mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-01 09:24:10 +01:00
Merge branch 'abeck/OP-1898-VR' into rel-nano-15.05
This commit is contained in:
abeck70
commit
4502bff08c
@ -146,7 +146,7 @@ int32_t configuration_check()
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ADDSEVERITY(!gps_assisted);
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}
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYROAM:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTAKEOFF:
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ADDSEVERITY(!coptercontrol);
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@ -411,7 +411,7 @@ static void manualControlTask(void)
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// set in stabi settings. Once if we decide to always have this on, it can
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// can be directly set here...i.e. set the flight mode assist as required.
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
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case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
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case FLIGHTSTATUS_FLIGHTMODE_LAND:
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case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
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newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
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@ -531,7 +531,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
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thrustMode = modeSettings->Stabilization6Settings.Thrust;
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break;
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
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case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
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// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
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// is a more appropriate throttle mode. "GPSAssist" adds braking
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// and a better throttle management to the standard Position Hold.
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@ -80,12 +80,8 @@ void pathFollowerHandler(bool newinit)
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case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
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plan_setup_CourseLock();
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break;
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
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if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
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plan_setup_PositionRoam();
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} else {
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plan_setup_VelocityRoam();
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}
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case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
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plan_setup_VelocityRoam();
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break;
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case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
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plan_setup_HomeLeash();
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@ -130,12 +126,8 @@ void pathFollowerHandler(bool newinit)
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case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
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plan_run_CourseLock();
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break;
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case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
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if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
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plan_run_PositionRoam();
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} else {
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plan_run_VelocityRoam();
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}
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case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
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plan_run_VelocityRoam();
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break;
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case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
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plan_run_HomeLeash();
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@ -176,13 +176,14 @@ const LedSequence_t *flightModeMap[] = {
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[FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
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[FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_COURSELOCK] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_HOMELEASH] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_RTH],
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[FLIGHTSTATUS_FLIGHTMODE_LAND] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
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[FLIGHTSTATUS_FLIGHTMODE_POI] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
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[FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF] = ¬ifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
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};
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// List of alarms to show with attached sequences for each status
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@ -113,7 +113,7 @@ void VtolVelocityController::SettingsUpdated(void)
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controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
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controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
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controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->VelocityRoamMaxRollPitch, vtolPathFollowerSettings->VelocityRoamMaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
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}
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int32_t VtolVelocityController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
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@ -172,7 +172,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
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float angle_radians = DEG2RAD(attitudeState.Yaw);
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float cos_angle = cosf(angle_radians);
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float sine_angle = sinf(angle_radians);
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float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
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float maxPitch = vtolPathFollowerSettings->VelocityRoamMaxRollPitch;
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stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
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stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
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@ -116,8 +116,8 @@
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<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>1228</width>
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||||
<height>661</height>
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||||
<width>1220</width>
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||||
<height>655</height>
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||||
</rect>
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||||
</property>
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||||
<layout class="QGridLayout" name="gridLayout">
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@ -490,8 +490,8 @@
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||||
<rect>
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||||
<x>0</x>
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||||
<y>0</y>
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||||
<width>1228</width>
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||||
<height>669</height>
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||||
<width>1220</width>
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||||
<height>655</height>
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||||
</rect>
|
||||
</property>
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||||
<layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
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||||
@ -1960,7 +1960,7 @@ font:bold;</string>
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||||
<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
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<string><html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html></string>
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</property>
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<property name="objrelation" stdset="0">
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<stringlist>
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@ -1986,7 +1986,7 @@ font:bold;</string>
