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Code Issues Releases Activity

Flight: Got a much nicer arming/disarming system going. Made it a separate flag in the end to allow testing the stabilization code with motors not running. Also changes maxRoll/maxPitch/maxYaw to uint8 to keep object size smaller - no reason for float precision for this.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1660 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-16 15:41:11 +00:00 committed by peabody124
parent a6e71177e4
commit 3b015b41c5
17 changed files with 173 additions and 76 deletions
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93
flight/OpenPilot/Modules/Actuator/actuator.c
View File

@ -38,6 +38,7 @@
#include "systemsettings.h"
#include "actuatordesired.h"
#include "actuatorcommand.h"
#include "manualcontrolcommand.h"
// Private constants
#define MAX_QUEUE_SIZE 2
@ -63,7 +64,6 @@ static void setFailsafe();
static float bound(float val, float min, float max);
static uint8_t vtolEnabled = 0;
/**
* @brief Module initialization
* @return 0
@ -98,8 +98,6 @@ static void actuatorTask(void* parameters)
ActuatorSettingsGet(&settings);
PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
vtolEnabled = 0; // a flag that must be set by moving throttle up and down again
// Go to the neutral (failsafe) values until an ActuatorDesired update is received
setFailsafe();
@ -196,6 +194,7 @@ static void actuatorTask(void* parameters)
*/
static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
{
// Check settings
if ( settings->FixedWingPitch1 == ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE ||
settings->FixedWingRoll1 == ACTUATORSETTINGS_FIXEDWINGROLL1_NONE ||
@ -204,6 +203,9 @@ static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const Actuat
return -1;
}
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
// Set pitch servo command
cmd->Channel[ settings->FixedWingPitch1 ] = scaleChannel(desired->Pitch, settings->ChannelMax[ settings->FixedWingPitch1 ],
settings->ChannelMin[ settings->FixedWingPitch1 ],
@ -235,9 +237,12 @@ static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const Actuat
}
// Set throttle servo command
cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
if(manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE)
cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
settings->ChannelMin[ settings->FixedWingThrottle ],
settings->ChannelNeutral[ settings->FixedWingThrottle ]);
else
cmd->Channel[ settings->FixedWingThrottle ] = -1;
// Done
return 0;
@ -257,21 +262,27 @@ static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const
return -1;
}
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
// Set first elevon servo command
cmd->Channel[ settings->FixedWingRoll1 ] = scaleChannel(desired->Pitch + desired->Roll, settings->ChannelMax[ settings->FixedWingRoll1 ],
settings->ChannelMin[ settings->FixedWingRoll1 ],
settings->ChannelNeutral[ settings->FixedWingRoll1 ]);
// Set second elevon servo command
cmd->Channel[ settings->FixedWingRoll2 ] = scaleChannel(desired->Pitch - desired->Roll, settings->ChannelMax[ settings->FixedWingRoll2 ],
// Set second elevon servo command
cmd->Channel[ settings->FixedWingRoll2 ] = scaleChannel(desired->Pitch - desired->Roll, settings->ChannelMax[ settings->FixedWingRoll2 ],
settings->ChannelMin[ settings->FixedWingRoll2 ],
settings->ChannelNeutral[ settings->FixedWingRoll2 ]);
// Set throttle servo command
cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
settings->ChannelMin[ settings->FixedWingThrottle ],
settings->ChannelNeutral[ settings->FixedWingThrottle ]);
if(manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE)
cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
settings->ChannelMin[ settings->FixedWingThrottle ],
settings->ChannelNeutral[ settings->FixedWingThrottle ]);
else
cmd->Channel[ settings->FixedWingThrottle ] = -1;
// Done
return 0;
}
@ -293,20 +304,18 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
VTOLStatusData vtolStatus;
VTOLSettingsGet(&vtolSettings);
VTOLStatusGet(&vtolStatus);
// Simple logic to require throttle past .5 and then brought back before enabling motors.
// This possibly should be used for other mixers.
if ((vtolEnabled == 0) && (desired->Throttle > .5))
vtolEnabled = 1;
if ((vtolEnabled == 1) && (desired->Throttle <= 0))
vtolEnabled = 2;
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
const int vtolMin = -1;
int vtolMax = 1;
if(desired->Throttle < 0 || vtolEnabled < 2)
vtolMax = -1;
int vtolMax = -1;
if((manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE) &&
(desired->Throttle >= 0))
vtolMax = 1;
else
vtolMax = 1;
vtolMax = -1;
if(((settings->VTOLMotorN != ACTUATORSETTINGS_VTOLMOTORN_NONE) +
(settings->VTOLMotorNE != ACTUATORSETTINGS_VTOLMOTORS_NONE) +
@ -320,51 +329,51 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
}
if(settings->VTOLMotorN != ACTUATORSETTINGS_VTOLMOTORN_NONE) {
vtolStatus.MotorN = bound(desired->Throttle * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_THROTTLE] +
vtolStatus.MotorN = desired->Throttle * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_THROTTLE] +
desired->Pitch * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_PITCH] +
desired->Roll * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_ROLL] +
desired->Yaw * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorN] = scaleChannel(vtolStatus.MotorN,
desired->Yaw * vtolSettings.MotorN[VTOLSETTINGS_MOTORN_YAW];
