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Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS

Browse Source 
Conflicts:
	flight/Modules/GPS/GPS.c
	flight/Modules/GPS/GTOP_BIN.c
	flight/Modules/GPS/NMEA.c
	shared/uavobjectdefinition/hwsettings.xml
This commit is contained in:
Corvus Corax 2011-08-25 15:33:23 +02:00
commit 4bd72923e5
24 changed files with 1095 additions and 1353 deletions
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6
flight/CopterControl/System/pios_board.c
View File

@ -924,6 +924,8 @@ void PIOS_Board_Init(void) {
TaskMonitorInitialize();
/* Configure the main IO port */
uint8_t hwsettings_DSMxBind;
HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
uint8_t hwsettings_cc_mainport;
HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
@ -992,7 +994,7 @@ void PIOS_Board_Init(void) {
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
PIOS_Assert(0);
}
}
@ -1056,7 +1058,7 @@ void PIOS_Board_Init(void) {
}
uint32_t pios_spektrum_id;
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
PIOS_Assert(0);
}
}

262
flight/Modules/GPS/GPS.c
View File

@ -35,17 +35,12 @@
#include <stdbool.h>
#ifdef ENABLE_GPS_BINARY_GTOP
#include "GTOP_BIN.h"
#endif
#if defined(ENABLE_GPS_ONESENTENCE_GTOP) || defined(ENABLE_GPS_NMEA)
#include "NMEA.h"
#endif
#include "NMEA.h"
#include "gpsposition.h"
#include "homelocation.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
@ -62,25 +57,16 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// ****************
// Private constants
//#define FULL_COLD_RESTART // uncomment this to tell the GPS to do a FULL COLD restart
//#define DISABLE_GPS_THRESHOLD //
#define GPS_TIMEOUT_MS 500
#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
#define NMEA_MAX_PACKET_LENGTH 96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
// same as in COM buffer
#ifdef PIOS_GPS_SETS_HOMELOCATION
// Unfortunately need a good size stack for the WMM calculation
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 800
#else
#define STACK_SIZE_BYTES 800
#endif
#define STACK_SIZE_BYTES 800
#else
#ifdef ENABLE_GPS_BINARY_GTOP
#define STACK_SIZE_BYTES 650
#else
#define STACK_SIZE_BYTES 650
#endif
#define STACK_SIZE_BYTES 650
#endif
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
@ -92,9 +78,7 @@ static uint32_t gpsPort;
static xTaskHandle gpsTaskHandle;
#ifndef ENABLE_GPS_BINARY_GTOP
static char gps_rx_buffer[128];
#endif
static char* gps_rx_buffer;
static uint32_t timeOfLastCommandMs;
static uint32_t timeOfLastUpdateMs;
@ -127,12 +111,17 @@ int32_t GPSInitialize(void)
GPSPositionInitialize();
#if !defined(PIOS_GPS_PURISTIC)
GPSTimeInitialize();
GPSSatellitesInitialize();
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
return 0;
}
// optional module, gets initialized separately
@ -149,45 +138,11 @@ static void gpsTask(void *parameters)
uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
GPSPositionData GpsData;
#ifdef ENABLE_GPS_BINARY_GTOP
GTOP_BIN_init();
#else
uint8_t rx_count = 0;
bool start_flag = false;
bool found_cr = false;
int32_t gpsRxOverflow = 0;
#endif
#ifdef FULL_COLD_RESTART
// tell the GPS to do a FULL COLD restart
PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK104*37\r\n");
timeOfLastCommandMs = timeNowMs;
while (timeNowMs - timeOfLastCommandMs < 300) // delay for 300ms to let the GPS sort itself out
{
vTaskDelay(xDelay); // Block task until next update
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
}
#endif
#ifdef DISABLE_GPS_THRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n");
#endif
#ifdef ENABLE_GPS_BINARY_GTOP
// switch to GTOP binary mode
PIOS_COM_SendStringNonBlocking(gpsPort ,"$PGCMD,21,1*6F\r\n");
#endif
#ifdef ENABLE_GPS_ONESENTENCE_GTOP
// switch to single sentence mode
PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,2*6C\r\n");
#endif
#ifdef ENABLE_GPS_NMEA
// switch to NMEA mode
PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,3*6D\r\n");
#endif
numUpdates = 0;
numChecksumErrors = 0;
numParsingErrors = 0;
@ -198,108 +153,87 @@ static void gpsTask(void *parameters)
// Loop forever
while (1)
{
#ifdef ENABLE_GPS_BINARY_GTOP
// GTOP BINARY GPS mode
uint8_t c;
// NMEA or SINGLE-SENTENCE GPS mode
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
{
// detect start while acquiring stream
if (!start_flag && (c == '$'))
{
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
start_flag = true;
found_cr = false;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= NMEA_MAX_PACKET_LENGTH)
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
found_cr = false;
rx_count = 0;
}
else
{
gps_rx_buffer[rx_count] = c;
rx_count++;
}
// look for ending '\r\n' sequence
if (!found_cr && (c == '\r') )
found_cr = true;
else
if (found_cr && (c != '\n') )
found_cr = false; // false end flag
else
if (found_cr && (c == '\n') )
{
// The NMEA functions require a zero-terminated string
// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
gps_rx_buffer[rx_count-2] = 0;
if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
{
numUpdates++;
// prepare to parse next sentence
start_flag = false;
found_cr = false;
rx_count = 0;
// Our rxBuffer must look like this now:
// [0] = '$'
// ... = zero or more bytes of sentence payload
// [end_pos - 1] = '\r'
// [end_pos] = '\n'
//
// Prepare to consume the sentence from the buffer
// Validate the checksum over the sentence
if (!NMEA_checksum(&gps_rx_buffer[1]))
{ // Invalid checksum. May indicate dropped characters on Rx.
//PIOS_DEBUG_PinHigh(2);
++numChecksumErrors;
//PIOS_DEBUG_PinLow(2);
}
else
{ // Valid checksum, use this packet to update the GPS position
if (!NMEA_update_position(&gps_rx_buffer[1])) {
//PIOS_DEBUG_PinHigh(2);
++numParsingErrors;
//PIOS_DEBUG_PinLow(2);
}
else
++numUpdates;
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
}
}
#else
// NMEA or SINGLE-SENTENCE GPS mode
// This blocks the task until there is something on the buffer
while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
{
uint8_t c;
PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
// detect start while acquiring stream
if (!start_flag && (c == '$'))
{
start_flag = true;
found_cr = false;
rx_count = 0;
}
else
if (!start_flag)
continue;
if (rx_count >= sizeof(gps_rx_buffer))
{
// The buffer is already full and we haven't found a valid NMEA sentence.
// Flush the buffer and note the overflow event.
gpsRxOverflow++;
start_flag = false;
found_cr = false;
rx_count = 0;
}
else
{
gps_rx_buffer[rx_count] = c;
rx_count++;
}
// look for ending '\r\n' sequence
if (!found_cr && (c == '\r') )
found_cr = true;
else
if (found_cr && (c != '\n') )
found_cr = false; // false end flag
else
if (found_cr && (c == '\n') )
{
// The NMEA functions require a zero-terminated string
// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
gps_rx_buffer[rx_count-2] = 0;
// prepare to parse next sentence
start_flag = false;
found_cr = false;
rx_count = 0;
// Our rxBuffer must look like this now:
// [0] = '$'
// ... = zero or more bytes of sentence payload
// [end_pos - 1] = '\r'
// [end_pos] = '\n'
//
// Prepare to consume the sentence from the buffer
// Validate the checksum over the sentence
if (!NMEA_checksum(&gps_rx_buffer[1]))
{ // Invalid checksum. May indicate dropped characters on Rx.
//PIOS_DEBUG_PinHigh(2);
++numChecksumErrors;
//PIOS_DEBUG_PinLow(2);
}
else
{ // Valid checksum, use this packet to update the GPS position
if (!NMEA_update_position(&gps_rx_buffer[1])) {
//PIOS_DEBUG_PinHigh(2);
++numParsingErrors;
//PIOS_DEBUG_PinLow(2);
}
else
++numUpdates;
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
}
}
}
#endif
}
// Check for GPS timeout
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
@ -312,30 +246,6 @@ static void gpsTask(void *parameters)
GPSPositionSet(&GpsData);
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
if ((timeNowMs - timeOfLastCommandMs) >= GPS_COMMAND_RESEND_TIMEOUT_MS)
{ // resend the command .. just incase the gps has only just been plugged in or the gps did not get our last command
timeOfLastCommandMs = timeNowMs;
#ifdef ENABLE_GPS_BINARY_GTOP
GTOP_BIN_init();
// switch to binary mode
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,1*6F\r\n");
#endif
#ifdef ENABLE_GPS_ONESENTENCE_GTOP
// switch to single sentence mode
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n");
#endif
#ifdef ENABLE_GPS_NMEA
// switch to NMEA mode
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n");
#endif
#ifdef DISABLE_GPS_TRESHOLD
PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n");
#endif
}
}
else
{ // we appear to be receiving GPS sentences OK, we've had an update
@ -361,8 +271,6 @@ static void gpsTask(void *parameters)
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
}
// Block task until next update
vTaskDelay(xDelay);
}
}

