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Code Issues Releases Activity

OP-193 OP-511: Add settings to scale the camera input output range

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This commit is contained in:
James Cotton 2011-06-23 00:46:41 -05:00
parent 17fa227d1f
commit 493fcaef2a
4 changed files with 49 additions and 20 deletions
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5
flight/CopterControl/Makefile
View File

@ -168,6 +168,7 @@ SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
ifeq ($(DIAGNOISTCS),YES)
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
@ -438,7 +439,7 @@ CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
#CFLAGS += -fno-cprop-registers -fno-defer-pop -fno-guess-branch-probability -fno-section-anchors
#CFLAGS += -fno-if-conversion -fno-if-conversion2 -fno-ipa-pure-const -fno-ipa-reference -fno-merge-constants
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-split-wide-types -fno-tree-ccp -fno-tree-ch -fno-tree-copy-prop -fno-tree-copyrename
#CFLAGS += -fno-tree-dce -fno-tree-dominator-opts -fno-tree-dse -fno-tree-fre -fno-tree-sink -fno-tree-sra
#CFLAGS += -fno-tree-ter
#CFLAGS += -g$(DEBUGF) -DDEBUG
@ -529,7 +530,7 @@ ${OUTDIR}/InitMods.c: Makefile
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
# @$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
# @$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h

60
flight/Modules/CameraStab/camerastab.c
View File

@ -49,11 +49,12 @@
#include "accessorydesired.h"
#include "attitudeactual.h"
#include "camerastabsettings.h"
//
// Configuration
//
#define SAMPLE_PERIOD_MS 50
#define SAMPLE_PERIOD_MS 10
// Private types
@ -73,6 +74,8 @@ int32_t CameraStabInitialize(void)
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
@ -85,25 +88,46 @@ static void attitudeUpdated(UAVObjEvent* ev)
float attitude;
AccessoryDesiredData accessory;
float rollConst = 1.0/35.0;
float pitchConst = 1.0/35.0;
float yawConst = 1.0/35.0;
AttitudeActualRollGet(&attitude);
accessory.AccessoryVal = attitude * rollConst;
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AccessoryDesiredCreateInstance();
AttitudeActualPitchGet(&attitude);
accessory.AccessoryVal = attitude * pitchConst;
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AccessoryDesiredCreateInstance();
CameraStabSettingsData cameraStab;
CameraStabSettingsGet(&cameraStab);
AttitudeActualYawGet(&attitude);
accessory.AccessoryVal = attitude * yawConst;
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AccessoryDesiredCreateInstance();
// Read any input channels
float inputs[3] = {0,0,0};
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_ROLL] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) != 0)
inputs[0] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_ROLL];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_PITCH] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) != 0)
inputs[1] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_PITCH];
}
if(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] != CAMERASTABSETTINGS_INPUTS_NONE) {
if(AccessoryDesiredInstGet(cameraStab.Inputs[CAMERASTABSETTINGS_INPUTS_YAW] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) != 0)
inputs[2] = accessory.AccessoryVal * cameraStab.InputRange[CAMERASTABSETTINGS_INPUTRANGE_YAW];
}
// Set output channels
if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_ROLL] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
AttitudeActualRollGet(&attitude);
accessory.AccessoryVal = (attitude + inputs[0]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL];
if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_ROLL] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
AccessoryDesiredCreateInstance();
}
if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_PITCH] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
AttitudeActualPitchGet(&attitude);
accessory.AccessoryVal = (attitude + inputs[1]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH];
if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_PITCH] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
AccessoryDesiredCreateInstance();
}
if(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_YAW] != CAMERASTABSETTINGS_OUTPUTS_NONE) {
AttitudeActualYawGet(&attitude);
accessory.AccessoryVal = (attitude + inputs[2]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW];
if(AccessoryDesiredInstSet(cameraStab.Outputs[CAMERASTABSETTINGS_OUTPUTS_YAW] - CAMERASTABSETTINGS_OUTPUTS_ACCESSORY0, &accessory) != 0)
AccessoryDesiredCreateInstance();
}
}
/**

2
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -85,6 +85,7 @@
6549E0D21279B3C800C5476F /* fifo_buffer.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = fifo_buffer.c; sourceTree = "<group>"; };
6549E0D31279B3CF00C5476F /* fifo_buffer.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = fifo_buffer.h; sourceTree = "<group>"; };
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = camerastabsettings.xml; sourceTree = "<group>"; };
656268C612DC1923007B0A0F /* nedaccel.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = nedaccel.xml; sourceTree = "<group>"; };
65632DF51251650300469B77 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65632DF61251650300469B77 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
@ -7434,6 +7435,7 @@
65E410AE12F65AEA00725888 /* attitudesettings.xml */,
65C35E5912EFB2F3004811C2 /* baroaltitude.xml */,
65C35E5A12EFB2F3004811C2 /* batterysettings.xml */,
655B1A8E13B2FC0900B0E48D /* camerastabsettings.xml */,
652C8568132B632A00BFCC70 /* firmwareiapobj.xml */,
65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */,
65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */,

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -31,6 +31,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/ahrssettings.h \
$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.h \
$$UAVOBJECT_SYNTHETICS/attituderaw.h \
$$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
$$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \
$$UAVOBJECT_SYNTHETICS/systemstats.h \
$$UAVOBJECT_SYNTHETICS/systemalarms.h \
@ -78,6 +79,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/ahrssettings.cpp \
$$UAVOBJECT_SYNTHETICS/gcstelemetrystats.cpp \
$$UAVOBJECT_SYNTHETICS/attituderaw.cpp \
$$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \
$$UAVOBJECT_SYNTHETICS/flighttelemetrystats.cpp \
$$UAVOBJECT_SYNTHETICS/systemstats.cpp \
$$UAVOBJECT_SYNTHETICS/systemalarms.cpp \