cmd->Channel[settings->VTOLMotorN] = scaleChannel(bound(vtolStatus.MotorN, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorN],
settings->ChannelMin[settings->VTOLMotorN],
settings->ChannelNeutral[settings->VTOLMotorN]);
}
if(settings->VTOLMotorNE != ACTUATORSETTINGS_VTOLMOTORNE_NONE) {
vtolStatus.MotorNE = bound(desired->Throttle * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_THROTTLE] +
vtolStatus.MotorNE = desired->Throttle * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_THROTTLE] +
desired->Pitch * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_PITCH] +
desired->Roll * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_ROLL] +
desired->Yaw * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorNE] = scaleChannel(vtolStatus.MotorNE,
desired->Yaw * vtolSettings.MotorNE[VTOLSETTINGS_MOTORNE_YAW];
cmd->Channel[settings->VTOLMotorNE] = scaleChannel(bound(vtolStatus.MotorNE, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorNE],
settings->ChannelMin[settings->VTOLMotorNE],
settings->ChannelNeutral[settings->VTOLMotorNE]);
}
if(settings->VTOLMotorE != ACTUATORSETTINGS_VTOLMOTORE_NONE) {
vtolStatus.MotorE = bound(desired->Throttle * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_THROTTLE] +
vtolStatus.MotorE = desired->Throttle * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_THROTTLE] +
desired->Pitch * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_PITCH] +
desired->Roll * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_ROLL] +
desired->Yaw * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorE] = scaleChannel(vtolStatus.MotorE,
desired->Yaw * vtolSettings.MotorE[VTOLSETTINGS_MOTORE_YAW];
cmd->Channel[settings->VTOLMotorE] = scaleChannel(bound(vtolStatus.MotorE, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorE],
settings->ChannelMin[settings->VTOLMotorE],
settings->ChannelNeutral[settings->VTOLMotorE]);
}
if(settings->VTOLMotorSE != ACTUATORSETTINGS_VTOLMOTORSE_NONE) {
vtolStatus.MotorSE = bound(desired->Throttle * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_THROTTLE] +
vtolStatus.MotorSE = desired->Throttle * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_THROTTLE] +
desired->Pitch * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_PITCH] +
desired->Roll * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_ROLL] +
desired->Yaw * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorSE] = scaleChannel(vtolStatus.MotorSE,
desired->Yaw * vtolSettings.MotorSE[VTOLSETTINGS_MOTORSE_YAW];
cmd->Channel[settings->VTOLMotorSE] = scaleChannel(bound(vtolStatus.MotorSE, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorSE],
settings->ChannelMin[settings->VTOLMotorSE],
settings->ChannelNeutral[settings->VTOLMotorSE]);
}
if(settings->VTOLMotorS != ACTUATORSETTINGS_VTOLMOTORS_NONE) {
vtolStatus.MotorS = bound(desired->Throttle * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_THROTTLE] +
vtolStatus.MotorS = desired->Throttle * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_THROTTLE] +
desired->Pitch * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_PITCH] +
desired->Roll * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_ROLL] +
desired->Yaw * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorS] = scaleChannel(vtolStatus.MotorS,
desired->Yaw * vtolSettings.MotorS[VTOLSETTINGS_MOTORS_YAW];
cmd->Channel[settings->VTOLMotorS] = scaleChannel(bound(vtolStatus.MotorS, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorS],
settings->ChannelMin[settings->VTOLMotorS],
settings->ChannelNeutral[settings->VTOLMotorS]);
@ -380,21 +389,21 @@ static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDes
settings->ChannelNeutral[settings->VTOLMotorSW]);
}
if(settings->VTOLMotorW != ACTUATORSETTINGS_VTOLMOTORW_NONE) {
vtolStatus.MotorW = bound(desired->Throttle * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_THROTTLE] +
vtolStatus.MotorW = desired->Throttle * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_THROTTLE] +
desired->Pitch * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_PITCH] +
desired->Roll * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_ROLL] +
desired->Yaw * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorW] = scaleChannel(vtolStatus.MotorW,
desired->Yaw * vtolSettings.MotorW[VTOLSETTINGS_MOTORW_YAW];
cmd->Channel[settings->VTOLMotorW] = scaleChannel(bound(vtolStatus.MotorW, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorW],
settings->ChannelMin[settings->VTOLMotorW],
settings->ChannelNeutral[settings->VTOLMotorW]);
}
if(settings->VTOLMotorNW != ACTUATORSETTINGS_VTOLMOTORNW_NONE) {
vtolStatus.MotorNW = bound(desired->Throttle * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_THROTTLE] +
vtolStatus.MotorNW = desired->Throttle * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_THROTTLE] +
desired->Pitch * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_PITCH] +
desired->Roll * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_ROLL] +
desired->Yaw * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_YAW],vtolMin,vtolMax);
cmd->Channel[settings->VTOLMotorNW] = scaleChannel(vtolStatus.MotorNW,
desired->Yaw * vtolSettings.MotorNW[VTOLSETTINGS_MOTORNW_YAW];
cmd->Channel[settings->VTOLMotorNW] = scaleChannel(bound(vtolStatus.MotorNW, vtolMin, vtolMax),
settings->ChannelMax[settings->VTOLMotorNW],
settings->ChannelMin[settings->VTOLMotorNW],
settings->ChannelNeutral[settings->VTOLMotorNW]);

