that it will be useful, * +* but WITHOUT ANY WARRANTY; without even the implied warranty of * +* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * +* GNU General Public License for more details. * +* * +* You should have received a copy of the GNU General Public License * +* along with this program; if not, write to the * +* Free Software Foundation, Inc., * +* 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * +***************************************************************************/ + +#ifndef DCC_STDIO_H +#define DCC_STDIO_H + +void dbg_trace_point(unsigned long number); + +void dbg_write_u32(const unsigned long *val, long len); +void dbg_write_u16(const unsigned short *val, long len); +void dbg_write_u8(const unsigned char *val, long len); + +void dbg_write_str(const char *msg); +void dbg_write_char(char msg); +void dbg_write_hex32(const unsigned long val); + +#endif /* DCC_STDIO_H */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/openpilot.h b/flight/targets/boards/discoveryf4bare/firmware/inc/openpilot.h new file mode 100644 index 000000000..89e1e909c --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/openpilot.h @@ -0,0 +1,51 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * @file openpilot.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Main OpenPilot header. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef OPENPILOT_H +#define OPENPILOT_H + +/* PIOS Includes */ +#include + +/* OpenPilot Libraries */ +#include +#include +#include +#include + +#include "alarms.h" + +/* Global Functions */ +void OpenPilotInit(void); + +#endif /* OPENPILOT_H */ +/** + * @} + * @} + */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_board_sim.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_board_sim.h new file mode 100644 index 000000000..68a32b116 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_board_sim.h @@ -0,0 +1,82 @@ +/** + ****************************************************************************** + * + * @file pios_board.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines board hardware for the OpenPilot Version 1.1 hardware. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef PIOS_BOARD_H +#define PIOS_BOARD_H + + +// ------------------------ +// PIOS_LED +// ------------------------ +#define PIOS_LED_ALARM 0 +#define PIOS_LED_HEARTBEAT 1 +#define PIOS_LED_NUM 2 + +// ------------------------- +// COM +// +// See also pios_board_posix.c +// ------------------------- +// #define PIOS_USART_TX_BUFFER_SIZE 256 +#define PIOS_COM_BUFFER_SIZE 1024 +#define PIOS_COM_MAX_DEVS 255 +#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE +#define PIOS_TCP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE + +extern uint32_t pios_com_telem_rf_id; +extern uint32_t pios_com_telem_usb_id; +extern uint32_t pios_com_gps_id; +extern uint32_t pios_com_aux_id; +extern uint32_t pios_com_spectrum_id; + +#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +#define PIOS_COM_GPS (pios_com_gps_id) + +#ifdef PIOS_ENABLE_AUX_UART +#define PIOS_COM_AUX (pios_com_aux_id) +#define PIOS_COM_DEBUG (PIOS_COM_AUX) +#endif + +#define PIOS_GCSRCVR_TIMEOUT_MS 200 +/** + * glue macros for file IO + * STM32 uses DOSFS for file IO + */ +#define PIOS_FOPEN_READ(filename, file) (file = fopen((char *)filename, "r")) == NULL + +#define PIOS_FOPEN_WRITE(filename, file) (file = fopen((char *)filename, "w")) == NULL + +#define PIOS_FREAD(file, bufferadr, length, resultadr) (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length + +#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file) + + +#define PIOS_FCLOSE(file) fclose(file) + +#define PIOS_FUNLINK(file) unlink((char *)filename) + +#endif /* PIOS_BOARD_H */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h new file mode 100644 index 000000000..4d335c8ab --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h @@ -0,0 +1,178 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * @file pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013. + * @brief PiOS configuration header, the compile time config file for the PIOS. + * Defines which PiOS libraries and features are included in the firmware. + * @see The GNU Public License (GPL) Version 3 + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_CONFIG_H +#define PIOS_CONFIG_H + +/* + * Below is a complete list of PIOS configurable options. + * Please do not remove or rearrange them. Only comment out + * unused options in the list. See main pios.h header for more + * details. + */ + +/* #define PIOS_INCLUDE_DEBUG_CONSOLE */ +/* #define DEBUG_LEVEL 0 */ +/* #define PIOS_ENABLE_DEBUG_PINS */ + +/* PIOS FreeRTOS support */ +#define PIOS_INCLUDE_FREERTOS + +/* PIOS Callback Scheduler support */ +#define PIOS_INCLUDE_CALLBACKSCHEDULER + +/* PIOS bootloader helper */ +#define PIOS_INCLUDE_BL_HELPER +/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */ + +/* PIOS system functions */ +#define PIOS_INCLUDE_DELAY +#define PIOS_INCLUDE_INITCALL +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_TASK_MONITOR + +/* PIOS hardware peripherals */ +#define PIOS_INCLUDE_IRQ +#define PIOS_INCLUDE_RTC +#define PIOS_INCLUDE_TIM +#define PIOS_INCLUDE_USART +#define PIOS_INCLUDE_ADC +#define PIOS_INCLUDE_I2C +#define PIOS_INCLUDE_SPI +#define PIOS_INCLUDE_GPIO +#define PIOS_INCLUDE_EXTI +#define PIOS_INCLUDE_WDG + +/* PIOS USB functions */ +#define PIOS_INCLUDE_USB +#define PIOS_INCLUDE_USB_HID +#define PIOS_INCLUDE_USB_CDC +/* #define PIOS_INCLUDE_USB_RCTX */ + +/* PIOS sensor interfaces */ +/* #define PIOS_INCLUDE_ADXL345 */ +/* #define PIOS_INCLUDE_BMA180 */ +/* #define PIOS_INCLUDE_L3GD20 */ +//#define PIOS_INCLUDE_MPU6000 +//#define PIOS_MPU6000_ACCEL +/* #define PIOS_INCLUDE_HMC5843 */ +//#define PIOS_INCLUDE_HMC5883 +//#define PIOS_HMC5883_HAS_GPIOS +/* #define PIOS_INCLUDE_BMP085 */ +//#define PIOS_INCLUDE_MS5611 +//#define PIOS_INCLUDE_MPXV +//#define PIOS_INCLUDE_ETASV3 +/* #define PIOS_INCLUDE_HCSR04 */ + +/* PIOS receiver drivers */ +#define PIOS_INCLUDE_PWM +#define PIOS_INCLUDE_PPM +/* #define PIOS_INCLUDE_PPM_FLEXI */ +#define PIOS_INCLUDE_DSM +#define PIOS_INCLUDE_SBUS +#define PIOS_INCLUDE_GCSRCVR +//#define PIOS_INCLUDE_OPLINKRCVR + +/* PIOS abstract receiver interface */ +#define PIOS_INCLUDE_RCVR + +/* PIOS common peripherals */ +#define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_IAP +#define PIOS_INCLUDE_SERVO +/* #define PIOS_INCLUDE_I2C_ESC */ +/* #define PIOS_INCLUDE_OVERO */ +/* #define PIOS_OVERO_SPI */ +/* #define PIOS_INCLUDE_SDCARD */ +/* #define LOG_FILENAME "startup.log" */ +#define PIOS_INCLUDE_FLASH +#define PIOS_INCLUDE_FLASH_INTERNAL +#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS +#define FLASH_FREERTOS +/* #define PIOS_INCLUDE_FLASH_EEPROM */ + +/* PIOS radio modules */ +//#define PIOS_INCLUDE_RFM22B +//#define PIOS_INCLUDE_RFM22B_COM +//#define PIOS_INCLUDE_RFM22B_RCVR +/* #define PIOS_INCLUDE_PPM_OUT */ +/* #define PIOS_RFM22B_DEBUG_ON_TELEM */ + +/* PIOS misc peripherals */ +/* #define PIOS_INCLUDE_VIDEO */ +/* #define PIOS_INCLUDE_WAVE */ +/* #define PIOS_INCLUDE_UDP */ + +/* PIOS abstract comms interface with options */ +#define PIOS_INCLUDE_COM +/* #define PIOS_INCLUDE_COM_MSG */ +/* #define PIOS_INCLUDE_TELEMETRY_RF */ +#define PIOS_INCLUDE_COM_TELEM +#define PIOS_INCLUDE_COM_FLEXI +/* #define PIOS_INCLUDE_COM_AUX */ +#define PIOS_TELEM_PRIORITY_QUEUE +#define PIOS_INCLUDE_GPS +/* #define PIOS_GPS_MINIMAL */ +#define PIOS_INCLUDE_GPS_NMEA_PARSER +#define PIOS_INCLUDE_GPS_UBX_PARSER +#define PIOS_GPS_SETS_HOMELOCATION + +/* Stabilization options */ +/* #define PIOS_QUATERNION_STABILIZATION */ + +/* Performance counters */ +#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 8379692 + +/* Alarm Thresholds */ +#define HEAP_LIMIT_WARNING 1000 +#define HEAP_LIMIT_CRITICAL 500 +#define IRQSTACK_LIMIT_WARNING 150 +#define IRQSTACK_LIMIT_CRITICAL 80 +#define CPULOAD_LIMIT_WARNING 80 +#define CPULOAD_LIMIT_CRITICAL 95 + +/* Task stack sizes */ +/* #define PIOS_ACTUATOR_STACK_SIZE 1020 */ +/* #define PIOS_MANUAL_STACK_SIZE 800 */ +/* #define PIOS_SYSTEM_STACK_SIZE 660 */ +/* #define PIOS_STABILIZATION_STACK_SIZE 524 */ +/* #define PIOS_TELEM_STACK_SIZE 500 */ +/* #define PIOS_EVENTDISPATCHER_STACK_SIZE 130 */ + +/* This can't be too high to stop eventdispatcher thread overflowing */ +#define PIOS_EVENTDISAPTCHER_QUEUE 10 + +/* Revolution series */ +#define REVOLUTION + +#endif /* PIOS_CONFIG_H */ + +/** + * @} + * @} + */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config_sim.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config_sim.h new file mode 100644 index 000000000..293516522 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config_sim.h @@ -0,0 +1,80 @@ +/** + ****************************************************************************** + * + * @file pios_config.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief PiOS configuration header. + * Central compile time config for the project. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + + +#ifndef PIOS_CONFIG_POSIX_H +#define PIOS_CONFIG_POSIX_H + + +/* Enable/Disable PiOS Modules */ +#define PIOS_INCLUDE_SYS +#define PIOS_INCLUDE_DELAY +#define PIOS_INCLUDE_LED +#define PIOS_INCLUDE_SDCARD +#define PIOS_INCLUDE_FREERTOS +#define PIOS_INCLUDE_TASK_MONITOR +#define PIOS_INCLUDE_COM +// #define PIOS_INCLUDE_GPS +#define PIOS_INCLUDE_IRQ +#define PIOS_INCLUDE_TELEMETRY_RF +#define PIOS_INCLUDE_TCP +#define PIOS_INCLUDE_UDP +#define PIOS_INCLUDE_SERVO +#define PIOS_INCLUDE_RCVR +#define PIOS_INCLUDE_GCSRCVR + +#define PIOS_RCVR_MAX_CHANNELS 12 +#define PIOS_RCVR_MAX_DEVS 3 + +/* Defaults for Logging */ +#define LOG_FILENAME "PIOS.LOG" +#define STARTUP_LOG_ENABLED 1 + +/* COM Module */ +#define GPS_BAUDRATE 19200 +#define TELEM_BAUDRATE 19200 +#define AUXUART_ENABLED 0 +#define AUXUART_BAUDRATE 19200 + +#define TELEM_QUEUE_SIZE 20 +#define PIOS_TELEM_STACK_SIZE 2048 + +/* Stabilization options */ +#define PIOS_QUATERNION_STABILIZATION + +/* GPS options */ +#define PIOS_GPS_SETS_HOMELOCATION + +#define HEAP_LIMIT_WARNING 4000 +#define HEAP_LIMIT_CRITICAL 1000 +#define IRQSTACK_LIMIT_WARNING 150 +#define IRQSTACK_LIMIT_CRITICAL 80 +#define CPULOAD_LIMIT_WARNING 80 +#define CPULOAD_LIMIT_CRITICAL 95 + +#define REVOLUTION + +#endif /* PIOS_CONFIG_POSIX_H */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_usb_board_data.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_usb_board_data.h new file mode 100644 index 000000000..2e607ad2c --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_usb_board_data.h @@ -0,0 +1,46 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_USB_BOARD_DATA_H +#define PIOS_USB_BOARD_DATA_H + +#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64 +#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32 +#define PIOS_USB_BOARD_HID_DATA_LENGTH 64 + +#define PIOS_USB_BOARD_EP_NUM 4 + +#include /* USB_* macros */ + +#define PIOS_USB_BOARD_PRODUCT_ID USB_PRODUCT_ID_REVOLUTION +#define PIOS_USB_BOARD_DEVICE_VER USB_OP_DEVICE_VER(USB_OP_BOARD_ID_REVOLUTION, USB_OP_BOARD_MODE_FW) +#define PIOS_USB_BOARD_SN_SUFFIX "+FW" + +#endif /* PIOS_USB_BOARD_DATA_H */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/pios_board.c b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c new file mode 100644 index 000000000..63f13b442 --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/pios_board.c @@ -0,0 +1,940 @@ +/** + ****************************************************************************** + * @file pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011. + * @author PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012 + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * @brief Defines board specific static initializers for hardware for the revomini board. + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "inc/openpilot.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +/* + * Pull in the board-specific static HW definitions. + * Including .c files is a bit ugly but this allows all of + * the HW definitions to be const and static to limit their + * scope. + * + * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE + */ +#include "../board_hw_defs.c" + +/** + * Sensor configurations + */ + +#if defined(PIOS_INCLUDE_ADC) +#include "pios_adc_priv.h" +void PIOS_ADC_DMC_irq_handler(void); +void DMA2_Stream4_IRQHandler(void) __attribute__((alias("PIOS_ADC_DMC_irq_handler"))); +struct pios_adc_cfg pios_adc_cfg = { + .adc_dev = ADC1, + .dma = { + .irq = { + .flags = (DMA_FLAG_TCIF4 | DMA_FLAG_TEIF4 | DMA_FLAG_HTIF4), + .init = { + .NVIC_IRQChannel = DMA2_Stream4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .rx = { + .channel = DMA2_Stream4, + .init = { + .DMA_Channel = DMA_Channel_0, + .DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR + }, + } + }, + .half_flag = DMA_IT_HTIF4, + .full_flag = DMA_IT_TCIF4, +}; +void PIOS_ADC_DMC_irq_handler(void) +{ + /* Call into the generic code to handle the IRQ for this specific device */ + PIOS_ADC_DMA_Handler(); +} + +#endif /* if defined(PIOS_INCLUDE_ADC) */ + +#if defined(PIOS_INCLUDE_HMC5883) +#include "pios_hmc5883.h" +static const struct pios_exti_cfg pios_exti_hmc5883_cfg __exti_config = { + .vector = PIOS_HMC5883_IRQHandler, + .line = EXTI_Line7, + .pin = { + .gpio = GPIOB, + .init = { + .GPIO_Pin = GPIO_Pin_7, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI9_5_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line7, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Rising, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +static const struct pios_hmc5883_cfg pios_hmc5883_cfg = { + .exti_cfg = &pios_exti_hmc5883_cfg, + .M_ODR = PIOS_HMC5883_ODR_75, + .Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL, + .Gain = PIOS_HMC5883_GAIN_1_9, + .Mode = PIOS_HMC5883_MODE_CONTINUOUS, +}; +#endif /* PIOS_INCLUDE_HMC5883 */ + +/** + * Configuration for the MS5611 chip + */ +#if defined(PIOS_INCLUDE_MS5611) +#include "pios_ms5611.h" +static const struct pios_ms5611_cfg pios_ms5611_cfg = { + .oversampling = MS5611_OSR_512, +}; +#endif /* PIOS_INCLUDE_MS5611 */ + + +/** + * Configuration for the MPU6000 chip + */ +#if defined(PIOS_INCLUDE_MPU6000) +#include "pios_mpu6000.h" +#include "pios_mpu6000_config.h" +static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = { + .vector = PIOS_MPU6000_IRQHandler, + .line = EXTI_Line4, + .pin = { + .gpio = GPIOC, + .init = { + .GPIO_Pin = GPIO_Pin_4, + .GPIO_Speed = GPIO_Speed_100MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_OType = GPIO_OType_OD, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + }, + }, + .irq = { + .init = { + .NVIC_IRQChannel = EXTI4_IRQn, + .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH, + .NVIC_IRQChannelSubPriority = 0, + .NVIC_IRQChannelCmd = ENABLE, + }, + }, + .exti = { + .init = { + .EXTI_Line = EXTI_Line4, // matches above GPIO pin + .EXTI_Mode = EXTI_Mode_Interrupt, + .EXTI_Trigger = EXTI_Trigger_Rising, + .EXTI_LineCmd = ENABLE, + }, + }, +}; + +static const struct pios_mpu6000_cfg pios_mpu6000_cfg = { + .exti_cfg = &pios_exti_mpu6000_cfg, + .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT, + // Clock at 8 khz, downsampled by 12 for 666Hz + .Smpl_rate_div_no_dlp = 11, + // with dlp on output rate is 500Hz + .Smpl_rate_div_dlp = 1, + .interrupt_cfg = PIOS_MPU6000_INT_CLR_ANYRD, + .interrupt_en = PIOS_MPU6000_INTEN_DATA_RDY, + .User_ctl = PIOS_MPU6000_USERCTL_FIFO_EN | PIOS_MPU6000_USERCTL_DIS_I2C, + .Pwr_mgmt_clk = PIOS_MPU6000_PWRMGMT_PLL_X_CLK, + .accel_range = PIOS_MPU6000_ACCEL_8G, + .gyro_range = PIOS_MPU6000_SCALE_2000_DEG, + .filter = PIOS_MPU6000_LOWPASS_256_HZ, + .orientation = PIOS_MPU6000_TOP_180DEG +}; +#endif /* PIOS_INCLUDE_MPU6000 */ + +/* One slot per selectable receiver group. + * eg. PWM, PPM, GCS, SPEKTRUM1, SPEKTRUM2, SBUS + * NOTE: No slot in this map for NONE. + */ +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + +#define PIOS_COM_TELEM_RF_RX_BUF_LEN 512 +#define PIOS_COM_TELEM_RF_TX_BUF_LEN 512 + +#define PIOS_COM_GPS_RX_BUF_LEN 32 + +#define PIOS_COM_TELEM_USB_RX_BUF_LEN 65 +#define PIOS_COM_TELEM_USB_TX_BUF_LEN 65 + +#define PIOS_COM_BRIDGE_RX_BUF_LEN 65 +#define PIOS_COM_BRIDGE_TX_BUF_LEN 12 + +#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 512 +#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 512 + +#define PIOS_COM_HKOSD_RX_BUF_LEN 22 +#define PIOS_COM_HKOSD_TX_BUF_LEN 22 + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40 +uint32_t pios_com_debug_id; +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +uint32_t pios_com_gps_id = 0; +uint32_t pios_com_telem_usb_id = 0; +uint32_t pios_com_telem_rf_id = 0; +uint32_t pios_com_bridge_id = 0; +uint32_t pios_com_overo_id = 0; +uint32_t pios_com_hkosd_id = 0; + +uint32_t pios_com_vcp_id = 0; + +#if defined(PIOS_INCLUDE_RFM22B) +uint32_t pios_rfm22b_id = 0; +#endif + +uintptr_t pios_uavo_settings_fs_id; +uintptr_t pios_user_fs_id; + +/* + * Setup a com port based on the passed cfg, driver and buffer sizes. tx size of -1 make the port rx only + */ +static void PIOS_Board_configure_com(const struct pios_usart_cfg *usart_port_cfg, size_t rx_buf_len, size_t tx_buf_len, + const struct pios_com_driver *com_driver, uint32_t *pios_com_id) +{ + uint32_t pios_usart_id; + + if (PIOS_USART_Init(&pios_usart_id, usart_port_cfg)) { + PIOS_Assert(0); + } + + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(rx_buf_len); + PIOS_Assert(rx_buffer); + if (tx_buf_len != (size_t)-1) { // this is the case for rx/tx ports + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(tx_buf_len); + PIOS_Assert(tx_buffer); + + if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id, + rx_buffer, rx_buf_len, + tx_buffer, tx_buf_len)) { + PIOS_Assert(0); + } + } else { // rx only port + if (PIOS_COM_Init(pios_com_id, com_driver, pios_usart_id, + rx_buffer, rx_buf_len, + NULL, 0)) { + PIOS_Assert(0); + } + } +} + +static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm_cfg, const struct pios_dsm_cfg *pios_dsm_cfg, + const struct pios_com_driver *usart_com_driver, enum pios_dsm_proto *proto, + ManualControlSettingsChannelGroupsOptions channelgroup, uint8_t *bind) +{ + uint32_t pios_usart_dsm_id; + + if (PIOS_USART_Init(&pios_usart_dsm_id, pios_usart_dsm_cfg)) { + PIOS_Assert(0); + } + + uint32_t pios_dsm_id; + if (PIOS_DSM_Init(&pios_dsm_id, pios_dsm_cfg, usart_com_driver, + pios_usart_dsm_id, *proto, *bind)) { + PIOS_Assert(0); + } + + uint32_t pios_dsm_rcvr_id; + if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id; +} + +static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pwm_cfg) +{ + /* Set up the receiver port. Later this should be optional */ + uint32_t pios_pwm_id; + + PIOS_PWM_Init(&pios_pwm_id, pwm_cfg); + + uint32_t pios_pwm_rcvr_id; + if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id; +} + +static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *ppm_cfg) +{ + uint32_t pios_ppm_id; + + PIOS_PPM_Init(&pios_ppm_id, ppm_cfg); + + uint32_t pios_ppm_rcvr_id; + if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; +} + +/** + * PIOS_Board_Init() + * initializes all the core subsystems on this specific hardware + * called from System/openpilot.c + */ + +#include + +void PIOS_Board_Init(void) +{ + /* Delay system */ + PIOS_DELAY_Init(); + + const struct pios_board_info *bdinfo = &pios_board_info_blob; + +#if defined(PIOS_INCLUDE_LED) + const struct pios_gpio_cfg *led_cfg = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev); + PIOS_Assert(led_cfg); + PIOS_LED_Init(led_cfg); +#endif /* PIOS_INCLUDE_LED */ + +#if false + /* Set up the SPI interface to the gyro/acelerometer */ + if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) { + PIOS_DEBUG_Assert(0); + } + + /* Set up the SPI interface to the flash and rfm22b */ + if (PIOS_SPI_Init(&pios_spi_telem_flash_id, &pios_spi_telem_flash_cfg)) { + PIOS_DEBUG_Assert(0); + } +#endif +#if defined(PIOS_INCLUDE_FLASH) + /* Connect flash to the appropriate interface and configure it */ + uintptr_t flash_id; + + // initialize the internal settings storage flash + if (PIOS_Flash_Internal_Init(&flash_id, &flash_internal_system_cfg)) { + PIOS_DEBUG_Assert(0); + } + + if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_internal_cfg, &pios_internal_flash_driver, flash_id)) { + PIOS_DEBUG_Assert(0); + } + + if (PIOS_FLASHFS_Logfs_Init(&pios_user_fs_id, &flashfs_internal_user_cfg, &pios_internal_flash_driver, flash_id)) { + PIOS_DEBUG_Assert(0); + } + +#endif /* if defined(PIOS_INCLUDE_FLASH) */ + +#if defined(PIOS_INCLUDE_RTC) + PIOS_RTC_Init(&pios_rtc_main_cfg); +#endif + /* IAP System Setup */ + PIOS_IAP_Init(); + // check for safe mode commands from gcs + if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 && + PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 && + PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) { + PIOS_FLASHFS_Format(pios_uavo_settings_fs_id); + PIOS_IAP_WriteBootCmd(0, 0); + PIOS_IAP_WriteBootCmd(1, 0); + PIOS_IAP_WriteBootCmd(2, 0); + } +#ifdef PIOS_INCLUDE_WDG + PIOS_WDG_Init(); +#endif + + /* Initialize the task monitor */ + if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) { + PIOS_Assert(0); + } + + /* Initialize the delayed callback library */ + PIOS_CALLBACKSCHEDULER_Initialize(); + + /* Initialize UAVObject libraries */ + EventDispatcherInitialize(); + UAVObjInitialize(); + + HwSettingsInitialize(); +#if defined(PIOS_INCLUDE_RFM22B) + OPLinkSettingsInitialize(); + OPLinkStatusInitialize(); +#endif /* PIOS_INCLUDE_RFM22B */ + + /* Initialize the alarms library */ + AlarmsInitialize(); + + /* Set up pulse timers */ + PIOS_TIM_InitClock(&tim_1_cfg); + PIOS_TIM_InitClock(&tim_3_cfg); + PIOS_TIM_InitClock(&tim_4_cfg); + PIOS_TIM_InitClock(&tim_5_cfg); + PIOS_TIM_InitClock(&tim_8_cfg); + PIOS_TIM_InitClock(&tim_9_cfg); + PIOS_TIM_InitClock(&tim_10_cfg); + PIOS_TIM_InitClock(&tim_11_cfg); + PIOS_TIM_InitClock(&tim_12_cfg); + + uint16_t boot_count = PIOS_IAP_ReadBootCount(); + if (boot_count < 3) { + PIOS_IAP_WriteBootCount(++boot_count); + AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT); + } else { + /* Too many failed boot attempts, force hwsettings to defaults */ + HwSettingsSetDefaults(HwSettingsHandle(), 0); + AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL); + } + + + // PIOS_IAP_Init(); + +#if defined(PIOS_INCLUDE_USB) + /* Initialize board specific USB data */ + PIOS_USB_BOARD_DATA_Init(); + + /* Flags to determine if various USB interfaces are advertised */ + bool usb_hid_present = false; + bool usb_cdc_present = false; + +#if defined(PIOS_INCLUDE_USB_CDC) + if (PIOS_USB_DESC_HID_CDC_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; + usb_cdc_present = true; +#else + if (PIOS_USB_DESC_HID_ONLY_Init()) { + PIOS_Assert(0); + } + usb_hid_present = true; +#endif + + uint32_t pios_usb_id; + PIOS_USB_Init(&pios_usb_id, PIOS_BOARD_HW_DEFS_GetUsbCfg(bdinfo->board_rev)); + +#if defined(PIOS_INCLUDE_USB_CDC) + + uint8_t hwsettings_usb_vcpport; + /* Configure the USB VCP port */ + HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport); + + if (!usb_cdc_present) { + /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */ + hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED; + } + uint32_t pios_usb_cdc_id; + if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + + uint32_t pios_usb_hid_id; + if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) { + PIOS_Assert(0); + } + + switch (hwsettings_usb_vcpport) { + case HWSETTINGS_USB_VCPPORT_DISABLED: + break; + case HWSETTINGS_USB_VCPPORT_USBTELEMETRY: +#if defined(PIOS_INCLUDE_COM) + { + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + case HWSETTINGS_USB_VCPPORT_COMBRIDGE: +#if defined(PIOS_INCLUDE_COM) + { + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_BRIDGE_RX_BUF_LEN); + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_BRIDGE_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, + rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN, + tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE: +#if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) + { + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id, + NULL, 0, + tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ +#endif /* PIOS_INCLUDE_COM */ + + break; + } +#endif /* PIOS_INCLUDE_USB_CDC */ + +#if defined(PIOS_INCLUDE_USB_HID) + /* Configure the usb HID port */ + uint8_t hwsettings_usb_hidport; + HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport); + + if (!usb_hid_present) { + /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */ + hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED; + } + + switch (hwsettings_usb_hidport) { + case HWSETTINGS_USB_HIDPORT_DISABLED: + break; + case HWSETTINGS_USB_HIDPORT_USBTELEMETRY: +#if defined(PIOS_INCLUDE_COM) + { + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_RX_BUF_LEN); + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_USB_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id, + rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_COM */ + break; + } + +#endif /* PIOS_INCLUDE_USB_HID */ + + if (usb_hid_present || usb_cdc_present) { + PIOS_USBHOOK_Activate(); + } +#endif /* PIOS_INCLUDE_USB */ + + /* Configure IO ports */ + uint8_t hwsettings_DSMxBind; + HwSettingsDSMxBindGet(&hwsettings_DSMxBind); + + /* Configure main USART port */ + uint8_t hwsettings_mainport; + HwSettingsRM_MainPortGet(&hwsettings_mainport); + switch (hwsettings_mainport) { + case HWSETTINGS_RM_MAINPORT_DISABLED: + break; + case HWSETTINGS_RM_MAINPORT_TELEMETRY: + PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); + break; + case HWSETTINGS_RM_MAINPORT_GPS: + PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id); + break; + case HWSETTINGS_RM_MAINPORT_SBUS: +#if defined(PIOS_INCLUDE_SBUS) + { + uint32_t pios_usart_sbus_id; + if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) { + PIOS_Assert(0); + } + + uint32_t pios_sbus_id; + if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) { + PIOS_Assert(0); + } + + uint32_t pios_sbus_rcvr_id; + if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id; + } +#endif + break; + case HWSETTINGS_RM_MAINPORT_DSM2: + case HWSETTINGS_RM_MAINPORT_DSMX10BIT: + case HWSETTINGS_RM_MAINPORT_DSMX11BIT: + { + enum pios_dsm_proto proto; + switch (hwsettings_mainport) { + case HWSETTINGS_RM_MAINPORT_DSM2: + proto = PIOS_DSM_PROTO_DSM2; + break; + case HWSETTINGS_RM_MAINPORT_DSMX10BIT: + proto = PIOS_DSM_PROTO_DSMX10BIT; + break; + case HWSETTINGS_RM_MAINPORT_DSMX11BIT: + proto = PIOS_DSM_PROTO_DSMX11BIT; + break; + default: + PIOS_Assert(0); + break; + } + + // Force binding to zero on the main port + hwsettings_DSMxBind = 0; + + // TODO: Define the various Channelgroup for Revo dsm inputs and handle here + PIOS_Board_configure_dsm(&pios_usart_dsm_main_cfg, &pios_dsm_main_cfg, + &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT, &hwsettings_DSMxBind); + } + break; + case HWSETTINGS_RM_MAINPORT_DEBUGCONSOLE: +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) + { + PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id); + } +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + break; + case HWSETTINGS_RM_MAINPORT_COMBRIDGE: + PIOS_Board_configure_com(&pios_usart_main_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id); + break; + case HWSETTINGS_RM_MAINPORT_OSDHK: + PIOS_Board_configure_com(&pios_usart_hkosd_main_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id); + break; + } /* hwsettings_rm_mainport */ + + if (hwsettings_mainport != HWSETTINGS_RM_MAINPORT_SBUS) { + GPIO_Init(pios_sbus_cfg.inv.gpio, &pios_sbus_cfg.inv.init); + GPIO_WriteBit(pios_sbus_cfg.inv.gpio, pios_sbus_cfg.inv.init.GPIO_Pin, pios_sbus_cfg.gpio_inv_disable); + } + + /* Configure FlexiPort */ + uint8_t hwsettings_flexiport; + HwSettingsRM_FlexiPortGet(&hwsettings_flexiport); + switch (hwsettings_flexiport) { + case HWSETTINGS_RM_FLEXIPORT_DISABLED: + break; + case HWSETTINGS_RM_FLEXIPORT_TELEMETRY: + PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_TELEM_RF_RX_BUF_LEN, PIOS_COM_TELEM_RF_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_telem_rf_id); + break; + case HWSETTINGS_RM_FLEXIPORT_I2C: +#if defined(PIOS_INCLUDE_I2C) + { + if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_I2C */ + break; + case HWSETTINGS_RM_FLEXIPORT_GPS: + PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_GPS_RX_BUF_LEN, -1, &pios_usart_com_driver, &pios_com_gps_id); + break; + case HWSETTINGS_RM_FLEXIPORT_DSM2: + case HWSETTINGS_RM_FLEXIPORT_DSMX10BIT: + case HWSETTINGS_RM_FLEXIPORT_DSMX11BIT: + { + enum pios_dsm_proto proto; + switch (hwsettings_flexiport) { + case HWSETTINGS_RM_FLEXIPORT_DSM2: + proto = PIOS_DSM_PROTO_DSM2; + break; + case HWSETTINGS_RM_FLEXIPORT_DSMX10BIT: + proto = PIOS_DSM_PROTO_DSMX10BIT; + break; + case HWSETTINGS_RM_FLEXIPORT_DSMX11BIT: + proto = PIOS_DSM_PROTO_DSMX11BIT; + break; + default: + PIOS_Assert(0); + break; + } + // TODO: Define the various Channelgroup for Revo dsm inputs and handle here + PIOS_Board_configure_dsm(&pios_usart_dsm_flexi_cfg, &pios_dsm_flexi_cfg, + &pios_usart_com_driver, &proto, MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT, &hwsettings_DSMxBind); + } + break; + case HWSETTINGS_RM_FLEXIPORT_DEBUGCONSOLE: +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) + { + PIOS_Board_configure_com(&pios_usart_main_cfg, 0, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_debug_id); + } +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + break; + case HWSETTINGS_RM_FLEXIPORT_COMBRIDGE: + PIOS_Board_configure_com(&pios_usart_flexi_cfg, PIOS_COM_BRIDGE_RX_BUF_LEN, PIOS_COM_BRIDGE_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_bridge_id); + break; + case HWSETTINGS_RM_FLEXIPORT_OSDHK: + PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id); + break; + } /* hwsettings_rm_flexiport */ + + + /* Initalize the RFM22B radio COM device. */ +#if defined(PIOS_INCLUDE_RFM22B) + + /* Fetch the OPinkSettings object. */ + OPLinkSettingsData oplinkSettings; + OPLinkSettingsGet(&oplinkSettings); + + // Initialize out status object. + OPLinkStatusData oplinkStatus; + OPLinkStatusGet(&oplinkStatus); + oplinkStatus.BoardType = bdinfo->board_type; + PIOS_BL_HELPER_FLASH_Read_Description(oplinkStatus.Description, OPLINKSTATUS_DESCRIPTION_NUMELEM); + PIOS_SYS_SerialNumberGetBinary(oplinkStatus.CPUSerial); + oplinkStatus.BoardRevision = bdinfo->board_rev; + + /* Is the radio turned on? */ + bool is_coordinator = (oplinkSettings.Coordinator == OPLINKSETTINGS_COORDINATOR_TRUE); + bool is_oneway = (oplinkSettings.OneWay == OPLINKSETTINGS_ONEWAY_TRUE); + bool ppm_mode = (oplinkSettings.PPM == OPLINKSETTINGS_PPM_TRUE); + bool ppm_only = (oplinkSettings.PPMOnly == OPLINKSETTINGS_PPMONLY_TRUE); + if (oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) { + /* Configure the RFM22B device. */ + const struct pios_rfm22b_cfg *rfm22b_cfg = PIOS_BOARD_HW_DEFS_GetRfm22Cfg(bdinfo->board_rev); + if (PIOS_RFM22B_Init(&pios_rfm22b_id, PIOS_RFM22_SPI_PORT, rfm22b_cfg->slave_num, rfm22b_cfg)) { + PIOS_Assert(0); + } + + /* Configure the radio com interface */ + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_RX_BUF_LEN); + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id, + rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN, + tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) { + PIOS_Assert(0); + } + oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED; + + // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex. + enum rfm22b_datarate datarate = RFM22_datarate_64000; + switch (oplinkSettings.ComSpeed) { + case OPLINKSETTINGS_COMSPEED_4800: + datarate = RFM22_datarate_9600; + break; + case OPLINKSETTINGS_COMSPEED_9600: + datarate = RFM22_datarate_19200; + break; + case OPLINKSETTINGS_COMSPEED_19200: + datarate = RFM22_datarate_32000; + break; + case OPLINKSETTINGS_COMSPEED_38400: + datarate = RFM22_datarate_64000; + break; + case OPLINKSETTINGS_COMSPEED_57600: + datarate = RFM22_datarate_100000; + break; + case OPLINKSETTINGS_COMSPEED_115200: + datarate = RFM22_datarate_192000; + break; + } + + /* Set the radio configuration parameters. */ + PIOS_RFM22B_SetChannelConfig(pios_rfm22b_id, datarate, oplinkSettings.MinChannel, oplinkSettings.MaxChannel, oplinkSettings.ChannelSet, is_coordinator, is_oneway, ppm_mode, ppm_only); + PIOS_RFM22B_SetCoordinatorID(pios_rfm22b_id, oplinkSettings.CoordID); + + /* Set the PPM callback if we should be receiving PPM. */ + if (ppm_mode) { + PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback); + } + + /* Set the modem Tx poer level */ + switch (oplinkSettings.MaxRFPower) { + case OPLINKSETTINGS_MAXRFPOWER_125: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_0); + break; + case OPLINKSETTINGS_MAXRFPOWER_16: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_1); + break; + case OPLINKSETTINGS_MAXRFPOWER_316: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_2); + break; + case OPLINKSETTINGS_MAXRFPOWER_63: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_3); + break; + case OPLINKSETTINGS_MAXRFPOWER_126: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_4); + break; + case OPLINKSETTINGS_MAXRFPOWER_25: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_5); + break; + case OPLINKSETTINGS_MAXRFPOWER_50: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_6); + break; + case OPLINKSETTINGS_MAXRFPOWER_100: + PIOS_RFM22B_SetTxPower(pios_rfm22b_id, RFM22_tx_pwr_txpow_7); + break; + default: + // do nothing + break; + } + + /* Reinitialize the modem. */ + PIOS_RFM22B_Reinit(pios_rfm22b_id); + } else { + oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED; + } + + OPLinkStatusSet(&oplinkStatus); +#endif /* PIOS_INCLUDE_RFM22B */ + +#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM) + + const struct pios_servo_cfg *pios_servo_cfg; + // default to servo outputs only + pios_servo_cfg = &pios_servo_cfg_out; +#endif + + /* Configure the receiver port*/ + uint8_t hwsettings_rcvrport; + HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport); + // + switch (hwsettings_rcvrport) { + case HWSETTINGS_RM_RCVRPORT_DISABLED: + break; + case HWSETTINGS_RM_RCVRPORT_PWM: +#if defined(PIOS_INCLUDE_PWM) + /* Set up the receiver port. Later this should be optional */ + PIOS_Board_configure_pwm(&pios_pwm_cfg); +#endif /* PIOS_INCLUDE_PWM */ + break; + case HWSETTINGS_RM_RCVRPORT_PPM: + case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS: + case HWSETTINGS_RM_RCVRPORT_PPMPWM: +#if defined(PIOS_INCLUDE_PPM) + if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS) { + // configure servo outputs and the remaining 5 inputs as outputs + pios_servo_cfg = &pios_servo_cfg_out_in_ppm; + } + + PIOS_Board_configure_ppm(&pios_ppm_cfg); + + // enable pwm on the remaining channels + if (hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM) { + PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg); + } + + break; +#endif /* PIOS_INCLUDE_PPM */ + case HWSETTINGS_RM_RCVRPORT_OUTPUTS: + // configure only the servo outputs + pios_servo_cfg = &pios_servo_cfg_out_in; + break; + } + + +#if defined(PIOS_INCLUDE_GCSRCVR) + GCSReceiverInitialize(); + uint32_t pios_gcsrcvr_id; + PIOS_GCSRCVR_Init(&pios_gcsrcvr_id); + uint32_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; +#endif /* PIOS_INCLUDE_GCSRCVR */ + +#if defined(PIOS_INCLUDE_OPLINKRCVR) + { + OPLinkReceiverInitialize(); + uint32_t pios_oplinkrcvr_id; + PIOS_OPLinkRCVR_Init(&pios_oplinkrcvr_id); + uint32_t pios_oplinkrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_oplinkrcvr_rcvr_id, &pios_oplinkrcvr_rcvr_driver, pios_oplinkrcvr_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK] = pios_oplinkrcvr_rcvr_id; + } +#endif /* PIOS_INCLUDE_OPLINKRCVR */ + +#ifndef PIOS_ENABLE_DEBUG_PINS + // pios_servo_cfg points to the correct configuration based on input port settings + PIOS_Servo_Init(pios_servo_cfg); +#else + PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins)); +#endif + + // Disable GPIO_A8 Pullup to prevent wrong results on battery voltage readout + GPIO_InitTypeDef gpioA8 = { + .GPIO_Speed = GPIO_Speed_2MHz, + .GPIO_Mode = GPIO_Mode_IN, + .GPIO_PuPd = GPIO_PuPd_NOPULL, + .GPIO_Pin = GPIO_Pin_8, + .GPIO_OType = GPIO_OType_OD, + }; + GPIO_Init(GPIOA, &gpioA8); + + if (PIOS_I2C_Init(&pios_i2c_mag_pressure_adapter_id, &pios_i2c_mag_pressure_adapter_cfg)) { + PIOS_DEBUG_Assert(0); + } + + PIOS_DELAY_WaitmS(50); + +#if defined(PIOS_INCLUDE_ADC) + PIOS_ADC_Init(&pios_adc_cfg); +#endif + +#if defined(PIOS_INCLUDE_HMC5883) + PIOS_HMC5883_Init(&pios_hmc5883_cfg); +#endif + +#if defined(PIOS_INCLUDE_MS5611) + PIOS_MS5611_Init(&pios_ms5611_cfg, pios_i2c_mag_pressure_adapter_id); +#endif + +#if defined(PIOS_INCLUDE_MPU6000) + PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg); + PIOS_MPU6000_CONFIG_Configure(); +#endif +} + +/** + * @} + * @} + */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/pios_board_sim.c b/flight/targets/boards/discoveryf4bare/firmware/pios_board_sim.c new file mode 100644 index 000000000..4a9453efb --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/firmware/pios_board_sim.c @@ -0,0 +1,227 @@ +/** + ****************************************************************************** + * + * @file pios_board.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Defines board specific static initializers for hardware for the OpenPilot board. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "inc/openpilot.h" +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include + +void Stack_Change() {} + +void Stack_Change_Weak() {} + + +const struct pios_tcp_cfg pios_tcp_telem_cfg = { + .ip = "0.0.0.0", + .port = 9001, +}; + +const struct pios_udp_cfg pios_udp_telem_cfg = { + .ip = "0.0.0.0", + .port = 9001, +}; + +const struct pios_tcp_cfg pios_tcp_gps_cfg = { + .ip = "0.0.0.0", + .port = 9001, +}; +const struct pios_tcp_cfg pios_tcp_debug_cfg = { + .ip = "0.0.0.0", + .port = 9002, +}; + +#ifdef PIOS_COM_AUX +/* + * AUX USART + */ +const struct pios_tcp_cfg pios_tcp_aux_cfg = { + .ip = "0.0.0.0", + .port = 9003, +}; +#endif + +#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192 +#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192 +#define PIOS_COM_GPS_RX_BUF_LEN 96 + +/* + * Board specific number of devices. + */ +/* + struct pios_udp_dev pios_udp_devs[] = { + #define PIOS_UDP_TELEM 0 + { + .cfg = &pios_udp0_cfg, + }, + #define PIOS_UDP_GPS 1 + { + .cfg = &pios_udp1_cfg, + }, + #define PIOS_UDP_LOCAL 2 + { + .cfg = &pios_udp2_cfg, + }, + #ifdef PIOS_COM_AUX + #define PIOS_UDP_AUX 3 + { + .cfg = &pios_udp3_cfg, + }, + #endif + }; + + uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs); + */ +/* + * COM devices + */ + +/* + * Board specific number of devices. + */ +extern const struct pios_com_driver pios_serial_com_driver; +extern const struct pios_com_driver pios_udp_com_driver; +extern const struct pios_com_driver pios_tcp_com_driver; + +uint32_t pios_com_telem_rf_id; +uint32_t pios_com_telem_usb_id; +uint32_t pios_com_gps_id; +uint32_t pios_com_aux_id; +uint32_t pios_com_spectrum_id; +uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE]; + +/** + * PIOS_Board_Init() + * initializes all the core systems on this specific hardware + * called from System/openpilot.c + */ +void PIOS_Board_Init(void) +{ + /* Delay system */ + PIOS_DELAY_Init(); + + /* Initialize the delayed callback library */ + CallbackSchedulerInitialize(); + + /* Initialize UAVObject libraries */ + EventDispatcherInitialize(); + UAVObjInitialize(); + UAVObjectsInitializeAll(); + + AccelSensorInitialize(); + BaroSensorInitialize(); + MagSensorInitialize(); + GPSPositionSensorInitialize(); + GyroSensorInitialize(); + + /* Initialize the alarms library */ + AlarmsInitialize(); + + /* Initialize the task monitor */ + if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) { + PIOS_Assert(0); + } + +#if defined(PIOS_INCLUDE_COM) +#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 1 + { + uint32_t pios_tcp_telem_rf_id; + if (PIOS_TCP_Init(&pios_tcp_telem_rf_id, &pios_tcp_telem_cfg)) { + PIOS_Assert(0); + } + + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_tcp_com_driver, pios_tcp_telem_rf_id, + rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ + +#if defined(PIOS_INCLUDE_TELEMETRY_RF) && 0 + { + uint32_t pios_udp_telem_rf_id; + if (PIOS_UDP_Init(&pios_udp_telem_rf_id, &pios_udp_telem_cfg)) { + PIOS_Assert(0); + } + + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_RX_BUF_LEN); + uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_TELEM_RF_TX_BUF_LEN); + PIOS_Assert(rx_buffer); + PIOS_Assert(tx_buffer); + if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_udp_com_driver, pios_udp_telem_rf_id, + rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN, + tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_TELEMETRY_RF */ + + +#if defined(PIOS_INCLUDE_GPS) + { + uint32_t pios_tcp_gps_id; + if (PIOS_TCP_Init(&pios_tcp_gps_id, &pios_tcp_gps_cfg)) { + PIOS_Assert(0); + } + uint8_t *rx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN); + PIOS_Assert(rx_buffer); + if (PIOS_COM_Init(&pios_com_gps_id, &pios_tcp_com_driver, pios_tcp_gps_id, + rx_buffer, PIOS_COM_GPS_RX_BUF_LEN, + NULL, 0)) { + PIOS_Assert(0); + } + } +#endif /* PIOS_INCLUDE_GPS */ +#endif /* if defined(PIOS_INCLUDE_COM) */ + +#if defined(PIOS_INCLUDE_GCSRCVR) + GCSReceiverInitialize(); + uint32_t pios_gcsrcvr_id; + PIOS_GCSRCVR_Init(&pios_gcsrcvr_id); + uint32_t pios_gcsrcvr_rcvr_id; + if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) { + PIOS_Assert(0); + } + pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id; +#endif /* PIOS_INCLUDE_GCSRCVR */ +} + +/** + * @} + */ diff --git a/flight/targets/boards/discoveryf4bare/pios_board.h b/flight/targets/boards/discoveryf4bare/pios_board.h new file mode 100644 index 000000000..0a7b0e50b --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/pios_board.h @@ -0,0 +1,294 @@ +/** + ****************************************************************************** + * @addtogroup OpenPilotSystem OpenPilot