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||||
<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
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<string><html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html></string>
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</property>
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||||
<property name="objrelation" stdset="0">
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||||
<stringlist>
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@ -2012,7 +2012,7 @@ font:bold;</string>
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||||
<enum>Qt::StrongFocus</enum>
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||||
</property>
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<property name="toolTip">
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<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
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<string><html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html></string>
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</property>
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||||
<property name="objrelation" stdset="0">
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||||
<stringlist>
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||||
@ -2041,7 +2041,7 @@ font:bold;</string>
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||||
<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
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<string><html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html></string>
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</property>
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||||
<property name="objrelation" stdset="0">
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||||
<stringlist>
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||||
@ -2070,7 +2070,7 @@ font:bold;</string>
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||||
<enum>Qt::StrongFocus</enum>
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</property>
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||||
<property name="toolTip">
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<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
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<string><html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html></string>
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</property>
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||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
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||||
@ -2099,7 +2099,7 @@ font:bold;</string>
|
||||
<enum>Qt::StrongFocus</enum>
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||||
</property>
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||||
<property name="toolTip">
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<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
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<string><html><head/><body><p>GPSAssist adds a brake/hold sequence to Stabilization when pitch & roll is centered, and on initiation of PositionHold. GPSAssist also enables pitch & roll control during the auto landing flight mode.</p></body></html></string>
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</property>
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||||
<property name="objrelation" stdset="0">
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||||
<stringlist>
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||||
@ -2219,8 +2219,8 @@ font:bold;</string>
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>1228</width>
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||||
<height>669</height>
|
||||
<width>1220</width>
|
||||
<height>655</height>
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||||
</rect>
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||||
</property>
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<layout class="QVBoxLayout" name="verticalLayout_2">
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@ -5,8 +5,8 @@
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<field name="ThrustExp" units="" type="uint8" elements="1" defaultvalue="128" />
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<field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" />
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<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
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<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.4"/>
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<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 0.45, 0.001, 0.95"/>
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<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.3"/>
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<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
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<access gcs="readwrite" flight="readwrite"/>
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<telemetrygcs acked="true" updatemode="onchange" period="0"/>
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<telemetryflight acked="true" updatemode="onchange" period="0"/>
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@ -78,31 +78,31 @@
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units=""
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type="enum"
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elements="6"
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options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
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options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
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defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
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limits="\
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%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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||||
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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||||
%0903NE:POI:PathPlanner:AutoCruise;\
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\
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%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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||||
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0903NE:POI:PathPlanner:AutoCruise;\
|
||||
\
|
||||
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
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||||
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0903NE:POI:PathPlanner:AutoCruise;\
|
||||
\
|
||||
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0903NE:POI:PathPlanner:AutoCruise;\
|
||||
\
|
||||
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0903NE:POI:PathPlanner:AutoCruise;\
|
||||
\
|
||||
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
|
||||
%0903NE:POI:PathPlanner:AutoCruise;"/>
|
||||
|
||||
<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
<field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
|
||||
|
||||
<!-- Note these enumerated values should be the same as ManualControlSettings -->
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"/>
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"/>
|
||||
<!-- the options for FlightModeAssist needs to match the StablizationSettings' assist options -->
|
||||
<field name="FlightModeAssist" units="" type="enum" elements="1" options="None,GPSAssist_PrimaryThrust,GPSAssist"/>
|
||||
<field name="AssistedControlState" units="" type="enum" elements="1" options="Primary,Brake,Hold" defaultvalue="Primary"/>
|
||||
|
||||
@ -6,9 +6,9 @@
|
||||
<field name="VerticalVelMax" units="m/s" type="float" elements="1" defaultvalue="4.0" description="maximum allowed climb/dive velocity"/>
|
||||
<field name="CourseFeedForward" units="s" type="float" elements="1" defaultvalue="1.0"/>
|
||||
<field name="HorizontalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.25"/>
|
||||
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.4"/>
|
||||
<field name="VerticalPosP" units="" type="float" elements="1" defaultvalue="0.3"/>
|
||||
<field name="HorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="8.0, 0.5, 0.001, 0.95"/>
|
||||
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.35, 0.45, 0.001, 0.95"/>
|
||||
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
|
||||
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
|
||||
<field name="VelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="2"/>
|
||||
<field name="ThrustControl" units="" type="enum" elements="1" options="manual,auto" defaultvalue="auto"/>
|
||||
@ -18,10 +18,11 @@
|
||||
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
|
||||
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
|
||||
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
|
||||
<field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
|
||||
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
|
||||
<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
|
||||
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
|
||||
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.0, 0.03, 0.95"/>
|
||||
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
|
||||
<field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
|
||||
<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user