30
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
View File

@ -81,12 +81,18 @@ static void manualControlTask(void* parameters)
ActuatorDesiredData actuator;
AttitudeDesiredData attitude;
portTickType lastSysTime;
portTickType armedDisarmStart = 0;
float flightMode;
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
enum {CONNECTED, DISCONNECTED} connection_state = DISCONNECTED;
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd);
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
@ -228,6 +234,22 @@ static void manualControlTask(void* parameters)
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
ManualControlCommandSet(&cmd);
}
/* Look for arm or disarm signal */
if ((cmd.Throttle <= 0.05) && (cmd.Roll <= -0.95)) {
if((armedDisarmStart == 0) || (lastSysTime < armedDisarmStart)) // store when started, deal with rollover
armedDisarmStart = lastSysTime;
else if ((lastSysTime - armedDisarmStart) > (1000 * portTICK_RATE_MS))
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_TRUE;
}else if ((cmd.Throttle <= 0.05) && (cmd.Roll >= 0.95)) {
if((armedDisarmStart == 0) || (lastSysTime < armedDisarmStart)) // store when started, deal with rollover
armedDisarmStart = lastSysTime;
else if ((lastSysTime - armedDisarmStart) > (1000 * portTICK_RATE_MS))
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
} else {
armedDisarmStart = 0;
}
// Depending on the mode update the Stabilization or Actuator objects
if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
@ -255,11 +277,11 @@ static void manualControlTask(void* parameters)
{
attitude.Yaw = (cmd.Yaw*180.0);
}
if(cmd.Throttle < 0)
attitude.Throttle = -1;
else
attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
}
if(cmd.Throttle < 0)
attitude.Throttle = -1;
else
attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
AttitudeDesiredSet(&attitude);
}

2
flight/OpenPilot/Modules/Stabilization/simple/Stabilization/stabilization.c
View File

@ -152,7 +152,7 @@ static void stabilizationTask(void* parameters)
}
// Setup throttle
actuatorDesired.Throttle = bound(attitudeDesired.Throttle, 0.0, stabSettings.ThrottleMax);
actuatorDesired.Throttle = bound(attitudeDesired.Throttle, stabSettings.ThrottleMin, stabSettings.ThrottleMax);
// Write actuator desired (if not in manual mode)
if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )

6
flight/OpenPilot/UAVObjects/inc/manualcontrolcommand.h
View File

@ -41,7 +41,7 @@
#define MANUALCONTROLCOMMAND_H
// Object constants
#define MANUALCONTROLCOMMAND_OBJID 1289277596U
#define MANUALCONTROLCOMMAND_OBJID 9594768U
#define MANUALCONTROLCOMMAND_NAME "ManualControlCommand"
#define MANUALCONTROLCOMMAND_METANAME "ManualControlCommandMeta"
#define MANUALCONTROLCOMMAND_ISSINGLEINST 1
@ -72,6 +72,7 @@
// Object data
typedef struct {
uint8_t Connected;
uint8_t Armed;
float Roll;
float Pitch;
float Yaw;
@ -88,6 +89,9 @@ typedef struct {
// Field Connected information
/* Enumeration options for field Connected */
typedef enum { MANUALCONTROLCOMMAND_CONNECTED_FALSE=0, MANUALCONTROLCOMMAND_CONNECTED_TRUE=1 } ManualControlCommandConnectedOptions;
// Field Armed information
/* Enumeration options for field Armed */
typedef enum { MANUALCONTROLCOMMAND_ARMED_FALSE=0, MANUALCONTROLCOMMAND_ARMED_TRUE=1 } ManualControlCommandArmedOptions;
// Field Roll information
// Field Pitch information
// Field Yaw information

12
flight/OpenPilot/UAVObjects/inc/stabilizationsettings.h
View File

@ -41,7 +41,7 @@
#define STABILIZATIONSETTINGS_H
// Object constants
#define STABILIZATIONSETTINGS_OBJID 1244337598U
#define STABILIZATIONSETTINGS_OBJID 117768092U
#define STABILIZATIONSETTINGS_NAME "StabilizationSettings"
#define STABILIZATIONSETTINGS_METANAME "StabilizationSettingsMeta"
#define STABILIZATIONSETTINGS_ISSINGLEINST 1
@ -71,12 +71,13 @@
// Object data
typedef struct {
uint16_t UpdatePeriod;
float RollMax;
float PitchMax;
float YawMax;
uint8_t UpdatePeriod;
uint8_t RollMax;
uint8_t PitchMax;
uint8_t YawMax;
uint8_t YawMode;
float ThrottleMax;
float ThrottleMin;
float RollIntegralLimit;
float PitchIntegralLimit;
float YawIntegralLimit;
@ -101,6 +102,7 @@ typedef struct {
/* Enumeration options for field YawMode */
typedef enum { STABILIZATIONSETTINGS_YAWMODE_RATE=0, STABILIZATIONSETTINGS_YAWMODE_HEADING=1 } StabilizationSettingsYawModeOptions;
// Field ThrottleMax information
// Field ThrottleMin information
// Field RollIntegralLimit information
// Field PitchIntegralLimit information
// Field YawIntegralLimit information

1
flight/OpenPilot/UAVObjects/stabilizationsettings.c
View File

@ -86,6 +86,7 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
data.YawMax = 35;
data.YawMode = 0;
data.ThrottleMax = 1;
data.ThrottleMin = -1;
data.RollIntegralLimit = 0.5;
data.PitchIntegralLimit = 0.5;
data.YawIntegralLimit = 0.5;

9
ground/src/plugins/gcscontrol/gcscontrol.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>653</width>
<height>290</height>
<height>295</height>
</rect>
</property>
<property name="sizePolicy">
@ -31,6 +31,13 @@
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxArmed">
<property name="text">
<string>Armed</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">

9
ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -52,6 +52,10 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
// Set up slots and signals
connect(m_gcscontrol->checkBoxGcsControl, SIGNAL(stateChanged(int)), this, SLOT(gcsControlToggle(int)));
connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(flightModeChanged(int)));
//connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(gcsArmedToggle(int)));
// Connect object updated event from UAVObject to also update check boxes
connect(getMCC(), SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));
}
@ -71,6 +75,11 @@ ManualControlCommand* GCSControlGadgetWidget::getMCC()
return obj;
}
void GCSControlGadgetWidget::mccChanged(UAVObject* obj)
{
m_gcscontrol->checkBoxArmed->setChecked(obj->getField("Armed")->getValue().toString() == "True");
}
/*!
\brief Called when the gcs control is toggled and enabled or disables flight write access to manual control command
*/

3
ground/src/plugins/gcscontrol/gcscontrolgadgetwidget.h
View File

@ -45,6 +45,9 @@ private slots:
void gcsControlToggle(int state);
void flightModeChanged(int state);
protected slots:
void mccChanged(UAVObject*);
private:
Ui_GCSControl *m_gcscontrol;
ManualControlCommand* getMCC();