System + * @{ + * @addtogroup OpenPilotCore OpenPilot Core + * @{ + * @file pios_board.h + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012. + * @brief Defines board hardware for the OpenPilot Version 1.1 hardware. + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#ifndef PIOS_BOARD_H +#define PIOS_BOARD_H + +#include +// ------------------------ +// Timers and Channels Used +// ------------------------ +/* + Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4 + ------+-----------+-----------+-----------+---------- + TIM1 | | | | + TIM2 | --------------- PIOS_DELAY ----------------- + TIM3 | | | | + TIM4 | | | | + TIM5 | | | | + TIM6 | | | | + TIM7 | | | | + TIM8 | | | | + ------+-----------+-----------+-----------+---------- + */ + +// ------------------------ +// DMA Channels Used +// ------------------------ +/* Channel 1 - */ +/* Channel 2 - SPI1 RX */ +/* Channel 3 - SPI1 TX */ +/* Channel 4 - SPI2 RX */ +/* Channel 5 - SPI2 TX */ +/* Channel 6 - */ +/* Channel 7 - */ +/* Channel 8 - */ +/* Channel 9 - */ +/* Channel 10 - */ +/* Channel 11 - */ +/* Channel 12 - */ + +// ------------------------ +// BOOTLOADER_SETTINGS +// ------------------------ +#define BOARD_READABLE true +#define BOARD_WRITABLE true +#define MAX_DEL_RETRYS 3 + +// ------------------------ +// PIOS_LED +// ------------------------ +#define PIOS_LED_HEARTBEAT 0 +#define PIOS_LED_ALARM 1 + +#define PIOS_LED_D1 2 +#define PIOS_LED_D2 3 +#define PIOS_LED_D3 4 +#define PIOS_LED_D4 5 + +// ------------------------ +// PIOS_SPI +// See also pios_board.c +// ------------------------ +#define PIOS_SPI_MAX_DEVS 3 + +// ------------------------ +// PIOS_WDG +// ------------------------ +#define PIOS_WATCHDOG_TIMEOUT 250 +#define PIOS_WDG_REGISTER RTC_BKP_DR4 +#define PIOS_WDG_ACTUATOR 0x0001 +#define PIOS_WDG_STABILIZATION 0x0002 +#define PIOS_WDG_ATTITUDE 0x0004 +#define PIOS_WDG_MANUAL 0x0008 +#define PIOS_WDG_SENSORS 0x0010 + +// ------------------------ +// PIOS_I2C +// See also pios_board.c +// ------------------------ +#define PIOS_I2C_MAX_DEVS 3 +extern uint32_t pios_i2c_mag_pressure_adapter_id; +#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id) +extern uint32_t pios_i2c_flexiport_adapter_id; +#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id) +#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER) + +// ------------------------- +// PIOS_USART +// +// See also pios_board.c +// ------------------------- +#define PIOS_USART_MAX_DEVS 5 + +// ------------------------- +// PIOS_COM +// +// See also pios_board.c +// ------------------------- +#define PIOS_COM_MAX_DEVS 4 +extern uint32_t pios_com_telem_rf_id; +extern uint32_t pios_com_gps_id; +extern uint32_t pios_com_telem_usb_id; +extern uint32_t pios_com_bridge_id; +extern uint32_t pios_com_vcp_id; +extern uint32_t pios_com_hkosd_id; +#define PIOS_COM_GPS (pios_com_gps_id) +#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id) +#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id) +#define PIOS_COM_BRIDGE (pios_com_bridge_id) +#define PIOS_COM_VCP (pios_com_vcp_id) +#define PIOS_COM_OSDHK (pios_com_hkosd_id) + +#if defined(PIOS_INCLUDE_DEBUG_CONSOLE) +extern uint32_t pios_com_debug_id; +#define PIOS_COM_DEBUG (pios_com_debug_id) +#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */ + +#if defined(PIOS_INCLUDE_RFM22B) +extern uint32_t pios_rfm22b_id; +extern uint32_t pios_spi_telem_flash_id; +#define PIOS_RFM22_SPI_PORT (pios_spi_telem_flash_id) +#endif /* PIOS_INCLUDE_RFM22B */ + +// ------------------------- +// Packet Handler +// ------------------------- +#define RS_ECC_NPARITY 4 +#define PIOS_PH_MAX_PACKET 255 +#define PIOS_PH_WIN_SIZE 3 +#define PIOS_PH_MAX_CONNECTIONS 1 +extern uint32_t pios_packet_handler; +#define PIOS_PACKET_HANDLER (pios_packet_handler) + +// ------------------------ +// TELEMETRY +// ------------------------ +#define TELEM_QUEUE_SIZE 80 +#define PIOS_TELEM_STACK_SIZE 800 + +// ------------------------- +// System Settings +// +// See also System_stm32f4xx.c +// ------------------------- +// These macros are deprecated +// please use PIOS_PERIPHERAL_APBx_CLOCK According to the table below +// #define PIOS_MASTER_CLOCK +// #define PIOS_PERIPHERAL_CLOCK +// #define PIOS_PERIPHERAL_CLOCK + +#define PIOS_SYSCLK 168000000 +// Peripherals that belongs to APB1 are: +// DAC |PWR |CAN1,2 +// I2C1,2,3 |UART4,5 |USART3,2 +// I2S3Ext |SPI3/I2S3 |SPI2/I2S2 +// I2S2Ext |IWDG |WWDG +// RTC/BKP reg +// TIM2,3,4,5,6,7,12,13,14 + +// Calculated as SYSCLK / APBPresc * (APBPre == 1 ? 1 : 2) +// Default APB1 Prescaler = 4 +#define PIOS_PERIPHERAL_APB1_CLOCK (PIOS_SYSCLK / 2) + +// Peripherals belonging to APB2 +// SDIO |EXTI |SYSCFG |SPI1 +// ADC1,2,3 +// USART1,6 +// TIM1,8,9,10,11 +// +// Default APB2 Prescaler = 2 +// +#define PIOS_PERIPHERAL_APB2_CLOCK PIOS_SYSCLK + +// ------------------------- +// Interrupt Priorities +// ------------------------- +#define PIOS_IRQ_PRIO_LOW 12 // lower than RTOS +#define PIOS_IRQ_PRIO_MID 8 // higher than RTOS +#define PIOS_IRQ_PRIO_HIGH 5 // for SPI, ADC, I2C etc... +#define PIOS_IRQ_PRIO_HIGHEST 4 // for USART etc... +// ------------------------ +// PIOS_RCVR +// See also pios_board.c +// ------------------------ +#define PIOS_RCVR_MAX_DEVS 3 +#define PIOS_RCVR_MAX_CHANNELS 12 +#define PIOS_GCSRCVR_TIMEOUT_MS 100 +#define PIOS_RFM22B_RCVR_TIMEOUT_MS 200 +#define PIOS_OPLINK_RCVR_TIMEOUT_MS 100 + +// ------------------------- +// Receiver PPM input +// ------------------------- +#define PIOS_PPM_MAX_DEVS 1 +#define PIOS_PPM_NUM_INPUTS 12 + +// ------------------------- +// Receiver PWM input +// ------------------------- +#define PIOS_PWM_MAX_DEVS 1 +#define PIOS_PWM_NUM_INPUTS 8 + +// ------------------------- +// Receiver SPEKTRUM input +// ------------------------- +#define PIOS_SPEKTRUM_MAX_DEVS 2 +#define PIOS_SPEKTRUM_NUM_INPUTS 12 + +// ------------------------- +// Receiver S.Bus input +// ------------------------- +#define PIOS_SBUS_MAX_DEVS 1 +#define PIOS_SBUS_NUM_INPUTS (16 + 2) + +// ------------------------- +// Receiver DSM input +// ------------------------- +#define PIOS_DSM_MAX_DEVS 2 +#define PIOS_DSM_NUM_INPUTS 12 + +// ------------------------- +// Servo outputs +// ------------------------- +#define PIOS_SERVO_UPDATE_HZ 50 +#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */ + +// -------------------------- +// Timer controller settings +// -------------------------- +#define PIOS_TIM_MAX_DEVS 6 + +// ------------------------- +// ADC +// PIOS_ADC_PinGet(0) = Current sensor +// PIOS_ADC_PinGet(1) = Voltage sensor +// PIOS_ADC_PinGet(4) = VREF +// PIOS_ADC_PinGet(5) = Temperature sensor +// ------------------------- +#define PIOS_DMA_PIN_CONFIG \ + { \ + { GPIOC, GPIO_Pin_1, ADC_Channel_11 }, \ + { GPIOC, GPIO_Pin_2, ADC_Channel_12 }, \ + { NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */ \ + { NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */ \ + } + +/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */ +/* which is annoying because this then determines the rate at which we generate buffer turnover events */ +/* the objective here is to get enough buffer space to support 100Hz averaging rate */ +#define PIOS_ADC_NUM_CHANNELS 4 +#define PIOS_ADC_MAX_OVERSAMPLING 2 +#define PIOS_ADC_USE_ADC2 0 + +#define PIOS_ADC_USE_TEMP_SENSOR +#define PIOS_ADC_TEMPERATURE_PIN 3 + +// ------------------------- +// USB +// ------------------------- +#define PIOS_USB_MAX_DEVS 1 +#define PIOS_USB_ENABLED 1 /* Should remove all references to this */ +#define PIOS_USB_HID_MAX_DEVS 1 + +#endif /* PIOS_BOARD_H */ + +/** + * @} + * @} + */ diff --git a/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c b/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c new file mode 100644 index 000000000..89bac538d --- /dev/null +++ b/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c @@ -0,0 +1,100 @@ +/** + ****************************************************************************** + * @addtogroup PIOS PIOS Core hardware abstraction layer + * @{ + * @addtogroup PIOS_USB_BOARD Board specific USB definitions + * @brief Board specific USB definitions + * @{ + * + * @file pios_usb_board_data.c + * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @brief Board specific USB definitions + * @see The GNU Public License (GPL) Version 3 + * + *****************************************************************************/ +/* + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY + * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License + * for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + */ + +#include "inc/pios_usb_board_data.h" /* struct usb_*, USB_* */ +#include /* PIOS_SYS_SerialNumberGet */ +#include /* PIOS_USBHOOK_* */ +#include /* PIOS_USB_UTIL_AsciiToUtf8 */ + +static const uint8_t usb_product_id[24] = { + sizeof(usb_product_id), + USB_DESC_TYPE_STRING, + 'D', 0, + 'y', 0, + 's', 0, + 'c', 0, + 'o', 0, + 'v', 0, + 'e', 0, + 'r', 0, + 'y', 0, + 'F', 0, + '4', 0, +}; + +static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN * 2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1) * 2] = { + sizeof(usb_serial_number), + USB_DESC_TYPE_STRING, +}; + +static const struct usb_string_langid usb_lang_id = { + .bLength = sizeof(usb_lang_id), + .bDescriptorType = USB_DESC_TYPE_STRING, + .bLangID = htousbs(USB_LANGID_ENGLISH_US), +}; + +static const uint8_t usb_vendor_id[28] = { + sizeof(usb_vendor_id), + USB_DESC_TYPE_STRING, + 'o', 0, + 'p', 0, + 'e', 0, + 'n', 0, + 'p', 0, + 'i', 0, + 'l', 0, + 'o', 0, + 't', 0, + '.', 0, + 'o', 0, + 'r', 0, + 'g', 0 +}; + +int32_t PIOS_USB_BOARD_DATA_Init(void) +{ + /* Load device serial number into serial number string */ + uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1]; + + PIOS_SYS_SerialNumberGet((char *)sn); + + /* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */ + uint8_t *utf8 = &(usb_serial_number[2]); + utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN); + utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number)); + + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id)); + PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id)); + + return 0; +} diff --git a/make/common-defs.mk b/make/common-defs.mk index cc30071ad..aa5955114 100644 --- a/make/common-defs.mk +++ b/make/common-defs.mk @@ -141,6 +141,10 @@ ifdef EE_BANK_BASE BOARD_CDEFS += -DEE_BANK_BASE=$(EE_BANK_BASE) BOARD_CDEFS += -DEE_BANK_SIZE=$(EE_BANK_SIZE) endif +ifdef USER_EE_BANK_BASE +BOARD_CDEFS += -DUSER_EE_BANK_BASE=$(USER_EE_BANK_BASE) +BOARD_CDEFS += -DUSER_EE_BANK_SIZE=$(USER_EE_BANK_SIZE) +endif CDEFS += $(BOARD_CDEFS) ifeq ($(DEBUG), YES) From d42debba50b535dfabfd2dee98ba5735f40b1545 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 26 Apr 2014 20:48:30 +0200 Subject: [PATCH 37/60] OP-1302 Remove the special case for Telemetry in Alarm.c and shut up the telemetry warning in telemetry.c when disconnected --- flight/libraries/alarms.c | 5 ++--- flight/modules/Telemetry/telemetry.c | 5 ++--- 2 files changed, 4 insertions(+), 6 deletions(-) diff --git a/flight/libraries/alarms.c b/flight/libraries/alarms.c index 7f2688a73..5dc3cda2e 100644 --- a/flight/libraries/alarms.c +++ b/flight/libraries/alarms.c @@ -244,7 +244,7 @@ static int32_t hasSeverity(SystemAlarmsAlarmOptions severity) // Go through alarms and check if any are of the given severity or higher for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) { - if (n != SYSTEMALARMS_ALARM_TELEMETRY && cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) { + if (cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) { xSemaphoreGiveRecursive(lock); return 1; } @@ -272,8 +272,7 @@ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity() // Go through alarms and find the highest severity uint32_t n = 0; while (n < SYSTEMALARMS_ALARM_NUMELEM && highest != SYSTEMALARMS_ALARM_CRITICAL) { - if (n != SYSTEMALARMS_ALARM_TELEMETRY && - cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) { + if (cast_struct_to_array(alarmsData, alarmsData.Actuator)[n] > highest) { highest = cast_struct_to_array(alarmsData, alarmsData.Actuator)[n]; } n++; diff --git a/flight/modules/Telemetry/telemetry.c b/flight/modules/Telemetry/telemetry.c index 55c201369..d91ef131e 100644 --- a/flight/modules/Telemetry/telemetry.c +++ b/flight/modules/Telemetry/telemetry.c @@ -650,11 +650,10 @@ static void updateTelemetryStats() flightStats.Status = FLIGHTTELEMETRYSTATS_STATUS_DISCONNECTED; } - // Update the telemetry alarm + // TODO: check whether is there any error condition worth raising an alarm + // Disconnection is actually a normal (non)working status so it is not raising alarms anymore. if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) { AlarmsClear(SYSTEMALARMS_ALARM_TELEMETRY); - } else { - AlarmsSet(SYSTEMALARMS_ALARM_TELEMETRY, SYSTEMALARMS_ALARM_ERROR); } // Update object From e75ed6a0152410a2d6767997ffcece4673b2474c Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 26 Apr 2014 21:55:25 +0200 Subject: [PATCH 38/60] OP-1307 fix mispelling of usb product id --- flight/targets/boards/discoveryf4bare/pios_usb_board_data.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c b/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c index 89bac538d..f73c8ac95 100644 --- a/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c +++ b/flight/targets/boards/discoveryf4bare/pios_usb_board_data.c @@ -37,7 +37,7 @@ static const uint8_t usb_product_id[24] = { sizeof(usb_product_id), USB_DESC_TYPE_STRING, 'D', 0, - 'y', 0, + 'i', 0, 's', 0, 'c', 0, 'o', 0, From c281420e252ca6b256b3ac7a3f87344e6d7ed8f1 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 26 Apr 2014 22:14:47 +0200 Subject: [PATCH 39/60] OP-1307 Most(all?) F4Discovery has an "A" revision of STM32f4. Disable prefetch to overcome the "Section 2.1.1: ART Accelerator prefetch queue instruction is not supported" issue (DM00037591.pdf) --- .../ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c b/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c index e6ffcd777..cbc36d6e3 100644 --- a/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c +++ b/flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c @@ -398,7 +398,7 @@ static void SetSysClock(void) } /* Configure Flash prefetch, Instruction cache, Data cache and wait state */ - FLASH->ACR = FLASH_ACR_PRFTEN | FLASH_ACR_ICEN | FLASH_ACR_DCEN | FLASH_ACR_LATENCY_5WS; + FLASH->ACR = FLASH_ACR_ICEN |FLASH_ACR_DCEN |FLASH_ACR_LATENCY_5WS; /* Select the main PLL as system clock source */ RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW)); From a8f39591cf5252456e3360eefce1b600e88229bf Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 26 Apr 2014 22:56:34 +0200 Subject: [PATCH 40/60] OP-1307 fw_discoveryf4bare is NOT an elf target for packaging --- Makefile | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Makefile b/Makefile index 0ccc88737..008d1176c 100644 --- a/Makefile +++ b/Makefile @@ -699,7 +699,7 @@ endif # Firmware files to package PACKAGE_FW_TARGETS := $(filter-out fw_simposix fw_discoveryf4bare, $(FW_TARGETS)) -PACKAGE_ELF_TARGETS := $(filter fw_simposix fw_discoveryf4bare, $(FW_TARGETS)) +PACKAGE_ELF_TARGETS := $(filter fw_simposix, $(FW_TARGETS)) # Rules to generate GCS resources used to embed firmware binaries into the GCS. # They are used later by the vehicle setup wizard to update board firmware. From 76b19f8c3550eb3e88e0f62bb6f7a709ab98eb6f Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 27 Apr 2014 12:13:49 +0200 Subject: [PATCH 41/60] OP-975 Employ a new sequence that is optimal for magnetometer calibration. Updated all images --- .../calibration/gyrobiascalibrationmodel.cpp | 2 +- .../calibration/levelcalibrationmodel.cpp | 4 +-- .../calibration/sixpointcalibrationmodel.cpp | 26 +++++++++--------- .../src/plugins/config/configgadget.qrc | 26 ++++++++++-------- .../plugins/config/images/calibration/dwn.png | Bin 0 -> 153187 bytes .../config/images/calibration/empty.png | Bin 9688 -> 58426 bytes .../plugins/config/images/calibration/enu.png | Bin 0 -> 88116 bytes .../plugins/config/images/calibration/ned.png | Bin 0 -> 77244 bytes .../config/images/calibration/plane-down.png | Bin 149190 -> 0 bytes .../config/images/calibration/plane-dwn.png | Bin 0 -> 117941 bytes .../config/images/calibration/plane-enu.png | Bin 0 -> 76394 bytes .../config/images/calibration/plane-flip.png | Bin 54634 -> 0 bytes .../config/images/calibration/plane-left.png | Bin 72337 -> 0 bytes .../config/images/calibration/plane-ned.png | Bin 0 -> 71984 bytes .../config/images/calibration/plane-right.png | Bin 71797 -> 0 bytes .../config/images/calibration/plane-suw.png | Bin 0 -> 62129 bytes .../config/images/calibration/plane-swd.png | Bin 0 -> 80906 bytes .../config/images/calibration/plane-up.png | Bin 146238 -> 0 bytes .../config/images/calibration/plane-use.png | Bin 0 -> 68317 bytes .../config/images/calibration/plane-wds.png | Bin 0 -> 115464 bytes .../config/images/calibration/revo-down.png | Bin 138907 -> 0 bytes .../config/images/calibration/revo-flip.png | Bin 49429 -> 0 bytes .../calibration/revo-horizontal-rotated.png | Bin 53841 -> 0 bytes .../images/calibration/revo-horizontal.png | Bin 51339 -> 0 bytes .../config/images/calibration/revo-left.png | Bin 82970 -> 0 bytes .../config/images/calibration/revo-right.png | Bin 61038 -> 0 bytes .../config/images/calibration/revo-up.png | Bin 136205 -> 0 bytes .../plugins/config/images/calibration/suw.png | Bin 0 -> 57962 bytes .../plugins/config/images/calibration/swd.png | Bin 0 -> 119376 bytes .../plugins/config/images/calibration/use.png | Bin 0 -> 57441 bytes .../plugins/config/images/calibration/wds.png | Bin 0 -> 180716 bytes 31 files changed, 30 insertions(+), 28 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/dwn.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/enu.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/ned.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-down.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-dwn.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-enu.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-flip.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-left.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-ned.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-right.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-suw.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-swd.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-up.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-use.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-wds.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-down.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-flip.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-horizontal-rotated.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-horizontal.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-left.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-right.png delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/revo-up.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/suw.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/swd.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/use.png create mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/wds.png diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp index ae12cbc94..12fd561b1 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp @@ -66,7 +66,7 @@ void GyroBiasCalibrationModel::start() attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); - displayVisualHelp("plane-horizontal"); + displayVisualHelp("plane-ned"); displayInstructions("Calibrating the gyroscopes. Keep the copter/plane steady...", true); gyro_accum_x.clear(); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp index 96972215d..c21f678a4 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp @@ -63,7 +63,7 @@ void LevelCalibrationModel::start() /* Show instructions and enable controls */ displayInstructions("Place horizontally and click save position...", true); - displayVisualHelp("plane-horizontal"); + displayVisualHelp("plane-ned"); disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; @@ -131,7 +131,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj) rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); - displayVisualHelp("plane-horizontal-rotated"); + displayVisualHelp("plane-swd"); disableAllCalibrations(); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index 28ddcb2d0..1861b01e4 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -150,8 +150,8 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) mag->setMetadata(mdata); /* Show instructions and enable controls */ - displayInstructions("Place horizontally and click save position...", true); - showHelp("horizontal"); + displayInstructions("Place horizontally, nose pointing north and click save position...", true); + showHelp("ned"); disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; @@ -241,24 +241,24 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { - displayInstructions("Place with left side down and click save position...", false); - showHelp("left"); + displayInstructions("Place with nose down, right side west and click save position...", false); + showHelp("dwn"); } if (position == 2) { - displayInstructions("Place upside down and click save position...", false); - showHelp("flip"); + displayInstructions("Place right side down, nose west and click save position...", false); + showHelp("wds"); } if (position == 3) { - displayInstructions("Place with right side down and click save position...", false); - showHelp("right"); + displayInstructions("Place upside down, nose east and click save position...", false); + showHelp("enu"); } if (position == 4) { - displayInstructions("Place with nose up and click save position...", false); - showHelp("up"); + displayInstructions("Place with nose up, left side north and click save position...", false); + showHelp("use"); } if (position == 5) { - displayInstructions("Place with nose down and click save position...", false); - showHelp("down"); + displayInstructions("Place with left side down, nose south and click save position...", false); + showHelp("suw"); } if (position == 0) { compute(calibratingMag, calibratingAccel); @@ -384,7 +384,7 @@ UAVObjectManager *SixPointCalibrationModel::getObjectManager() void SixPointCalibrationModel::showHelp(QString image){ if(calibratingAccel){ - displayVisualHelp("revo-" + image); + displayVisualHelp(image); }else { displayVisualHelp("plane-" + image); } diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index ae09ffc9c..dca07c097 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -30,20 +30,22 @@ images/pipx-normal.png images/revolution_top.png calibration/WizardStepIndicator.qml - images/calibration/plane-flip.png images/calibration/plane-horizontal.png - images/calibration/plane-left.png - images/calibration/plane-right.png - images/calibration/plane-up.png images/calibration/plane-horizontal-rotated.png + images/calibration/dwn.png + images/calibration/enu.png + images/calibration/plane-dwn.png + images/calibration/plane-enu.png + images/calibration/plane-ned.png + images/calibration/plane-suw.png + images/calibration/plane-use.png + images/calibration/plane-wds.png + images/calibration/ned.png + images/calibration/suw.png + images/calibration/use.png + images/calibration/wds.png images/calibration/empty.png - images/calibration/plane-down.png - images/calibration/revo-down.png - images/calibration/revo-flip.png - images/calibration/revo-horizontal-rotated.png - images/calibration/revo-horizontal.png - images/calibration/revo-left.png - images/calibration/revo-right.png - images/calibration/revo-up.png + 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Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 27 Apr 2014 12:58:59 +0200 Subject: [PATCH 42/60] OP-975 remove "magic strings", cleanup --- .../config/calibration/calibrationuiutils.h | 16 ++++++++++ .../calibration/gyrobiascalibrationmodel.cpp | 8 +++-- .../calibration/gyrobiascalibrationmodel.h | 3 +- .../calibration/levelcalibrationmodel.cpp | 9 +++--- .../calibration/levelcalibrationmodel.h | 3 +- .../calibration/sixpointcalibrationmodel.cpp | 29 ++++++++++-------- .../src/plugins/config/config.pro | 3 +- .../src/plugins/config/configgadget.qrc | 16 +++++----- .../src/plugins/config/configrevowidget.cpp | 2 +- .../calibration/{dwn.png => board-dwn.png} | Bin .../calibration/{enu.png => board-enu.png} | Bin .../calibration/{ned.png => board-ned.png} | Bin .../calibration/{suw.png => board-suw.png} | Bin .../calibration/{swd.png => board-swd.png} | Bin .../calibration/{use.png => board-use.png} | Bin .../calibration/{wds.png => board-wds.png} | Bin .../images/calibration/plane-horizontal.png | Bin 86477 -> 0 bytes 17 files changed, 55 insertions(+), 34 deletions(-) create mode 100644 ground/openpilotgcs/src/plugins/config/calibration/calibrationuiutils.h rename ground/openpilotgcs/src/plugins/config/images/calibration/{dwn.png => board-dwn.png} (100%) rename ground/openpilotgcs/src/plugins/config/images/calibration/{enu.png => board-enu.png} (100%) rename ground/openpilotgcs/src/plugins/config/images/calibration/{ned.png => board-ned.png} (100%) rename ground/openpilotgcs/src/plugins/config/images/calibration/{suw.png => board-suw.png} (100%) rename ground/openpilotgcs/src/plugins/config/images/calibration/{swd.png => board-swd.png} (100%) rename ground/openpilotgcs/src/plugins/config/images/calibration/{use.png => board-use.png} (100%) rename ground/openpilotgcs/src/plugins/config/images/calibration/{wds.png => board-wds.png} (100%) delete mode 100644 ground/openpilotgcs/src/plugins/config/images/calibration/plane-horizontal.png diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationuiutils.h b/ground/openpilotgcs/src/plugins/config/calibration/calibrationuiutils.h new file mode 100644 index 000000000..c2d2c2b3e --- /dev/null +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationuiutils.h @@ -0,0 +1,16 @@ +#ifndef CALIBRATIONUIUTILS_H +#define CALIBRATIONUIUTILS_H + +#define CALIBRATION_HELPER_IMAGE_NED QStringLiteral("ned") +#define CALIBRATION_HELPER_IMAGE_DWN QStringLiteral("dwn") +#define CALIBRATION_HELPER_IMAGE_ENU QStringLiteral("enu") +#define CALIBRATION_HELPER_IMAGE_SUW QStringLiteral("suw") +#define CALIBRATION_HELPER_IMAGE_SWD QStringLiteral("swd") +#define CALIBRATION_HELPER_IMAGE_USE QStringLiteral("use") +#define CALIBRATION_HELPER_IMAGE_WDS QStringLiteral("wds") + +#define CALIBRATION_HELPER_IMAGE_EMPTY QStringLiteral("empty") + +#define CALIBRATION_HELPER_BOARD_PREFIX QStringLiteral("board-") +#define CALIBRATION_HELPER_PLANE_PREFIX QStringLiteral("plane-") +#endif // CALIBRATIONUIUTILS_H diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp index 12fd561b1..933005098 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp @@ -33,14 +33,15 @@ #include #include "calibration/gyrobiascalibrationmodel.h" #include "calibration/calibrationutils.h" +#include "calibration/calibrationuiutils.h" + static const int LEVEL_SAMPLES = 100; #include "gyrobiascalibrationmodel.h" namespace OpenPilot { GyroBiasCalibrationModel::GyroBiasCalibrationModel(QObject *parent) : QObject(parent), collectingData(false) -{ -} +{} /******* gyro bias zero ******/ @@ -66,7 +67,7 @@ void GyroBiasCalibrationModel::start() attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); - displayVisualHelp("plane-ned"); + displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); displayInstructions("Calibrating the gyroscopes. Keep the copter/plane steady...", true); gyro_accum_x.clear(); @@ -158,6 +159,7 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) gyroState->setMetadata(initialGyroStateMdata); displayInstructions("Calibration done!", false); + displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY); // Recall saved board rotation recallBoardRotation(); } diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h index 057ae193a..9afe9657d 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h @@ -34,8 +34,7 @@ #include "uavobjectmanager.h" #include "uavobject.h" namespace OpenPilot { -class GyroBiasCalibrationModel : public QObject -{ +class GyroBiasCalibrationModel : public QObject { Q_OBJECT public: explicit GyroBiasCalibrationModel(QObject *parent = 0); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp index c21f678a4..9db6dc3b5 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp @@ -29,13 +29,13 @@ #include #include #include "extensionsystem/pluginmanager.h" +#include "calibration/calibrationuiutils.h" static const int LEVEL_SAMPLES = 100; namespace OpenPilot { LevelCalibrationModel::LevelCalibrationModel(QObject *parent) : QObject(parent) -{ -} +{} /******* Level calibration *******/ @@ -63,7 +63,7 @@ void LevelCalibrationModel::start() /* Show instructions and enable controls */ displayInstructions("Place horizontally and click save position...", true); - displayVisualHelp("plane-ned"); + displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; @@ -131,7 +131,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj) rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); - displayVisualHelp("plane-swd"); + displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_SWD); disableAllCalibrations(); @@ -145,6 +145,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj) attitudeState->setMetadata(initialAttitudeStateMdata); compute(); enableAllCalibrations(); + displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY); break; } } diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h index cc4c79428..07ce6ccc0 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.h @@ -39,8 +39,7 @@ #include #include namespace OpenPilot { -class LevelCalibrationModel : public QObject -{ +class LevelCalibrationModel : public QObject { Q_OBJECT public: explicit LevelCalibrationModel(QObject *parent = 0); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index 1861b01e4..db18eebbd 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -30,6 +30,7 @@ #include "extensionsystem/pluginmanager.h" #include #include "math.h" +#include "calibration/calibrationuiutils.h" #define POINT_SAMPLE_SIZE 50 #define GRAVITY 9.81f @@ -151,7 +152,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) /* Show instructions and enable controls */ displayInstructions("Place horizontally, nose pointing north and click save position...", true); - showHelp("ned"); + showHelp(CALIBRATION_HELPER_IMAGE_NED); disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; @@ -242,29 +243,30 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { displayInstructions("Place with nose down, right side west and click save position...", false); - showHelp("dwn"); + showHelp(CALIBRATION_HELPER_IMAGE_DWN); } if (position == 2) { displayInstructions("Place right side down, nose west and click save position...", false); - showHelp("wds"); + showHelp(CALIBRATION_HELPER_IMAGE_WDS); } if (position == 3) { displayInstructions("Place upside down, nose east and click save position...", false); - showHelp("enu"); + showHelp(CALIBRATION_HELPER_IMAGE_ENU); } if (position == 4) { displayInstructions("Place with nose up, left side north and click save position...", false); - showHelp("use"); + showHelp(CALIBRATION_HELPER_IMAGE_USE); } if (position == 5) { displayInstructions("Place with left side down, nose south and click save position...", false); - showHelp("suw"); + showHelp(CALIBRATION_HELPER_IMAGE_SUW); } if (position == 0) { compute(calibratingMag, calibratingAccel); savePositionEnabledChanged(false); enableAllCalibrations(); + showHelp(CALIBRATION_HELPER_IMAGE_EMPTY); /* Cleanup original settings */ accelState->setMetadata(initialAccelStateMdata); @@ -381,13 +383,16 @@ UAVObjectManager *SixPointCalibrationModel::getObjectManager() Q_ASSERT(objMngr); return objMngr; } -void SixPointCalibrationModel::showHelp(QString image){ - - if(calibratingAccel){ +void SixPointCalibrationModel::showHelp(QString image) +{ + if (image == CALIBRATION_HELPER_IMAGE_EMPTY) { displayVisualHelp(image); - }else { - displayVisualHelp("plane-" + image); + } else { + if (calibratingAccel) { + displayVisualHelp(CALIBRATION_HELPER_BOARD_PREFIX + image); + } else { + displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + image); + } } } - } diff --git a/ground/openpilotgcs/src/plugins/config/config.pro b/ground/openpilotgcs/src/plugins/config/config.pro index 83ee669b3..8c73c6d28 100644 --- a/ground/openpilotgcs/src/plugins/config/config.pro +++ b/ground/openpilotgcs/src/plugins/config/config.pro @@ -54,7 +54,8 @@ HEADERS += configplugin.h \ calibration/thermal/compensationcalculationtransition.h \ calibration/sixpointcalibrationmodel.h \ calibration/levelcalibrationmodel.h \ - calibration/gyrobiascalibrationmodel.h + calibration/gyrobiascalibrationmodel.h \ + calibration/calibrationuiutils.h SOURCES += configplugin.cpp \ configgadgetwidget.cpp \ diff --git a/ground/openpilotgcs/src/plugins/config/configgadget.qrc b/ground/openpilotgcs/src/plugins/config/configgadget.qrc index dca07c097..87368b7af 100644 --- a/ground/openpilotgcs/src/plugins/config/configgadget.qrc +++ b/ground/openpilotgcs/src/plugins/config/configgadget.qrc @@ -30,22 +30,20 @@ images/pipx-normal.png images/revolution_top.png calibration/WizardStepIndicator.qml - images/calibration/plane-horizontal.png - images/calibration/plane-horizontal-rotated.png - images/calibration/dwn.png - images/calibration/enu.png + images/calibration/board-dwn.png + images/calibration/board-enu.png images/calibration/plane-dwn.png images/calibration/plane-enu.png images/calibration/plane-ned.png images/calibration/plane-suw.png images/calibration/plane-use.png images/calibration/plane-wds.png - images/calibration/ned.png - images/calibration/suw.png - images/calibration/use.png - images/calibration/wds.png + images/calibration/board-ned.png + images/calibration/board-suw.png + images/calibration/board-use.png + images/calibration/board-wds.png images/calibration/empty.png images/calibration/plane-swd.png - images/calibration/swd.png + images/calibration/board-swd.png diff --git a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp index 3c9408609..e36b0fda7 100644 --- a/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp +++ b/ground/openpilotgcs/src/plugins/config/configrevowidget.cpp @@ -139,7 +139,7 @@ ConfigRevoWidget::ConfigRevoWidget(QWidget *parent) : m_gyroBiasCalibrationModel = new OpenPilot::GyroBiasCalibrationModel(this); connect(m_ui->gyroBiasStart, SIGNAL(clicked()), m_gyroBiasCalibrationModel, SLOT(start())); - connect(m_gyroBiasCalibrationModel , SIGNAL(progressChanged(int)), this->m_ui->gyroBiasProgress, SLOT(setValue(int))); + connect(m_gyroBiasCalibrationModel, SIGNAL(progressChanged(int)), this->m_ui->gyroBiasProgress, SLOT(setValue(int))); connect(m_gyroBiasCalibrationModel, SIGNAL(disableAllCalibrations()), this, SLOT(disableAllCalibrations())); connect(m_gyroBiasCalibrationModel, SIGNAL(enableAllCalibrations()), this, SLOT(enableAllCalibrations())); diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/dwn.png b/ground/openpilotgcs/src/plugins/config/images/calibration/board-dwn.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/dwn.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/board-dwn.png diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/enu.png b/ground/openpilotgcs/src/plugins/config/images/calibration/board-enu.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/enu.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/board-enu.png diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/ned.png b/ground/openpilotgcs/src/plugins/config/images/calibration/board-ned.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/ned.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/board-ned.png diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/suw.png b/ground/openpilotgcs/src/plugins/config/images/calibration/board-suw.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/suw.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/board-suw.png diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/swd.png b/ground/openpilotgcs/src/plugins/config/images/calibration/board-swd.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/swd.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/board-swd.png diff --git a/ground/openpilotgcs/src/plugins/config/images/calibration/use.png b/ground/openpilotgcs/src/plugins/config/images/calibration/board-use.png similarity index 100% rename from ground/openpilotgcs/src/plugins/config/images/calibration/use.png rename to ground/openpilotgcs/src/plugins/config/images/calibration/board-use.png 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zfj(}(PB0Xy2=H;l6)BbRcL9~cB|T4vvyLd^1-m<`P1nU+FCEgj+HYq-yPS8iRxB~o zu0hI*|JcHIV&2mB(>0)3EfU?2PSCiRmH_YCu=e`>{*R7>M?@co#QpvK*wdiX0J=x) zb4CdQB(5st8R)kTqmCTl)rgU;J)v#O>~cCC2D0P}!`mxj1=|G47siO>3Jn(W4c@-K z9qD!LbPEVjA8p1v%F4p6esOJ$})(k?5KEj z5+ffYoi;zShe+-+JpG%CRG0%|_@M)N4g0?b{3C+8QD@fSlJ;8ZKOg>0mTC-@_HK;T zdwFpG%>B<>DVMpr$>*V0|4ky}Ev@!BFaN(`p-7D{KTRC9{0shzH2Y%2X1Psu{*RM- zUegPAXLeWZ{~{T7=Cv&KR{TeR7g1*Z;SS!7|1Xj@HifoctDnw)WO`Anr5EmvWo`dN z4F5k@nAakZD)`@v{%1MAw{-q*7$T~}3-|fr3;F*dmA@>f!ldn=nErou#`$Ic{ Date: Sun, 27 Apr 2014 12:59:39 +0200 Subject: [PATCH 43/60] OP-975 fix some text, make it translatable --- .../calibration/gyrobiascalibrationmodel.cpp | 5 +++-- .../calibration/levelcalibrationmodel.cpp | 7 ++++--- .../calibration/sixpointcalibrationmodel.cpp | 19 +++++++++---------- 3 files changed, 16 insertions(+), 15 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp index 933005098..684cd9da2 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp @@ -68,7 +68,7 @@ void GyroBiasCalibrationModel::start() attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); - displayInstructions("Calibrating the gyroscopes. Keep the copter/plane steady...", true); + displayInstructions(tr("Calibrating the gyroscopes. Keep the copter/plane steady..."), true); gyro_accum_x.clear(); gyro_accum_y.clear(); @@ -158,8 +158,9 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) gyroState->setMetadata(initialGyroStateMdata); - displayInstructions("Calibration done!", false); + displayInstructions(tr("Gyroscope calibration computed succesfully."), false); displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY); + // Recall saved board rotation recallBoardRotation(); } diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp index 9db6dc3b5..78fa86025 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp @@ -62,7 +62,7 @@ void LevelCalibrationModel::start() attitudeState->setMetadata(mdata); /* Show instructions and enable controls */ - displayInstructions("Place horizontally and click save position...", true); + displayInstructions(tr("Place horizontally and click save position..."), true); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); disableAllCalibrations(); savePositionEnabledChanged(true); @@ -86,7 +86,7 @@ void LevelCalibrationModel::savePosition() Q_ASSERT(attitudeState); connect(attitudeState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); - displayInstructions("Hold...",false); + displayInstructions(tr("Hold..."), false); } /** @@ -130,7 +130,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj) rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); - displayInstructions("Leave horizontally, rotate 180° along yaw axis and click save position...", true); + displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click save position..."), false); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_SWD); disableAllCalibrations(); @@ -146,6 +146,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj) compute(); enableAllCalibrations(); displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY); + displayInstructions(tr("Board leveling computed successfully."), false); break; } } diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index db18eebbd..77ff7e022 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -151,7 +151,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) mag->setMetadata(mdata); /* Show instructions and enable controls */ - displayInstructions("Place horizontally, nose pointing north and click save position...", true); + displayInstructions(tr("Place horizontally, nose pointing north and click save position..."), true); showHelp(CALIBRATION_HELPER_IMAGE_NED); disableAllCalibrations(); savePositionEnabledChanged(true); @@ -186,7 +186,7 @@ void SixPointCalibrationModel::savePositionData() connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); - displayInstructions("Hold...", false); + displayInstructions(tr("Hold..."), false); } /** @@ -242,23 +242,23 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) position = (position + 1) % 6; if (position == 1) { - displayInstructions("Place with nose down, right side west and click save position...", false); + displayInstructions(tr("Place with nose down, right side west and click save position..."), false); showHelp(CALIBRATION_HELPER_IMAGE_DWN); } if (position == 2) { - displayInstructions("Place right side down, nose west and click save position...", false); + displayInstructions(tr("Place right side down, nose west and click save position..."), false); showHelp(CALIBRATION_HELPER_IMAGE_WDS); } if (position == 3) { - displayInstructions("Place upside down, nose east and click save position...", false); + displayInstructions(tr("Place upside down, nose east and click save position..."), false); showHelp(CALIBRATION_HELPER_IMAGE_ENU); } if (position == 4) { - displayInstructions("Place with nose up, left side north and click save position...", false); + displayInstructions(tr("Place with nose up, left side north and click save position..."), false); showHelp(CALIBRATION_HELPER_IMAGE_USE); } if (position == 5) { - displayInstructions("Place with left side down, nose south and click save position...", false); + displayInstructions(tr("Place with left side down, nose south and click save