6
ground/src/plugins/uavobjects/manualcontrolcommand.cpp
View File

@ -48,6 +48,12 @@ ManualControlCommand::ManualControlCommand(): UAVDataObject(OBJID, ISSINGLEINST,
ConnectedEnumOptions.append("False");
ConnectedEnumOptions.append("True");
fields.append( new UAVObjectField(QString("Connected"), QString(""), UAVObjectField::ENUM, ConnectedElemNames, ConnectedEnumOptions) );
QStringList ArmedElemNames;
ArmedElemNames.append("0");
QStringList ArmedEnumOptions;
ArmedEnumOptions.append("False");
ArmedEnumOptions.append("True");
fields.append( new UAVObjectField(QString("Armed"), QString(""), UAVObjectField::ENUM, ArmedElemNames, ArmedEnumOptions) );
QStringList RollElemNames;
RollElemNames.append("0");
fields.append( new UAVObjectField(QString("Roll"), QString("%"), UAVObjectField::FLOAT32, RollElemNames, QStringList()) );

6
ground/src/plugins/uavobjects/manualcontrolcommand.h
View File

@ -44,6 +44,7 @@ public:
// Field structure
typedef struct {
quint8 Connected;
quint8 Armed;
float Roll;
float Pitch;
float Yaw;
@ -60,6 +61,9 @@ public:
// Field Connected information
/* Enumeration options for field Connected */
typedef enum { CONNECTED_FALSE=0, CONNECTED_TRUE=1 } ConnectedOptions;
// Field Armed information
/* Enumeration options for field Armed */
typedef enum { ARMED_FALSE=0, ARMED_TRUE=1 } ArmedOptions;
// Field Roll information
// Field Pitch information
// Field Yaw information
@ -76,7 +80,7 @@ public:
// Constants
static const quint32 OBJID = 1289277596U;
static const quint32 OBJID = 9594768U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;

14
ground/src/plugins/uavobjects/manualcontrolcommand.py
View File

@ -49,6 +49,18 @@ _fields = [ \
'1' : 'True',
}
),
uavobject.UAVObjectField(
'Armed',
'b',
1,
[
'0',
],
{
'0' : 'False',
'1' : 'True',
}
),
uavobject.UAVObjectField(
'Roll',
'f',
@ -154,7 +166,7 @@ _fields = [ \
class ManualControlCommand(uavobject.UAVObject):
## Object constants
OBJID = 1289277596
OBJID = 9594768
NAME = "ManualControlCommand"
METANAME = "ManualControlCommandMeta"
ISSINGLEINST = 1

14
ground/src/plugins/uavobjects/stabilizationsettings.cpp
View File

@ -44,16 +44,16 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS
QList<UAVObjectField*> fields;
QStringList UpdatePeriodElemNames;
UpdatePeriodElemNames.append("0");
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT16, UpdatePeriodElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT8, UpdatePeriodElemNames, QStringList()) );
QStringList RollMaxElemNames;
RollMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::FLOAT32, RollMaxElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
QStringList PitchMaxElemNames;
PitchMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("PitchMax"), QString("degrees"), UAVObjectField::FLOAT32, PitchMaxElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("PitchMax"), QString("degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
QStringList YawMaxElemNames;
YawMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("YawMax"), QString("degrees"), UAVObjectField::FLOAT32, YawMaxElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("YawMax"), QString("degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
QStringList YawModeElemNames;
YawModeElemNames.append("0");
QStringList YawModeEnumOptions;
@ -62,7 +62,10 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS
fields.append( new UAVObjectField(QString("YawMode"), QString("degrees"), UAVObjectField::ENUM, YawModeElemNames, YawModeEnumOptions) );
QStringList ThrottleMaxElemNames;
ThrottleMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("ThrottleMax"), QString("%"), UAVObjectField::FLOAT32, ThrottleMaxElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("ThrottleMax"), QString("frac"), UAVObjectField::FLOAT32, ThrottleMaxElemNames, QStringList()) );
QStringList ThrottleMinElemNames;
ThrottleMinElemNames.append("0");
fields.append( new UAVObjectField(QString("ThrottleMin"), QString("frac"), UAVObjectField::FLOAT32, ThrottleMinElemNames, QStringList()) );
QStringList RollIntegralLimitElemNames;
RollIntegralLimitElemNames.append("0");
fields.append( new UAVObjectField(QString("RollIntegralLimit"), QString(""), UAVObjectField::FLOAT32, RollIntegralLimitElemNames, QStringList()) );
@ -138,6 +141,7 @@ void StabilizationSettings::setDefaultFieldValues()
data.YawMax = 35;
data.YawMode = 0;
data.ThrottleMax = 1;
data.ThrottleMin = -1;
data.RollIntegralLimit = 0.5;
data.PitchIntegralLimit = 0.5;
data.YawIntegralLimit = 0.5;