position..."), false); showHelp(CALIBRATION_HELPER_IMAGE_SUW); } if (position == 0) { @@ -267,7 +267,6 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) enableAllCalibrations(); showHelp(CALIBRATION_HELPER_IMAGE_EMPTY); - /* Cleanup original settings */ accelState->setMetadata(initialAccelStateMdata); @@ -369,9 +368,9 @@ void SixPointCalibrationModel::compute(bool mag, bool accel) } else { accelGyroSettings->setData(savedSettings.accelGyroSettings); } - displayInstructions("Computed sensor scale and bias...", true); + displayInstructions(tr("Sensor scale and bias computed succesfully."), true); } else { - displayInstructions("Bad calibration. Please repeat.", true); + displayInstructions(tr("Bad calibration. Please review the instructions and repeat."), true); } position = -1; // set to run again } From b7e53f782b67b84233e91bd8bca36b860e998f9c Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 27 Apr 2014 18:25:04 +0200 Subject: [PATCH 44/60] OP-975 Implement fitting along axis (no rotation) --- .../config/calibration/calibrationutils.cpp | 89 ++++++++++++------- .../config/calibration/calibrationutils.h | 7 +- 2 files changed, 63 insertions(+), 33 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp index 810dd7587..5798a79ac 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.cpp @@ -42,13 +42,16 @@ float CalibrationUtils::ComputeSigma(Eigen::VectorXf *samplesY) * The following ellipsoid calibration code is based on RazorImu calibration samples that can be found here: * https://github.com/ptrbrtz/razor-9dof-ahrs/tree/master/Matlab/magnetometer_calibration */ -bool CalibrationUtils::EllipsoidCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, float nominalRange, EllipsoidCalibrationResult *result) +bool CalibrationUtils::EllipsoidCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, + float nominalRange, + EllipsoidCalibrationResult *result, + bool fitAlongXYZ) { Eigen::VectorXf radii; Eigen::Vector3f center; Eigen::MatrixXf evecs; - EllipsoidFit(samplesX, samplesY, samplesZ, ¢er, &radii, &evecs); + EllipsoidFit(samplesX, samplesY, samplesZ, ¢er, &radii, &evecs, fitAlongXYZ); result->Scale.setZero(); @@ -280,26 +283,36 @@ void CalibrationUtils::ComputePoly(VectorXf *samplesX, Eigen::VectorXf *polynomi */ - void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, Eigen::Vector3f *center, Eigen::VectorXf *radii, - Eigen::MatrixXf *evecs) + Eigen::MatrixXf *evecs, + bool fitAlongXYZ) { int numSamples = (*samplesX).rows(); - Eigen::MatrixXf D(numSamples, 9); - - D.setZero(); - D.col(0) = (*samplesX).cwiseProduct(*samplesX); - D.col(1) = (*samplesY).cwiseProduct(*samplesY); - D.col(2) = (*samplesZ).cwiseProduct(*samplesZ); - D.col(3) = (*samplesX).cwiseProduct(*samplesY) * 2; - D.col(4) = (*samplesX).cwiseProduct(*samplesZ) * 2; - D.col(5) = (*samplesY).cwiseProduct(*samplesZ) * 2; - D.col(6) = 2 * (*samplesX); - D.col(7) = 2 * (*samplesY); - D.col(8) = 2 * (*samplesZ); + Eigen::MatrixXf D; + if (!fitAlongXYZ) { + D.setZero(numSamples, 9); + D.col(0) = (*samplesX).cwiseProduct(*samplesX); + D.col(1) = (*samplesY).cwiseProduct(*samplesY); + D.col(2) = (*samplesZ).cwiseProduct(*samplesZ); + D.col(3) = (*samplesX).cwiseProduct(*samplesY) * 2; + D.col(4) = (*samplesX).cwiseProduct(*samplesZ) * 2; + D.col(5) = (*samplesY).cwiseProduct(*samplesZ) * 2; + D.col(6) = 2 * (*samplesX); + D.col(7) = 2 * (*samplesY); + D.col(8) = 2 * (*samplesZ); + } else { + D.setZero(numSamples, 6); + D.setZero(); + D.col(0) = (*samplesX).cwiseProduct(*samplesX); + D.col(1) = (*samplesY).cwiseProduct(*samplesY); + D.col(2) = (*samplesZ).cwiseProduct(*samplesZ); + D.col(3) = 2 * (*samplesX); + D.col(4) = 2 * (*samplesY); + D.col(5) = 2 * (*samplesZ); + } Eigen::VectorXf ones(numSamples); ones.setOnes(numSamples); @@ -307,26 +320,40 @@ void CalibrationUtils::EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf * Eigen::MatrixXf dt2 = (D.transpose() * ones); Eigen::VectorXf v = dt1.inverse() * dt2; - Eigen::Matrix4f A; - A << v.coeff(0), v.coeff(3), v.coeff(4), v.coeff(6), - v.coeff(3), v.coeff(1), v.coeff(5), v.coeff(7), - v.coeff(4), v.coeff(5), v.coeff(2), v.coeff(8), - v.coeff(6), v.coeff(7), v.coeff(8), -1; + if (!fitAlongXYZ) { + Eigen::Matrix4f A; + A << v.coeff(0), v.coeff(3), v.coeff(4), v.coeff(6), + v.coeff(3), v.coeff(1), v.coeff(5), v.coeff(7), + v.coeff(4), v.coeff(5), v.coeff(2), v.coeff(8), + v.coeff(6), v.coeff(7), v.coeff(8), -1; - (*center) = -1 * A.block(0, 0, 3, 3).inverse() * v.segment(6, 3); + (*center) = -1 * A.block(0, 0, 3, 3).inverse() * v.segment(6, 3); - Eigen::Matrix4f t = Eigen::Matrix4f::Identity(); - t.block(3, 0, 1, 3) = center->transpose(); + Eigen::Matrix4f t = Eigen::Matrix4f::Identity(); + t.block(3, 0, 1, 3) = center->transpose(); - Eigen::Matrix4f r = t * A * t.transpose(); + Eigen::Matrix4f r = t * A * t.transpose(); - Eigen::Matrix3f tmp2 = r.block(0, 0, 3, 3) * -1 / r.coeff(3, 3); - Eigen::EigenSolver es(tmp2); - Eigen::VectorXf evals = es.eigenvalues().real(); - (*evecs) = es.eigenvectors().real(); - radii->setZero(3); + Eigen::Matrix3f tmp2 = r.block(0, 0, 3, 3) * -1 / r.coeff(3, 3); + Eigen::EigenSolver es(tmp2); + Eigen::VectorXf evals = es.eigenvalues().real(); - (*radii) = (evals.segment(0, 3)).cwiseInverse().cwiseSqrt(); + (*evecs) = es.eigenvectors().real(); + radii->setZero(3); + (*radii) = (evals.segment(0, 3)).cwiseInverse().cwiseSqrt(); + } else { + Eigen::VectorXf v1(9); + + v1 << v.coeff(0), v.coeff(1), v.coeff(2), 0.0f, 0.0f, 0.0f, v.coeff(3), v.coeff(4), v.coeff(5); + (*center) = (-1) * v1.segment(6, 3).cwiseProduct(v1.segment(0, 3).cwiseInverse()); + + float gam = 1 + (v1.coeff(6) * v1.coeff(6) / v1.coeff(0) + + v1.coeff(7) * v1.coeff(7) / v1.coeff(1) + + v1.coeff(8) * v1.coeff(8) / v1.coeff(2)); + radii->setZero(3); + (*radii) = (v1.segment(0, 3).cwiseInverse() * gam).cwiseSqrt(); + evecs->setIdentity(3, 3); + } } int CalibrationUtils::SixPointInConstFieldCal(double ConstMag, double x[6], double y[6], double z[6], double S[3], double b[3]) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h index 216eae2ff..95f78176f 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/calibrationutils.h @@ -41,7 +41,10 @@ public: Eigen::Vector3f Scale; Eigen::Vector3f Bias; }; - static bool EllipsoidCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, float nominalRange, EllipsoidCalibrationResult *result); + static bool EllipsoidCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, + float nominalRange, + EllipsoidCalibrationResult *result, + bool fitAlongXYZ); static bool PolynomialCalibration(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, int degree, Eigen::Ref result, const double maxRelativeError); static void ComputePoly(Eigen::VectorXf *samplesX, Eigen::VectorXf *polynomial, Eigen::VectorXf *polyY); @@ -54,7 +57,7 @@ private: static void EllipsoidFit(Eigen::VectorXf *samplesX, Eigen::VectorXf *samplesY, Eigen::VectorXf *samplesZ, Eigen::Vector3f *center, Eigen::VectorXf *radii, - Eigen::MatrixXf *evecs); + Eigen::MatrixXf *evecs, bool fitAlongXYZ); static int LinearEquationsSolve(int nDim, double *pfMatr, double *pfVect, double *pfSolution); }; From cd27914a56d43e7d0ae69d638639df09fc203705 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sun, 27 Apr 2014 18:35:30 +0200 Subject: [PATCH 45/60] OP-975 Use Fitting algorithm for mag calibration, continously acquiring sample during the whole process --- .../calibration/sixpointcalibrationmodel.cpp | 155 ++++++++++++++---- .../calibration/sixpointcalibrationmodel.h | 4 + 2 files changed, 128 insertions(+), 31 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index 77ff7e022..e579a8397 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -31,18 +31,20 @@ #include #include "math.h" #include "calibration/calibrationuiutils.h" - +#include "QDebug" #define POINT_SAMPLE_SIZE 50 #define GRAVITY 9.81f #define sign(x) ((x < 0) ? -1 : 1) +#define FITTING_USING_CONTINOUS_ACQUISITION namespace OpenPilot { SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : QObject(parent), - collectingData(false), + position(-1), calibratingMag(false), calibratingAccel(false), - position(-1) + collectingData(false) + {} /********** Six point calibration **************/ @@ -134,28 +136,34 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) /* Need to get as many accel updates as possible */ AccelState *accelState = AccelState::GetInstance(getObjectManager()); Q_ASSERT(accelState); - initialAccelStateMdata = accelState->getMetadata(); - mdata = initialAccelStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - accelState->setMetadata(mdata); + if (calibrateAccel) { + mdata = initialAccelStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + accelState->setMetadata(mdata); + } /* Need to get as many mag updates as possible */ MagState *mag = MagState::GetInstance(getObjectManager()); Q_ASSERT(mag); initialMagStateMdata = mag->getMetadata(); - mdata = initialMagStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - mag->setMetadata(mdata); + if (calibrateMag) { + mdata = initialMagStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); + mdata.flightTelemetryUpdatePeriod = 100; + mag->setMetadata(mdata); + } /* Show instructions and enable controls */ displayInstructions(tr("Place horizontally, nose pointing north and click save position..."), true); showHelp(CALIBRATION_HELPER_IMAGE_NED); disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; + mag_fit_x.clear(); + mag_fit_y.clear(); + mag_fit_z.clear(); } /** @@ -183,8 +191,18 @@ void SixPointCalibrationModel::savePositionData() MagState *mag = MagState::GetInstance(getObjectManager()); Q_ASSERT(mag); - connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); - connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + if (calibratingMag) { +#ifdef FITTING_USING_CONTINOUS_ACQUISITION + // Mag samples are acquired during the whole calibration session, to be used for ellipsoid fit. + if (!position) { + connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *))); + } +#endif // FITTING_USING_CONTINOUS_ACQUISITION + connect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + } + if (calibratingAccel) { + connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + } displayInstructions(tr("Hold..."), false); } @@ -214,12 +232,19 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) mag_accum_x.append(magData.x); mag_accum_y.append(magData.y); mag_accum_z.append(magData.z); +#ifndef FITTING_USING_CONTINOUS_ACQUISITION + mag_fit_x.append(magData.x); + mag_fit_y.append(magData.y); + mag_fit_z.append(magData.z); +#endif // FITTING_USING_CONTINOUS_ACQUISITION } else { Q_ASSERT(0); } } - if (accel_accum_x.size() >= POINT_SAMPLE_SIZE && mag_accum_x.size() >= POINT_SAMPLE_SIZE && collectingData == true) { + if ((!calibratingAccel || (accel_accum_x.size() >= POINT_SAMPLE_SIZE)) && + (!calibratingMag || (mag_accum_x.size() >= POINT_SAMPLE_SIZE / 10)) && + (collectingData == true)) { collectingData = false; savePositionEnabledChanged(true); @@ -227,18 +252,21 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) // Store the mean for this position for the accel AccelState *accelState = AccelState::GetInstance(getObjectManager()); Q_ASSERT(accelState); - disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); - accel_data_x[position] = CalibrationUtils::listMean(accel_accum_x); - accel_data_y[position] = CalibrationUtils::listMean(accel_accum_y); - accel_data_z[position] = CalibrationUtils::listMean(accel_accum_z); - + if (calibratingAccel) { + disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + accel_data_x[position] = CalibrationUtils::listMean(accel_accum_x); + accel_data_y[position] = CalibrationUtils::listMean(accel_accum_y); + accel_data_z[position] = CalibrationUtils::listMean(accel_accum_z); + } // Store the mean for this position for the mag MagState *mag = MagState::GetInstance(getObjectManager()); Q_ASSERT(mag); - disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); - mag_data_x[position] = CalibrationUtils::listMean(mag_accum_x); - mag_data_y[position] = CalibrationUtils::listMean(mag_accum_y); - mag_data_z[position] = CalibrationUtils::listMean(mag_accum_z); + if (calibratingMag) { + disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + mag_data_x[position] = CalibrationUtils::listMean(mag_accum_x); + mag_data_y[position] = CalibrationUtils::listMean(mag_accum_y); + mag_data_z[position] = CalibrationUtils::listMean(mag_accum_z); + } position = (position + 1) % 6; if (position == 1) { @@ -262,6 +290,11 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) showHelp(CALIBRATION_HELPER_IMAGE_SUW); } if (position == 0) { +#ifdef FITTING_USING_CONTINOUS_ACQUISITION + if (calibratingMag) { + disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *))); + } +#endif // FITTING_USING_CONTINOUS_ACQUISITION compute(calibratingMag, calibratingAccel); savePositionEnabledChanged(false); @@ -278,6 +311,20 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) } } +void SixPointCalibrationModel::continouslyGetMagSamples(UAVObject *obj) +{ + QMutexLocker lock(&sensorsUpdateLock); + + if (obj->getObjID() == MagState::OBJID) { + MagState *mag = MagState::GetInstance(getObjectManager()); + Q_ASSERT(mag); + MagState::DataFields magData = mag->getData(); + mag_fit_x.append(magData.x); + mag_fit_y.append(magData.y); + mag_fit_z.append(magData.z); + } +} + /** * Computes the scale and bias for the magnetomer and (compile option) * for the accel once all the data has been collected in 6 positions. @@ -311,14 +358,45 @@ void SixPointCalibrationModel::compute(bool mag, bool accel) // Calibration mag if (mag) { Be_length = sqrt(pow(homeLocationData.Be[0], 2) + pow(homeLocationData.Be[1], 2) + pow(homeLocationData.Be[2], 2)); - OpenPilot::CalibrationUtils::SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = fabs(S[0]); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = fabs(S[1]); - revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = fabs(S[2]); + int vectSize = mag_fit_x.count(); + Eigen::VectorXf samples_x(vectSize); + Eigen::VectorXf samples_y(vectSize); + Eigen::VectorXf samples_z(vectSize); + for (int i = 0; i < vectSize; i++) { + samples_x(i) = mag_fit_x[i]; + samples_y(i) = mag_fit_y[i]; + samples_z(i) = mag_fit_z[i]; + } + OpenPilot::CalibrationUtils::EllipsoidCalibrationResult result; + OpenPilot::CalibrationUtils::EllipsoidCalibration(&samples_x, &samples_y, &samples_z, Be_length, &result, true); + qDebug() << "-----------------------------------"; + qDebug() << "Mag Calibration results: Fit"; + qDebug() << "scale(" << result.Scale.coeff(0) << ", " << result.Scale.coeff(1) << ", " << result.Scale.coeff(2) << ")"; + qDebug() << "bias(" << result.Bias.coeff(0) << ", " << result.Bias.coeff(1) << ", " << result.Bias.coeff(2) << ")"; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = -sign(S[0]) * b[0]; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = -sign(S[1]) * b[1]; - revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = -sign(S[2]) * b[2]; + OpenPilot::CalibrationUtils::SixPointInConstFieldCal(Be_length, mag_data_x, mag_data_y, mag_data_z, S, b); + + qDebug() << "-----------------------------------"; + qDebug() << "Mag Calibration results: Six Point"; + qDebug() << "scale(" << S[0] << ", " << S[1] << ", " << S[2] << ")"; + qDebug() << "bias(" << -sign(S[0]) * b[0] << ", " << -sign(S[1]) * b[1] << ", " << -sign(S[2]) * b[2] << ")"; + qDebug() << "-----------------------------------"; + + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] = result.CalibrationMatrix.coeff(0, 0); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1] = result.CalibrationMatrix.coeff(0, 1); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C2] = result.CalibrationMatrix.coeff(0, 2); + + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C0] = result.CalibrationMatrix.coeff(1, 0); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] = result.CalibrationMatrix.coeff(1, 1); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C2] = result.CalibrationMatrix.coeff(1, 2); + + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C0] = result.CalibrationMatrix.coeff(2, 0); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C1] = result.CalibrationMatrix.coeff(2, 1); + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] = result.CalibrationMatrix.coeff(2, 2); + + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] = result.Bias.coeff(0); + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] = result.Bias.coeff(1); + revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Z] = result.Bias.coeff(2); } // Restore the previous setting revoCalibrationData.MagBiasNullingRate = initialMagCorrectionRate; @@ -330,10 +408,25 @@ void SixPointCalibrationModel::compute(bool mag, bool accel) if (mag) { good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0] == revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C0]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C1]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C2] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R0C2]; + + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C0] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C0]; good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1] == revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C1]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C2] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R1C2]; + + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C0] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C0]; + good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C1] == + revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C1]; good_calibration &= revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2] == revoCalibrationData.mag_transform[RevoCalibration::MAG_TRANSFORM_R2C2]; + good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X] == revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_X]; good_calibration &= revoCalibrationData.mag_bias[RevoCalibration::MAG_BIAS_Y] == diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index 21d19536e..74e889339 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -64,6 +64,7 @@ public slots: void savePositionData(); private slots: void getSample(UAVObject *obj); + void continouslyGetMagSamples(UAVObject *obj); private: void start(bool calibrateAccel, bool calibrateMag); UAVObjectManager *getObjectManager(); @@ -94,6 +95,9 @@ private: QList mag_accum_x; QList mag_accum_y; QList mag_accum_z; + QList mag_fit_x; + QList mag_fit_y; + QList mag_fit_z; void showHelp(QString image); }; } From 5c1435bef10c8cf221259d64721e07371c4a4053 Mon Sep 17 00:00:00 2001 From: Bertrand Oresve Date: Thu, 1 May 2014 12:45:34 +0200 Subject: [PATCH 46/60] OP-1161 Add Mag alarm in System-Health --- .../diagrams/default/system-health.svg | 5050 ++++++++--------- 1 file changed, 2286 insertions(+), 2764 deletions(-) diff --git a/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg b/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg index 914709810..884c78717 100644 --- a/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg +++ b/ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg @@ -15,7 +15,7 @@ id="svg3604" version="1.1" inkscape:version="0.48.4 r9939" - sodipodi:docname="system-health-mod.svg" + sodipodi:docname="system-health.svg" inkscape:export-filename="C:\NoBackup\OpenPilot\mainboard-health.png" inkscape:export-xdpi="269.53" inkscape:export-ydpi="269.53" @@ -27,19 +27,20 @@ borderopacity="1.0" inkscape:pageopacity="0.0" inkscape:pageshadow="2" - inkscape:zoom="10.554213" - inkscape:cx="47.1292" - inkscape:cy="39.787519" - inkscape:current-layer="svg3604" + inkscape:zoom="29.851822" + inkscape:cx="82.604436" + inkscape:cy="54.252252" + inkscape:current-layer="background" id="namedview3608" - showgrid="false" - inkscape:window-width="1920" - inkscape:window-height="1025" - inkscape:window-x="-2" - inkscape:window-y="-3" + showgrid="true" + inkscape:window-width="1366" + inkscape:window-height="712" + inkscape:window-x="-4" + inkscape:window-y="-4" inkscape:window-maximized="1" showguides="true" - inkscape:guide-bbox="true"> + inkscape:guide-bbox="true" + inkscape:snap-global="false"> + + @@ -521,17 +529,6 @@ inkscape:vp_z="1 : 0.5 : 1" inkscape:persp3d-origin="0.5 : 0.33333333 : 1" id="perspective3185" /> - - - - + + + + + + + + @@ -643,2845 +693,2317 @@ inkscape:groupmode="layer" inkscape:label="Background"> - - - - - - - - - - - + style="fill:#483737;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:1.00617588;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /> + style="fill:#241c1c;fill-opacity:1;stroke:#ffffff;stroke-width:0.45410183;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" + id="rect4550-8-7-82" + width="10.470912" + height="8.5405388" + x="547.97754" + y="411.38937" + ry="1" /> + + width="19.129522" + height="10.639811" + x="504.99179" + y="387.5629" + ry="0.24124773" + inkscape:label="#rect4550" /> + style="fill:#6c5d53;fill-opacity:1;stroke:none;display:inline" + id="rect4358-7" + width="37.799622" + height="13.255064" + x="553.24451" + y="395.2457" + ry="0" /> + style="fill:#6c5d53;fill-opacity:1;stroke:none;display:inline" + id="rect4358-4" + width="63.468098" + height="12.839675" + x="527.57617" + y="381.38202" + ry="0" /> + style="fill:#6c5d53;fill-opacity:1;stroke:none;display:inline" + id="rect4358-0" + width="91.066727" + height="13.183137" + x="499.96637" + y="346.05209" + ry="0" /> + style="fill:#6c5d53;fill-opacity:1;stroke:none;display:inline" + id="rect4358-0-9" + width="91.019348" + height="13.183137" + x="500.06686" + y="360.27713" + ry="0" /> + style="fill:#6c5d53;fill-opacity:1;stroke:none;display:inline" + id="rect4358-7-4" + width="24.646557" + height="13.221018" + x="527.58087" + y="395.29047" + ry="0" /> - - - - - - + width="10.470912" + height="8.5405388" + x="532.78839" + y="411.4689" + ry="1" + inkscape:label="#rect4550-8" /> - + width="10.470912" + height="8.5405388" + x="544.5553" + y="411.4689" + ry="1" + inkscape:label="#rect4550-8-7" /> + + width="10.470912" + height="8.5405388" + x="568.08905" + y="411.4689" + ry="1" + inkscape:label="#rect4550-8-15" /> + style="fill:#241c1c;fill-opacity:1;stroke:none;display:inline" + id="I2C" + width="10.470912" + height="8.5405388" + x="579.8559" + y="411.4689" + ry="1" + inkscape:label="#rect4550-8-2" /> + SYSTEM HEALTH + Sensors + Auto + Misc. + Link + Power + Syst. - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + inkscape:label="#g3426" + transform="translate(14,0)"> + id="path6233-9-9-86-0" + d="m 46.502131,52.910887 14.610607,9.14342" + style="fill:#ff0000;stroke:#ff0000;stroke-width:1.09097731;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /> + id="path6233-9-9-4-5-6" + d="M 46.442675,61.953487 61.145921,52.934252" + style="fill:#ff0000;stroke:#ff0000;stroke-width:1.08697307;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" /> - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + style="fill:none;stroke:#000000;stroke-width:1.00617588;stroke-linecap:butt;stroke-linejoin:round;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" + id="rect4795" + width="95.066467" + height="79.056633" + x="0.25920519" + y="0.25921404" + ry="1" /> + transform="scale(0.83127393,1.2029729)">PATH Boot Fault + id="tspan4291" + x="93.860985" + y="8.3444462">PLAN Battery + id="tspan3458" + x="10.759087" + y="8.3200321">ATTITUDE Sensors + id="tspan4287" + x="41.377663" + y="8.3434696">STAB Airspeed + id="tspan5866" + x="16.329399" + y="20.115072">GPS + SENSORS + AIRSPEED + MAG + CPU + EVENT + MEM. + STACK + I2C + CONF. + BOOT + TELEM. + BATT. + TIME + + + + + + + + + + + + + + + + + + + + + + + + INPUT + + + OUTPUT From c15b4154995e0c8014c111fcdc61202538949355 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 3 May 2014 18:40:04 +0200 Subject: [PATCH 47/60] OP-975 have differenet set of messages for accel only(ignore orientation on xy plane) and mag calibration. --- .../calibration/sixpointcalibrationmodel.cpp | 71 ++++++++++++------- .../calibration/sixpointcalibrationmodel.h | 18 ++++- 2 files changed, 62 insertions(+), 27 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index e579a8397..5f9961e43 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -40,12 +40,44 @@ namespace OpenPilot { SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : QObject(parent), + calibrationStepsMag(), + calibrationStepsAccelOnly(), + currentSteps(0), position(-1), calibratingMag(false), calibratingAccel(false), collectingData(false) -{} +{ + calibrationStepsMag.clear(); + calibrationStepsMag + << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, + tr("Place horizontally, nose pointing north and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, + tr("Place with nose down, right side west and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, + tr("Place right side down, nose west and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, + tr("Place upside down, nose east and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, + tr("Place with nose up, left side north and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, + tr("Place with left side down, nose south and click save position...")); + + calibrationStepsAccelOnly.clear(); + calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, + tr("Place horizontally and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, + tr("Place with nose down and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, + tr("Place right side down and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, + tr("Place upside down and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, + tr("Place with nose up and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, + tr("Place with left side down and click save position...")); +} /********** Six point calibration **************/ @@ -71,6 +103,12 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) // Store and reset board rotation before calibration starts storeAndClearBoardRotation(); + if(calibrateMag){ + currentSteps = &calibrationStepsMag; + } else { + currentSteps = &calibrationStepsAccelOnly; + } + RevoCalibration *revoCalibration = RevoCalibration::GetInstance(getObjectManager()); HomeLocation *homeLocation = HomeLocation::GetInstance(getObjectManager()); AccelGyroSettings *accelGyroSettings = AccelGyroSettings::GetInstance(getObjectManager()); @@ -155,9 +193,11 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) mdata.flightTelemetryUpdatePeriod = 100; mag->setMetadata(mdata); } + /* Show instructions and enable controls */ - displayInstructions(tr("Place horizontally, nose pointing north and click save position..."), true); - showHelp(CALIBRATION_HELPER_IMAGE_NED); + displayInstructions((*currentSteps)[0].instructions, true); + showHelp((*currentSteps)[0].visualHelp); + disableAllCalibrations(); savePositionEnabledChanged(true); position = 0; @@ -269,27 +309,10 @@ void SixPointCalibrationModel::getSample(UAVObject *obj) } position = (position + 1) % 6; - if (position == 1) { - displayInstructions(tr("Place with nose down, right side west and click save position..."), false); - showHelp(CALIBRATION_HELPER_IMAGE_DWN); - } - if (position == 2) { - displayInstructions(tr("Place right side down, nose west and click save position..."), false); - showHelp(CALIBRATION_HELPER_IMAGE_WDS); - } - if (position == 3) { - displayInstructions(tr("Place upside down, nose east and click save position..."), false); - showHelp(CALIBRATION_HELPER_IMAGE_ENU); - } - if (position == 4) { - displayInstructions(tr("Place with nose up, left side north and click save position..."), false); - showHelp(CALIBRATION_HELPER_IMAGE_USE); - } - if (position == 5) { - displayInstructions(tr("Place with left side down, nose south and click save position..."), false); - showHelp(CALIBRATION_HELPER_IMAGE_SUW); - } - if (position == 0) { + if (position != 0) { + displayInstructions((*currentSteps)[position].instructions, false); + showHelp((*currentSteps)[position].visualHelp); + } else { #ifdef FITTING_USING_CONTINOUS_ACQUISITION if (calibratingMag) { disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(continouslyGetMagSamples(UAVObject *))); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index 74e889339..cf453af33 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -31,7 +31,7 @@ #include #include #include "calibration/calibrationutils.h" - +#include #include #include #include @@ -41,6 +41,17 @@ namespace OpenPilot { class SixPointCalibrationModel : public QObject { Q_OBJECT + class CalibrationStep{ + public: + CalibrationStep(QString newVisualHelp, QString newInstructions){ + visualHelp = newVisualHelp; + instructions = newInstructions; + } + QString visualHelp; + QString instructions; + + }; + typedef struct { RevoCalibration::DataFields revoCalibration; AccelGyroSettings::DataFields accelGyroSettings; @@ -68,8 +79,9 @@ private slots: private: void start(bool calibrateAccel, bool calibrateMag); UAVObjectManager *getObjectManager(); - - + QList calibrationStepsMag; + QList calibrationStepsAccelOnly; + QList *currentSteps; UAVObject::Metadata initialAccelStateMdata; UAVObject::Metadata initialMagStateMdata; float initialMagCorrectionRate; From 1395bd524ca00913ff6d015c0de37b51170f2fd9 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Sat, 3 May 2014 19:45:22 +0200 Subject: [PATCH 48/60] OP-975 fix help, make instruction text more visible --- .../src/plugins/config/revosensors.ui | 28 +++++++++++++------ 1 file changed, 19 insertions(+), 9 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index bbbd3d59f..bc9d4f2b0 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -80,6 +80,13 @@ + + + 10 + 75 + true + + Calibration status @@ -103,27 +110,30 @@ <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'Sans Serif'; font-size:9pt; font-weight:400; font-style:normal;"> +</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> <table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> <tr> <td style="border: none;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">Help</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Step #1, #2 and #3 are necessary. Step #4 will help you achieve the best possible results.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:16pt; font-weight:600; font-style:italic;">Help</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Following steps #1, #2 and #3 are necessary. Step #4 is optional, it may helps you achieve the best possible results.</span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#1: Multi-Point calibration:</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#1: Multi-Point calibration</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. Note that your HomeLocation must be set first, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 1:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> Your </span><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">HomeLocation must be set first</span><span style=" font-family:'Ubuntu'; font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 2:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> There is no need to point exactly at South/North/West/East. They are just used to easily tells the user how to point the plane/craft. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">You can simply assume that North is in front of you, right is East etc. and perform the calibration this way.</span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#2: Board level calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#2: Board level calibration</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#3: Gyro Bias calculation:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#3: Gyro Bias calculation</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p> <p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">#4: Thermal Calibration:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#4: Thermal Calibration</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> <p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> From 14652440a2e6c055ea5a8525c3fbe7e507940668 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Tue, 6 May 2014 18:46:58 +0200 Subject: [PATCH 49/60] OP-1161 skip magnetometer entirelly if complementary (no mag) mode, thus not triggering magnetometer alarms --- flight/modules/StateEstimation/stateestimation.c | 13 +++++-------- 1 file changed, 5 insertions(+), 8 deletions(-) diff --git a/flight/modules/StateEstimation/stateestimation.c b/flight/modules/StateEstimation/stateestimation.c index 3f77a1d8f..3b5f4b9b3 100644 --- a/flight/modules/StateEstimation/stateestimation.c +++ b/flight/modules/StateEstimation/stateestimation.c @@ -161,17 +161,14 @@ static float gyroDelta[3]; // preconfigured filter chains selectable via revoSettings.FusionAlgorithm static const filterPipeline *cfQueue = &(filterPipeline) { - .filter = &magFilter, + .filter = &airFilter, .next = &(filterPipeline) { - .filter = &airFilter, + .filter = &baroiFilter, .next = &(filterPipeline) { - .filter = &baroiFilter, + .filter = &altitudeFilter, .next = &(filterPipeline) { - .filter = &altitudeFilter, - .next = &(filterPipeline) { - .filter = &cfFilter, - .next = NULL, - } + .filter = &cfFilter, + .next = NULL, } } } From 56b5747b4e0eee93724a4c2b1f031eeff8062da8 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Tue, 6 May 2014 18:53:57 +0200 Subject: [PATCH 50/60] uncrustify --- flight/modules/Sensors/sensors.c | 20 ++++---- .../calibration/sixpointcalibrationmodel.cpp | 49 +++++++++---------- .../calibration/sixpointcalibrationmodel.h | 10 ++-- 3 files changed, 40 insertions(+), 39 deletions(-) diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index b21b67fd4..c1c76ee8f 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -84,7 +84,9 @@ AccelGyroSettingsData agcal; // These values are initialized by settings but can be updated by the attitude algorithm static float mag_bias[3] = { 0, 0, 0 }; -static float mag_transform[3][3]={{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1}}; +static float mag_transform[3][3] = { + { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } +}; // temp coefficient to calculate gyro bias static volatile bool gyro_temp_calibrated = false; static volatile bool accel_temp_calibrated = false; @@ -442,9 +444,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) { RevoCalibrationGet(&cal); AccelGyroSettingsGet(&agcal); - mag_bias[0] = cal.mag_bias.X; - mag_bias[1] = cal.mag_bias.Y; - mag_bias[2] = cal.mag_bias.Z; + mag_bias[0] = cal.mag_bias.X; + mag_bias[1] = cal.mag_bias.Y; + mag_bias[2] = cal.mag_bias.Z; accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) && (fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f); @@ -459,16 +461,16 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) // Indicates not to expend cycles on rotation if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f - && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && - fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) { + && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && + fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) { rotate = 0; } else { rotate = 1; } float rotationQuat[4]; - const float rpy[3] = { attitudeSettings.BoardRotation.Roll, - attitudeSettings.BoardRotation.Pitch, - attitudeSettings.BoardRotation.Yaw }; + const float rpy[3] = { attitudeSettings.BoardRotation.Roll, + attitudeSettings.BoardRotation.Pitch, + attitudeSettings.BoardRotation.Yaw }; RPY2Quaternion(rpy, rotationQuat); Quaternion2R(rotationQuat, R); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index 5f9961e43..becec9b3e 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -47,36 +47,35 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : calibratingMag(false), calibratingAccel(false), collectingData(false) - { calibrationStepsMag.clear(); calibrationStepsMag - << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, - tr("Place horizontally, nose pointing north and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, - tr("Place with nose down, right side west and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, - tr("Place right side down, nose west and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, - tr("Place upside down, nose east and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, - tr("Place with nose up, left side north and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, - tr("Place with left side down, nose south and click save position...")); + << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, + tr("Place horizontally, nose pointing north and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, + tr("Place with nose down, right side west and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, + tr("Place right side down, nose west and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, + tr("Place upside down, nose east and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, + tr("Place with nose up, left side north and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, + tr("Place with left side down, nose south and click save position...")); calibrationStepsAccelOnly.clear(); calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, - tr("Place horizontally and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, - tr("Place with nose down and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, - tr("Place right side down and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, - tr("Place upside down and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, - tr("Place with nose up and click save position...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, - tr("Place with left side down and click save position...")); + tr("Place horizontally and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, + tr("Place with nose down and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, + tr("Place right side down and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, + tr("Place upside down and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, + tr("Place with nose up and click save position...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, + tr("Place with left side down and click save position...")); } /********** Six point calibration **************/ @@ -103,7 +102,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) // Store and reset board rotation before calibration starts storeAndClearBoardRotation(); - if(calibrateMag){ + if (calibrateMag) { currentSteps = &calibrationStepsMag; } else { currentSteps = &calibrationStepsAccelOnly; diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index cf453af33..128ff884a 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -41,15 +41,15 @@ namespace OpenPilot { class SixPointCalibrationModel : public QObject { Q_OBJECT - class CalibrationStep{ - public: - CalibrationStep(QString newVisualHelp, QString newInstructions){ - visualHelp = newVisualHelp; + class CalibrationStep { +public: + CalibrationStep(QString newVisualHelp, QString newInstructions) + { + visualHelp = newVisualHelp; instructions = newInstructions; } QString visualHelp; QString instructions; - }; typedef struct { From 7451e3d0a5b4e613ddb77edd2794e68dc808f449 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 7 May 2014 21:03:08 +0200 Subject: [PATCH 51/60] OP-975 fix some help text. --- .../calibration/levelcalibrationmodel.cpp | 4 ++-- .../calibration/sixpointcalibrationmodel.cpp | 24 +++++++++---------- 2 files changed, 14 insertions(+), 14 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp index 78fa86025..fd46259de 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/levelcalibrationmodel.cpp @@ -62,7 +62,7 @@ void LevelCalibrationModel::start() attitudeState->setMetadata(mdata); /* Show instructions and enable controls */ - displayInstructions(tr("Place horizontally and click save position..."), true); + displayInstructions(tr("Place horizontally and click Save Position button..."), true); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); disableAllCalibrations(); savePositionEnabledChanged(true); @@ -130,7 +130,7 @@ void LevelCalibrationModel::getSample(UAVObject *obj) rot_data_pitch = OpenPilot::CalibrationUtils::listMean(rot_accum_pitch); rot_data_roll = OpenPilot::CalibrationUtils::listMean(rot_accum_roll); - displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click save position..."), false); + displayInstructions(tr("Leave horizontally, rotate 180° along yaw axis and click Save Position button..."), false); displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_SWD); disableAllCalibrations(); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index 5f9961e43..d4e87579b 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -52,31 +52,31 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : calibrationStepsMag.clear(); calibrationStepsMag << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, - tr("Place horizontally, nose pointing north and click save position...")) + tr("Place horizontally, nose pointing north and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, - tr("Place with nose down, right side west and click save position...")) + tr("Place with nose down, right side west and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, - tr("Place right side down, nose west and click save position...")) + tr("Place right side down, nose west and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, - tr("Place upside down, nose east and click save position...")) + tr("Place upside down, nose east and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, - tr("Place with nose up, left side north and click save position...")) + tr("Place with nose up, left side north and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, - tr("Place with left side down, nose south and click save position...")); + tr("Place with left side down, nose south and click Save Position button...")); calibrationStepsAccelOnly.clear(); calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, - tr("Place horizontally and click save position...")) + tr("Place horizontally and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, - tr("Place with nose down and click save position...")) + tr("Place with nose down and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, - tr("Place right side down and click save position...")) + tr("Place right side down and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, - tr("Place upside down and click save position...")) + tr("Place upside down and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, - tr("Place with nose up and click save position...")) + tr("Place with nose up and click Save Position button...")) << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, - tr("Place with left side down and click save position...")); + tr("Place with left side down and click Save Position button...")); } /********** Six point calibration **************/ From bd7b1f8d5718fba1afd5b7eabd2ba7c88f08939b Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 7 May 2014 21:07:08 +0200 Subject: [PATCH 52/60] OP-975 some visual enhancemets to UI (moving save button for level, adding spacers, showing percentage to progressbar) --- .../src/plugins/config/revosensors.ui | 89 +++++++++++-------- 1 file changed, 51 insertions(+), 38 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/revosensors.ui b/ground/openpilotgcs/src/plugins/config/revosensors.ui index bc9d4f2b0..0bc6b9717 100644 --- a/ground/openpilotgcs/src/plugins/config/revosensors.ui +++ b/ground/openpilotgcs/src/plugins/config/revosensors.ui @@ -7,7 +7,7 @@ 0 0 836 - 596 + 605 @@ -110,34 +110,34 @@ <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> <html><head><meta name="qrichtext" content="1" /><style type="text/css"> p, li { white-space: pre-wrap; } -</style></head><body style=" font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;"> +</style></head><body style=" font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;"> <table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;"> <tr> <td style="border: none;"> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:16pt; font-weight:600; font-style:italic;">Help</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Following steps #1, #2 and #3 are necessary. Step #4 is optional, it may helps you achieve the best possible results.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:8pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#1: Multi-Point calibration</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. </span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 1:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> Your </span><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600;">HomeLocation must be set first</span><span style=" font-family:'Ubuntu'; font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt; font-weight:600; font-style:italic;">Note 2:</span><span style=" font-family:'Ubuntu'; font-size:11pt;"> There is no need to point exactly at South/North/West/East. They are just used to easily tells the user how to point the plane/craft. </span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">You can simply assume that North is in front of you, right is East etc. and perform the calibration this way.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#2: Board level calibration</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#3: Gyro Bias calculation</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p> -<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:14pt; font-weight:600; font-style:italic;">#4: Thermal Calibration</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> -<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Ubuntu'; font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> -<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;"><br /></p></td></tr></table></body></html> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:16pt; font-weight:600; font-style:italic;">Help</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">Following steps #1, #2 and #3 are necessary. Step #4 is optional, it may helps you achieve the best possible results.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'MS Shell Dlg 2'; font-size:8pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#1: Multi-Point calibration</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This calibration will compute the scale for Magnetometer or Accelerometer sensors. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">Press &quot;Calibrate Mag&quot; or &quot;Calibrate Accel&quot; to begin calibration, and follow the instructions which will be displayed here. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">For optimal calibration perform the Accel calibration with the board not mounted to the craft. in this way you can accurately level the board on your desk/table during the process. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">Magnetometer calibration need to be performed inside your plane/copter to account for metal/magnetic stuffs on board.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt; font-weight:600; font-style:italic;">Note 1:</span><span style=" font-size:11pt;"> Your </span><span style=" font-size:11pt; font-weight:600;">HomeLocation must be set first</span><span style=" font-size:11pt;">, including the local magnetic field vector (Be) and acceleration due to gravity (g_e).</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt; font-weight:600; font-style:italic;">Note 2:</span><span style=" font-size:11pt;"> There is no need to point exactly at South/North/West/East. They are just used to easily tells the user how to point the plane/craft. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">You can simply assume that North is in front of you, right is East etc. and perform the calibration this way.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#2: Board level calibration</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This step will ensure that board leveling is accurate. Place your airframe as horizontally as possible (use a spirit level if necessary), then press Start below and do not move your airframe at all until the end of the calibration.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#3: Gyro Bias calculation</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This step allows to calibrate the gyro measured value when the board is steady. To perform the calibration leave the board/aircraft completely steady and click start. </span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; font-style:italic;">#4: Thermal Calibration</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">The calibration will compute sensors bias variations at different temperatures while the board warms up.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">This allow a certain amount of correction of those bias variations against temperature changes. It does improve both altitude hold and yaw performances.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:11pt;">To perform this calibration leave the board to cool down at room temperature in the coldest places available. after 15-20 minutes attach the usb connector to the board and Click the Calibrate button leaving the board steady. Wait until completed</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;"><br /></p></td></tr></table></body></html> @@ -175,6 +175,19 @@ p, li { white-space: pre-wrap; } + + + + Qt::Horizontal + + + + 40 + 20 + + + + @@ -207,6 +220,16 @@ p, li { white-space: pre-wrap; } + + + + 0 + + + true + + + @@ -217,16 +240,6 @@ p, li { white-space: pre-wrap; } - - - - 0 - - - false - - - @@ -252,7 +265,7 @@ p, li { white-space: pre-wrap; } 0 - false + true @@ -380,7 +393,7 @@ p, li { white-space: pre-wrap; } 0 - false + true From 153d2fb786eb8ba2322bb456f1bedcb9456f7cd7 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Wed, 7 May 2014 22:12:01 +0200 Subject: [PATCH 53/60] OP-1309 Fixed bug in Quaternion Stabilization Error Calculation in regards to independent axis --- flight/modules/Stabilization/outerloop.c | 16 +++++++++++++--- .../boards/revolution/firmware/inc/pios_config.h | 2 +- 2 files changed, 14 insertions(+), 4 deletions(-) diff --git a/flight/modules/Stabilization/outerloop.c b/flight/modules/Stabilization/outerloop.c index 05ff97189..d80c00185 100644 --- a/flight/modules/Stabilization/outerloop.c +++ b/flight/modules/Stabilization/outerloop.c @@ -114,9 +114,19 @@ static void stabilizationOuterloopTask() float q_desired[4]; float q_error[4]; - rpy_desired[0] = stabilizationDesiredAxis[0]; - rpy_desired[1] = stabilizationDesiredAxis[1]; - rpy_desired[2] = stabilizationDesiredAxis[2]; + for (t = 0; t < 3; t++) { + switch (cast_struct_to_array(enabled, enabled.Roll)[t]) { + case STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE: + case STABILIZATIONSTATUS_OUTERLOOP_RATTITUDE: + case STABILIZATIONSTATUS_OUTERLOOP_WEAKLEVELING: + rpy_desired[t] = stabilizationDesiredAxis[t]; + break; + case STABILIZATIONSTATUS_OUTERLOOP_DIRECT: + default: + rpy_desired[t] = ((float *)&attitudeState.Roll)[t]; + break; + } + } RPY2Quaternion(rpy_desired, q_desired); quat_inverse(q_desired); diff --git a/flight/targets/boards/revolution/firmware/inc/pios_config.h b/flight/targets/boards/revolution/firmware/inc/pios_config.h index 0fac7c930..5b46f059a 100644 --- a/flight/targets/boards/revolution/firmware/inc/pios_config.h +++ b/flight/targets/boards/revolution/firmware/inc/pios_config.h @@ -144,7 +144,7 @@ #define PIOS_GPS_SETS_HOMELOCATION /* Stabilization options */ -// #define PIOS_QUATERNION_STABILIZATION +#define PIOS_QUATERNION_STABILIZATION /* Performance counters */ #define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 8379692 From 96904bdf503220bb915aa3df026d8d9fbf4d7a03 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Wed, 7 May 2014 22:34:27 +0200 Subject: [PATCH 54/60] OP-975 Use GyroSensor UAVO when available for gyro calibration (on revo GyroState is biased by EKF gyrobias, so it reads almost always 0) --- .../calibration/gyrobiascalibrationmodel.cpp | 70 ++++++++++++++----- .../calibration/gyrobiascalibrationmodel.h | 4 ++ .../calibration/sixpointcalibrationmodel.cpp | 49 +++++++------ .../calibration/sixpointcalibrationmodel.h | 10 +-- 4 files changed, 87 insertions(+), 46 deletions(-) diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp index 684cd9da2..1d35f0eef 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.cpp @@ -29,6 +29,7 @@ #include #include "extensionsystem/pluginmanager.h" #include +#include #include #include #include "calibration/gyrobiascalibrationmodel.h" @@ -67,6 +68,7 @@ void GyroBiasCalibrationModel::start() attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE; attitudeSettings->setData(attitudeSettingsData); attitudeSettings->updated(); + displayVisualHelp(CALIBRATION_HELPER_PLANE_PREFIX + CALIBRATION_HELPER_IMAGE_NED); displayInstructions(tr("Calibrating the gyroscopes. Keep the copter/plane steady..."), true); @@ -74,19 +76,33 @@ void GyroBiasCalibrationModel::start() gyro_accum_y.clear(); gyro_accum_z.clear(); - UAVObject::Metadata mdata; + gyro_state_accum_x.clear(); + gyro_state_accum_y.clear(); + gyro_state_accum_z.clear(); + + UAVObject::Metadata metadata; GyroState *gyroState = GyroState::GetInstance(getObjectManager()); Q_ASSERT(gyroState); initialGyroStateMdata = gyroState->getMetadata(); - mdata = initialGyroStateMdata; - UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC); - mdata.flightTelemetryUpdatePeriod = 100; - gyroState->setMetadata(mdata); + metadata = initialGyroStateMdata; + UAVObject::SetFlightTelemetryUpdateMode(metadata, UAVObject::UPDATEMODE_PERIODIC); + metadata.flightTelemetryUpdatePeriod = 100; + gyroState->setMetadata(metadata); + + UAVObject::Metadata gyroSensorMetadata; + GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager()); + Q_ASSERT(gyroSensor); + initialGyroSensorMdata = gyroSensor->getMetadata(); + gyroSensorMetadata = initialGyroSensorMdata; + UAVObject::SetFlightTelemetryUpdateMode(gyroSensorMetadata, UAVObject::UPDATEMODE_PERIODIC); + gyroSensorMetadata.flightTelemetryUpdatePeriod = 100; + gyroSensor->setMetadata(gyroSensorMetadata); // Now connect to the accels and mag updates, gather for 100 samples collectingData = true; connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + connect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); } /** @@ -105,9 +121,20 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) Q_ASSERT(gyroState); GyroState::DataFields gyroStateData = gyroState->getData(); - gyro_accum_x.append(gyroStateData.x); - gyro_accum_y.append(gyroStateData.y); - gyro_accum_z.append(gyroStateData.z); + gyro_state_accum_x.append(gyroStateData.x); + gyro_state_accum_y.append(gyroStateData.y); + gyro_state_accum_z.append(gyroStateData.z); + break; + } + case GyroSensor::OBJID: + { + GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager()); + Q_ASSERT(gyroSensor); + GyroSensor::DataFields gyroSensorData = gyroSensor->getData(); + + gyro_accum_x.append(gyroSensorData.x); + gyro_accum_y.append(gyroSensorData.y); + gyro_accum_z.append(gyroSensorData.z); break; } default: @@ -115,17 +142,21 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) } // Work out the progress based on whichever has less - double p1 = (double)gyro_accum_x.size() / (double)LEVEL_SAMPLES; + double p1 = (double)gyro_state_accum_x.size() / (double)LEVEL_SAMPLES; double p2 = (double)gyro_accum_y.size() / (double)LEVEL_SAMPLES; - progressChanged(((p1 < p2) ? p1 : p2) * 100); + progressChanged(((p1 > p2) ? p1 : p2) * 100); - if (gyro_accum_y.size() >= LEVEL_SAMPLES && + if ((gyro_accum_y.size() >= LEVEL_SAMPLES || (gyro_accum_y.size() == 0 && gyro_state_accum_y.size() >= LEVEL_SAMPLES)) && collectingData == true) { collectingData = false; GyroState *gyroState = GyroState::GetInstance(getObjectManager()); - disconnect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); + Q_ASSERT(gyroState); + + GyroSensor *gyroSensor = GyroSensor::GetInstance(getObjectManager()); + Q_ASSERT(gyroSensor); + disconnect(gyroSensor, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(getSample(UAVObject *))); enableAllCalibrations(); @@ -138,11 +169,17 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) AccelGyroSettings::DataFields accelGyroSettingsData = accelGyroSettings->getData(); revoCalibrationData.BiasCorrectedRaw = RevoCalibration::BIASCORRECTEDRAW_TRUE; - // Update biases based on collected data - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x); - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y); - accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z); + // check whether the board does supports gyroSensor(updates were received) + if (gyro_accum_x.count() < LEVEL_SAMPLES / 10) { + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_x); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_y); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_state_accum_z); + } else { + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_X] += OpenPilot::CalibrationUtils::listMean(gyro_accum_x); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Y] += OpenPilot::CalibrationUtils::listMean(gyro_accum_y); + accelGyroSettingsData.gyro_bias[AccelGyroSettings::GYRO_BIAS_Z] += OpenPilot::CalibrationUtils::listMean(gyro_accum_z); + } revoCalibration->setData(revoCalibrationData); revoCalibration->updated(); @@ -157,6 +194,7 @@ void GyroBiasCalibrationModel::getSample(UAVObject *obj) attitudeSettings->updated(); gyroState->setMetadata(initialGyroStateMdata); + gyroSensor->setMetadata(initialGyroSensorMdata); displayInstructions(tr("Gyroscope calibration computed succesfully."), false); displayVisualHelp(CALIBRATION_HELPER_IMAGE_EMPTY); diff --git a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h index 9afe9657d..14fa6c0eb 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/gyrobiascalibrationmodel.h @@ -61,7 +61,11 @@ private: QList gyro_accum_x; QList gyro_accum_y; QList gyro_accum_z; + QList gyro_state_accum_x; + QList gyro_state_accum_y; + QList gyro_state_accum_z; UAVObject::Metadata initialGyroStateMdata; + UAVObject::Metadata initialGyroSensorMdata; UAVObjectManager *getObjectManager(); }; } diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp index d4e87579b..444a16d05 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.cpp @@ -47,36 +47,35 @@ SixPointCalibrationModel::SixPointCalibrationModel(QObject *parent) : calibratingMag(false), calibratingAccel(false), collectingData(false) - { calibrationStepsMag.clear(); calibrationStepsMag - << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, - tr("Place horizontally, nose pointing north and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, - tr("Place with nose down, right side west and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, - tr("Place right side down, nose west and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, - tr("Place upside down, nose east and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, - tr("Place with nose up, left side north and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, - tr("Place with left side down, nose south and click Save Position button...")); + << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, + tr("Place horizontally, nose pointing north and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, + tr("Place with nose down, right side west and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, + tr("Place right side down, nose west and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, + tr("Place upside down, nose east and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, + tr("Place with nose up, left side north and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, + tr("Place with left side down, nose south and click Save Position button...")); calibrationStepsAccelOnly.clear(); calibrationStepsAccelOnly << CalibrationStep(CALIBRATION_HELPER_IMAGE_NED, - tr("Place horizontally and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, - tr("Place with nose down and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, - tr("Place right side down and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, - tr("Place upside down and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, - tr("Place with nose up and click Save Position button...")) - << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, - tr("Place with left side down and click Save Position button...")); + tr("Place horizontally and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_DWN, + tr("Place with nose down and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_WDS, + tr("Place right side down and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_ENU, + tr("Place upside down and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_USE, + tr("Place with nose up and click Save Position button...")) + << CalibrationStep(CALIBRATION_HELPER_IMAGE_SUW, + tr("Place with left side down and click Save Position button...")); } /********** Six point calibration **************/ @@ -103,7 +102,7 @@ void SixPointCalibrationModel::start(bool calibrateAccel, bool calibrateMag) // Store and reset board rotation before calibration starts storeAndClearBoardRotation(); - if(calibrateMag){ + if (calibrateMag) { currentSteps = &calibrationStepsMag; } else { currentSteps = &calibrationStepsAccelOnly; diff --git a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h index cf453af33..128ff884a 100644 --- a/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h +++ b/ground/openpilotgcs/src/plugins/config/calibration/sixpointcalibrationmodel.h @@ -41,15 +41,15 @@ namespace OpenPilot { class SixPointCalibrationModel : public QObject { Q_OBJECT - class CalibrationStep{ - public: - CalibrationStep(QString newVisualHelp, QString newInstructions){ - visualHelp = newVisualHelp; + class CalibrationStep { +public: + CalibrationStep(QString newVisualHelp, QString newInstructions) + { + visualHelp = newVisualHelp; instructions = newInstructions; } QString visualHelp; QString instructions; - }; typedef struct { From 1add404d8002dd3c481a685efacbc6927ad6155f Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Wed, 7 May 2014 23:47:14 +0200 Subject: [PATCH 55/60] OP-1161 reimplemented magnetometer plausibikity check using vector length only --- flight/modules/StateEstimation/filtermag.c | 101 +++++++++------------ 1 file changed, 44 insertions(+), 57 deletions(-) diff --git a/flight/modules/StateEstimation/filtermag.c b/flight/modules/StateEstimation/filtermag.c index 308d0b286..8adaee6a1 100644 --- a/flight/modules/StateEstimation/filtermag.c +++ b/flight/modules/StateEstimation/filtermag.c @@ -45,14 +45,13 @@ // Private types struct data { - HomeLocationData homeLocation; RevoCalibrationData revoCalibration; RevoSettingsData revoSettings; - uint16_t idlecounter; - uint8_t warningcount; - uint8_t errorcount; - float magAverage[3]; - float magBias[3]; + uint8_t warningcount; + uint8_t errorcount; + float