12
ground/src/plugins/uavobjects/stabilizationsettings.h
View File

@ -43,12 +43,13 @@ class UAVOBJECTS_EXPORT StabilizationSettings: public UAVDataObject
public:
// Field structure
typedef struct {
quint16 UpdatePeriod;
float RollMax;
float PitchMax;
float YawMax;
quint8 UpdatePeriod;
quint8 RollMax;
quint8 PitchMax;
quint8 YawMax;
quint8 YawMode;
float ThrottleMax;
float ThrottleMin;
float RollIntegralLimit;
float PitchIntegralLimit;
float YawIntegralLimit;
@ -73,6 +74,7 @@ public:
/* Enumeration options for field YawMode */
typedef enum { YAWMODE_RATE=0, YAWMODE_HEADING=1 } YawModeOptions;
// Field ThrottleMax information
// Field ThrottleMin information
// Field RollIntegralLimit information
// Field PitchIntegralLimit information
// Field YawIntegralLimit information
@ -88,7 +90,7 @@ public:
// Constants
static const quint32 OBJID = 1244337598U;
static const quint32 OBJID = 117768092U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;

20
ground/src/plugins/uavobjects/stabilizationsettings.py
View File

@ -39,7 +39,7 @@ from collections import namedtuple
_fields = [ \
uavobject.UAVObjectField(
'UpdatePeriod',
'H',
'B',
1,
[
'0',
@ -49,7 +49,7 @@ _fields = [ \
),
uavobject.UAVObjectField(
'RollMax',
'f',
'B',
1,
[
'0',
@ -59,7 +59,7 @@ _fields = [ \
),
uavobject.UAVObjectField(
'PitchMax',
'f',
'B',
1,
[
'0',
@ -69,7 +69,7 @@ _fields = [ \
),
uavobject.UAVObjectField(
'YawMax',
'f',
'B',
1,
[
'0',
@ -99,6 +99,16 @@ _fields = [ \
{
}
),
uavobject.UAVObjectField(
'ThrottleMin',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollIntegralLimit',
'f',
@ -224,7 +234,7 @@ _fields = [ \
class StabilizationSettings(uavobject.UAVObject):
## Object constants
OBJID = 1244337598
OBJID = 117768092
NAME = "StabilizationSettings"
METANAME = "StabilizationSettingsMeta"
ISSINGLEINST = 1

1
ground/src/shared/uavobjectdefinition/manualcontrolcommand.xml
View File

@ -2,6 +2,7 @@
<object name="ManualControlCommand" singleinstance="true" settings="false">
<description>The output from the @ref ManualControlModule which descodes the receiver inputs. Overriden by GCS for fly-by-wire control.</description>
<field name="Connected" units="" type="enum" elements="1" options="False,True"/>
<field name="Armed" units="" type="enum" elements="1" options="False,True"/>
<field name="Roll" units="%" type="float" elements="1"/>
<field name="Pitch" units="%" type="float" elements="1"/>
<field name="Yaw" units="%" type="float" elements="1"/>

11
ground/src/shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -1,12 +1,13 @@
<xml>
<object name="StabilizationSettings" singleinstance="true" settings="true">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="10"/>
<field name="RollMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
<field name="PitchMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
<field name="YawMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
<field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="10"/>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
<field name="YawMode" units="degrees" type="enum" elements="1" options="rate,heading" defaultvalue="rate"/>
<field name="ThrottleMax" units="%" type="float" elements="1" defaultvalue="1.0"/>
<field name="ThrottleMax" units="frac" type="float" elements="1" defaultvalue="1.0"/>
<field name="ThrottleMin" units="frac" type="float" elements="1" defaultvalue="-1.0"/>
<field name="RollIntegralLimit" units="" type="float" elements="1" defaultvalue="0.5"/>
<field name="PitchIntegralLimit" units="" type="float" elements="1" defaultvalue="0.5"/>
<field name="YawIntegralLimit" units="" type="float" elements="1" defaultvalue="0.5"/>