homeLocationBe[3]; + float magBe2; + float magBias[3]; }; // Private variables @@ -78,10 +77,11 @@ static int32_t init(stateFilter *self) { struct data *this = (struct data *)self->localdata; - this->magBias[0] = this->magBias[1] = this->magBias[2] = 0.0f; - this->magAverage[0] = this->magAverage[1] = this->magAverage[2] = 0.0f; - this->idlecounter = this->warningcount = this->errorcount = 0; - HomeLocationGet(&this->homeLocation); + this->magBias[0] = this->magBias[1] = this->magBias[2] = 0.0f; + this->warningcount = this->errorcount = 0; + HomeLocationBeGet(this->homeLocationBe); + // magBe2 holds the squared magnetic vector length (extpected) + this->magBe2 = this->homeLocationBe[0] * this->homeLocationBe[0] + this->homeLocationBe[1] * this->homeLocationBe[1] + this->homeLocationBe[2] * this->homeLocationBe[2]; RevoCalibrationGet(&this->revoCalibration); RevoSettingsGet(&this->revoSettings); return 0; @@ -106,56 +106,43 @@ static int32_t filter(stateFilter *self, stateEstimation *state) */ static void checkMagValidity(struct data *this, float mag[3]) { - #define MAG_LOW_PASS_ALPHA 0.2f - #define IDLE_COUNT 10 - #define ALARM_THRESHOLD 3 + #define ALARM_THRESHOLD 5 - // low pass filter sensor to not give warnings due to noise - this->magAverage[0] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[0] + MAG_LOW_PASS_ALPHA * mag[0]; - this->magAverage[1] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[1] + MAG_LOW_PASS_ALPHA * mag[1]; - this->magAverage[2] = (1.0f - MAG_LOW_PASS_ALPHA) * this->magAverage[2] + MAG_LOW_PASS_ALPHA * mag[2]; + // mag2 holds the actual magnetic vector length (squared) + float mag2 = mag[0] * mag[0] + mag[1] * mag[1] + mag[2] * mag[2]; - // throttle this check, thanks to low pass filter it is not necessary every iteration - if (!this->idlecounter--) { - this->idlecounter = IDLE_COUNT; + // warning and error thresholds + // avoud sqrt() : minlimithomeLocation.Be, expected); + float minWarning2 = this->magBe2 * (1.0f - 2.0f * this->revoSettings.MagnetometerMaxDeviation.Warning + this->revoSettings.MagnetometerMaxDeviation.Warning * this->revoSettings.MagnetometerMaxDeviation.Warning); + float maxWarning2 = this->magBe2 * (1.0f + 2.0f * this->revoSettings.MagnetometerMaxDeviation.Warning + this->revoSettings.MagnetometerMaxDeviation.Warning * this->revoSettings.MagnetometerMaxDeviation.Warning); + float minError2 = this->magBe2 * (1.0f - 2.0f * this->revoSettings.MagnetometerMaxDeviation.Error + this->revoSettings.MagnetometerMaxDeviation.Error * this->revoSettings.MagnetometerMaxDeviation.Error); + float maxError2 = this->magBe2 * (1.0f + 2.0f * this->revoSettings.MagnetometerMaxDeviation.Error + this->revoSettings.MagnetometerMaxDeviation.Error * this->revoSettings.MagnetometerMaxDeviation.Error); - // calculate maximum allowed deviation - float warning2 = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; - float error2 = this->revoSettings.MagnetometerMaxDeviation.Error * this->revoSettings.MagnetometerMaxDeviation.Error * warning2; - warning2 = this->revoSettings.MagnetometerMaxDeviation.Warning * this->revoSettings.MagnetometerMaxDeviation.Warning * warning2; - - // calculate difference - expected[0] = expected[0] - this->magAverage[0]; - expected[1] = expected[1] - this->magAverage[1]; - expected[2] = expected[2] - this->magAverage[2]; - float deviation2 = expected[0] * expected[0] + expected[1] * expected[1] + expected[2] * expected[2]; - - // set errors - if (deviation2 < warning2) { - this->warningcount = 0; - this->errorcount = 0; - AlarmsClear(SYSTEMALARMS_ALARM_MAGNETOMETER); - } else if (deviation2 < error2) { - this->errorcount = 0; - if (this->warningcount > ALARM_THRESHOLD) { - AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); - } else { - this->warningcount++; - } + // set errors + if (minWarning2 < mag2 && mag2 < maxWarning2) { + this->warningcount = 0; + this->errorcount = 0; + AlarmsClear(SYSTEMALARMS_ALARM_MAGNETOMETER); + } else if (minError2 < mag2 && mag2 < maxError2) { + this->errorcount = 0; + if (this->warningcount > ALARM_THRESHOLD) { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_WARNING); } else { - if (this->errorcount > ALARM_THRESHOLD) { - AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_CRITICAL); - } else { - this->errorcount++; - } + this->warningcount++; + } + } else { + if (this->errorcount > ALARM_THRESHOLD) { + AlarmsSet(SYSTEMALARMS_ALARM_MAGNETOMETER, SYSTEMALARMS_ALARM_CRITICAL); + } else { + this->errorcount++; } } } @@ -209,8 +196,8 @@ static void magOffsetEstimation(struct data *this, float mag[3]) } #else // if 0 - const float Rxy = sqrtf(this->homeLocation.Be[0] * this->homeLocation.Be[0] + this->homeLocation.Be[1] * this->homeLocation.Be[1]); - const float Rz = this->homeLocation.Be[2]; + const float Rxy = sqrtf(this->homeLocationBe[0] * this->homeLocationBe[0] + this->homeLocationBe[1] * this->homeLocationBe[1]); + const float Rz = this->homeLocationBe[2]; const float rate = this->revoCalibration.MagBiasNullingRate; float Rot[3][3]; From 3a2b5d633271eba7c297a286fed0028de3ca01fe Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Wed, 7 May 2014 23:50:39 +0200 Subject: [PATCH 56/60] OP-1332 fix problem in alarm handling where alarms are unable to reset on their own --- flight/libraries/alarms.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/flight/libraries/alarms.c b/flight/libraries/alarms.c index 0ea46c5e5..fc96aa2ce 100644 --- a/flight/libraries/alarms.c +++ b/flight/libraries/alarms.c @@ -82,7 +82,7 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity // Read alarm and update its severity only if it was changed SystemAlarmsAlarmGet(&alarms); uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory - if ((flightTime - lastAlarmChange[alarm] > PIOS_ALARM_GRACETIME && + if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME && cast_struct_to_array(alarms, alarms.Actuator)[alarm] != severity) || cast_struct_to_array(alarms, alarms.Actuator)[alarm] < severity) { cast_struct_to_array(alarms, alarms.Actuator)[alarm] = severity; @@ -121,7 +121,7 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm, // Read alarm and update its severity only if it was changed SystemAlarmsGet(&alarms); uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory - if ((flightTime - lastAlarmChange[alarm] > PIOS_ALARM_GRACETIME && + if (((uint16_t)(flightTime - lastAlarmChange[alarm]) > PIOS_ALARM_GRACETIME && cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) || cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) { cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = status; From 4cf667123cf34ce4cde758ee158846741ea923cf Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 8 May 2014 00:20:00 +0200 Subject: [PATCH 57/60] OP-1161 changed default maximum warning and critical deviations for magnetometer --- shared/uavobjectdefinition/revosettings.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/shared/uavobjectdefinition/revosettings.xml b/shared/uavobjectdefinition/revosettings.xml index 9ad0f12d2..c1883ee73 100644 --- a/shared/uavobjectdefinition/revosettings.xml +++ b/shared/uavobjectdefinition/revosettings.xml @@ -9,7 +9,7 @@ - + From 48b9edc1e0701eb161ddc41eb849eace57bd739e Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 8 May 2014 21:21:50 +0200 Subject: [PATCH 58/60] uncrustify --- flight/modules/Sensors/sensors.c | 20 +++++++++++--------- 1 file changed, 11 insertions(+), 9 deletions(-) diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index b21b67fd4..c1c76ee8f 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -84,7 +84,9 @@ AccelGyroSettingsData agcal; // These values are initialized by settings but can be updated by the attitude algorithm static float mag_bias[3] = { 0, 0, 0 }; -static float mag_transform[3][3]={{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1}}; +static float mag_transform[3][3] = { + { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } +}; // temp coefficient to calculate gyro bias static volatile bool gyro_temp_calibrated = false; static volatile bool accel_temp_calibrated = false; @@ -442,9 +444,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) { RevoCalibrationGet(&cal); AccelGyroSettingsGet(&agcal); - mag_bias[0] = cal.mag_bias.X; - mag_bias[1] = cal.mag_bias.Y; - mag_bias[2] = cal.mag_bias.Z; + mag_bias[0] = cal.mag_bias.X; + mag_bias[1] = cal.mag_bias.Y; + mag_bias[2] = cal.mag_bias.Z; accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) && (fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f); @@ -459,16 +461,16 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) // Indicates not to expend cycles on rotation if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f - && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && - fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) { + && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && + fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) { rotate = 0; } else { rotate = 1; } float rotationQuat[4]; - const float rpy[3] = { attitudeSettings.BoardRotation.Roll, - attitudeSettings.BoardRotation.Pitch, - attitudeSettings.BoardRotation.Yaw }; + const float rpy[3] = { attitudeSettings.BoardRotation.Roll, + attitudeSettings.BoardRotation.Pitch, + attitudeSettings.BoardRotation.Yaw }; RPY2Quaternion(rpy, rotationQuat); Quaternion2R(rotationQuat, R); From 94beebc3d037056d52f05d4dcfbfb0b4e6d500ed Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 8 May 2014 22:26:12 +0200 Subject: [PATCH 59/60] OP-1302 Fixes for current next. Show flightmode everytime it changes when disarmed --- flight/libraries/notification.c | 90 ++++++++++++++++++++------------- 1 file changed, 56 insertions(+), 34 deletions(-) diff --git a/flight/libraries/notification.c b/flight/libraries/notification.c index 4df6f71bb..9015e4dd3 100644 --- a/flight/libraries/notification.c +++ b/flight/libraries/notification.c @@ -62,9 +62,9 @@ (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000001 : \ x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000100001 : \ x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000010000100001 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0000000000100001 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0000000000100001 : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0000000000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000100001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000010000100001 : \ x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000100001 : \ x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100010001 : \ x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100010001 : \ @@ -75,9 +75,9 @@ (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \ x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \ x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0000000000100000 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0000000000100000 : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0000000000100000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000000001 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000000000000001 : \ x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000010000000000 : \ x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001000100000000 : \ x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001000100000000 : \ @@ -85,31 +85,33 @@ x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000010000000000 : 0b0000010000000000) #define BLINK_B_FM_DISARMED_PATTERN(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0001111111111111 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0001111111111111 : 0b0001111111111111) + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000001100011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000110001100011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000001100011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000110001100011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000110001100011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0011001100110011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0011001100110011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000110001100011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000110001100011 : 0b0000000000000011) #define BLINK_R_FM_DISARMED_PATTERN(x) \ - (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0 : \ - x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0 : 0) + (x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1 ? 0b0000000000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2 ? 0b0000000000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3 ? 0b0000000000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED4 ? 0b0000000000000011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED5 ? 0b0000000000000011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED6 ? 0b0000000000000011 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD ? 0b0000110000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE ? 0b0011001100000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_LAND ? 0b0011001100000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER ? 0b0000110000000000 : \ + x == FLIGHTSTATUS_FLIGHTMODE_POI ? 0b0000110000000000 : 0b0000110000000000) +#define BLINK_B_HEARTBEAT_PATTERN 0b0001111111111111 +#define BLINK_R_HEARTBEAT_PATTERN 0 #define BLINK_B_NOTIFY_PATTERN(x) \ (x == NOTIFY_NONE ? 0 : \ @@ -133,8 +135,8 @@ static volatile pios_notify_notification nextNotification = NOTIFY_NONE; static bool handleAlarms(uint16_t *r_pattern, uint16_t *b_pattern); #endif // PIOS_LED_ALARM static bool handleNotifications(pios_notify_notification runningNotification, uint16_t *r_pattern, uint16_t *b_pattern); -static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern); - +static void handleFlightMode(uint16_t *r_pattern, uint16_t *b_pattern); +static void handleHeartbeat(uint16_t *r_pattern, uint16_t *b_pattern); void NotificationUpdateStatus() { started = true; @@ -152,12 +154,13 @@ void NotificationOnboardLedsRun() static uint16_t r_pattern; static uint16_t b_pattern; static uint8_t cycleCount; // count the number of cycles + static uint8_t lastFlightMode = -1; + static bool forceShowFlightMode = false; static pios_notify_notification runningNotification = NOTIFY_NONE; - static enum { STATUS_NOTIFY, STATUS_ALARM, - STATUS_FLIGHTMODE, + STATUS_FLIGHTMODE, // flightMode/HeartBeat STATUS_LENGHT } status; @@ -182,6 +185,13 @@ void NotificationOnboardLedsRun() // Force a notification status status = STATUS_NOTIFY; cycleCount = 0; // instantly start a notify cycle + } else { + if (lastFlightMode != currentFlightStatus.FlightMode) { + status = STATUS_FLIGHTMODE; + lastFlightMode = currentFlightStatus.FlightMode; + cycleCount = 0; // instantly start a flightMode cycle + forceShowFlightMode = true; + } } // check if a phase has just finished @@ -189,6 +199,7 @@ void NotificationOnboardLedsRun() HEARTBEAT_LED_OFF(); ALARM_LED_OFF(); cycleCount = 0x0; + forceShowFlightMode = false; // Notification has been just shown, cleanup if (status == STATUS_NOTIFY) { runningNotification = NOTIFY_NONE; @@ -218,7 +229,11 @@ void NotificationOnboardLedsRun() // **** Handles flightmode display if (status == STATUS_FLIGHTMODE && !cycleCount) { - handleStatus(&r_pattern, &b_pattern); + if (forceShowFlightMode || currentFlightStatus.Armed != FLIGHTSTATUS_ARMED_DISARMED) { + handleFlightMode(&r_pattern, &b_pattern); + } else { + handleHeartbeat(&r_pattern, &b_pattern); + } } // led output @@ -259,7 +274,7 @@ static bool handleNotifications(pios_notify_notification runningNotification, ui return true; } -static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern) +static void handleFlightMode(uint16_t *r_pattern, uint16_t *b_pattern) { // Flash the heartbeat LED uint8_t flightmode = currentFlightStatus.FlightMode; @@ -272,3 +287,10 @@ static void handleStatus(uint16_t *r_pattern, uint16_t *b_pattern) *r_pattern = BLINK_R_FM_ARMED_PATTERN(flightmode); } } + +static void handleHeartbeat(uint16_t *r_pattern, uint16_t *b_pattern) +{ + // Flash the heartbeat LED + *b_pattern = BLINK_B_HEARTBEAT_PATTERN; + *r_pattern = BLINK_R_HEARTBEAT_PATTERN; +} From d916fa5aadfccc5b69e299a362ce0d622a14adf6 Mon Sep 17 00:00:00 2001 From: Corvus Corax Date: Thu, 8 May 2014 23:18:38 +0200 Subject: [PATCH 60/60] uncrustification --- flight/modules/Sensors/sensors.c | 20 +++++++++-------- .../boards/discoveryf4bare/board_hw_defs.c | 6 ++--- .../firmware/inc/pios_config.h | 22 +++++++++---------- 3 files changed, 25 insertions(+), 23 deletions(-) diff --git a/flight/modules/Sensors/sensors.c b/flight/modules/Sensors/sensors.c index b21b67fd4..c1c76ee8f 100644 --- a/flight/modules/Sensors/sensors.c +++ b/flight/modules/Sensors/sensors.c @@ -84,7 +84,9 @@ AccelGyroSettingsData agcal; // These values are initialized by settings but can be updated by the attitude algorithm static float mag_bias[3] = { 0, 0, 0 }; -static float mag_transform[3][3]={{ 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1}}; +static float mag_transform[3][3] = { + { 1, 0, 0 }, { 0, 1, 0 }, { 0, 0, 1 } +}; // temp coefficient to calculate gyro bias static volatile bool gyro_temp_calibrated = false; static volatile bool accel_temp_calibrated = false; @@ -442,9 +444,9 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) { RevoCalibrationGet(&cal); AccelGyroSettingsGet(&agcal); - mag_bias[0] = cal.mag_bias.X; - mag_bias[1] = cal.mag_bias.Y; - mag_bias[2] = cal.mag_bias.Z; + mag_bias[0] = cal.mag_bias.X; + mag_bias[1] = cal.mag_bias.Y; + mag_bias[2] = cal.mag_bias.Z; accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) && (fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f); @@ -459,16 +461,16 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv) // Indicates not to expend cycles on rotation if (fabsf(attitudeSettings.BoardRotation.Roll) < 0.00001f - && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && - fabsf(attitudeSettings.BoardRotation.Yaw) <0.00001f ) { + && fabsf(attitudeSettings.BoardRotation.Pitch) < 0.00001f && + fabsf(attitudeSettings.BoardRotation.Yaw) < 0.00001f) { rotate = 0; } else { rotate = 1; } float rotationQuat[4]; - const float rpy[3] = { attitudeSettings.BoardRotation.Roll, - attitudeSettings.BoardRotation.Pitch, - attitudeSettings.BoardRotation.Yaw }; + const float rpy[3] = { attitudeSettings.BoardRotation.Roll, + attitudeSettings.BoardRotation.Pitch, + attitudeSettings.BoardRotation.Yaw }; RPY2Quaternion(rpy, rotationQuat); Quaternion2R(rotationQuat, R); diff --git a/flight/targets/boards/discoveryf4bare/board_hw_defs.c b/flight/targets/boards/discoveryf4bare/board_hw_defs.c index c847e00d9..69fc1b2f4 100644 --- a/flight/targets/boards/discoveryf4bare/board_hw_defs.c +++ b/flight/targets/boards/discoveryf4bare/board_hw_defs.c @@ -55,7 +55,7 @@ static const struct pios_gpio pios_leds[] = { }, .active_low = false }, - [PIOS_LED_D1] = { + [PIOS_LED_D1] = { .pin = { .gpio = GPIOD, .init = { @@ -68,7 +68,7 @@ static const struct pios_gpio pios_leds[] = { }, .active_low = false }, - [PIOS_LED_D2] = { + [PIOS_LED_D2] = { .pin = { .gpio = GPIOD, .init = { @@ -91,7 +91,7 @@ static const struct pios_gpio_cfg pios_led_cfg = { const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(__attribute__((unused)) uint32_t board_revision) { - return &pios_led_cfg; + return &pios_led_cfg; } #endif /* PIOS_INCLUDE_LED */ diff --git a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h index 4d335c8ab..16dbd851a 100644 --- a/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h +++ b/flight/targets/boards/discoveryf4bare/firmware/inc/pios_config.h @@ -78,15 +78,15 @@ /* #define PIOS_INCLUDE_ADXL345 */ /* #define PIOS_INCLUDE_BMA180 */ /* #define PIOS_INCLUDE_L3GD20 */ -//#define PIOS_INCLUDE_MPU6000 -//#define PIOS_MPU6000_ACCEL +// #define PIOS_INCLUDE_MPU6000 +// #define PIOS_MPU6000_ACCEL /* #define PIOS_INCLUDE_HMC5843 */ -//#define PIOS_INCLUDE_HMC5883 -//#define PIOS_HMC5883_HAS_GPIOS +// #define PIOS_INCLUDE_HMC5883 +// #define PIOS_HMC5883_HAS_GPIOS /* #define PIOS_INCLUDE_BMP085 */ -//#define PIOS_INCLUDE_MS5611 -//#define PIOS_INCLUDE_MPXV -//#define PIOS_INCLUDE_ETASV3 +// #define PIOS_INCLUDE_MS5611 +// #define PIOS_INCLUDE_MPXV +// #define PIOS_INCLUDE_ETASV3 /* #define PIOS_INCLUDE_HCSR04 */ /* PIOS receiver drivers */ @@ -96,7 +96,7 @@ #define PIOS_INCLUDE_DSM #define PIOS_INCLUDE_SBUS #define PIOS_INCLUDE_GCSRCVR -//#define PIOS_INCLUDE_OPLINKRCVR +// #define PIOS_INCLUDE_OPLINKRCVR /* PIOS abstract receiver interface */ #define PIOS_INCLUDE_RCVR @@ -117,9 +117,9 @@ /* #define PIOS_INCLUDE_FLASH_EEPROM */ /* PIOS radio modules */ -//#define PIOS_INCLUDE_RFM22B -//#define PIOS_INCLUDE_RFM22B_COM -//#define PIOS_INCLUDE_RFM22B_RCVR +// #define PIOS_INCLUDE_RFM22B +// #define PIOS_INCLUDE_RFM22B_COM +// #define PIOS_INCLUDE_RFM22B_RCVR /* #define PIOS_INCLUDE_PPM_OUT */ /* #define PIOS_RFM22B_DEBUG_ON_TELEM */

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