266
flight/Modules/GPS/GTOP_BIN.c
View File

@ -1,266 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file GTOP_BIN.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GPS module, handles GPS and NMEA stream
* @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 "openpilot.h"
#include "pios.h"
#include "GTOP_BIN.h"
#include "gpsposition.h"
#include "gpstime.h"
#include "gpssatellites.h"
#include <string.h> // memmove
#ifdef ENABLE_GPS_BINARY_GTOP
// ************
// the structure of the binary packet
typedef struct
{
uint32_t utc_time;
int32_t latitude;
uint8_t ns_indicator;
int32_t longitude;
uint8_t ew_indicator;
uint8_t fix_quality;
uint8_t satellites_used;
uint16_t hdop;
int32_t msl_altitude;
int32_t geoidal_seperation;
uint8_t fix_type;
int32_t course_over_ground;
int32_t speed_over_ground;
uint8_t day;
uint8_t month;
uint16_t year;
} __attribute__((__packed__)) t_gps_bin_packet_data;
typedef struct
{
uint16_t header;
t_gps_bin_packet_data data;
uint8_t asterisk;
uint8_t checksum;
uint16_t end_word;
} __attribute__((__packed__)) t_gps_bin_packet;
// ************
// buffer that holds the incoming binary packet
static uint8_t gps_rx_buffer[sizeof(t_gps_bin_packet)] __attribute__ ((aligned(4)));
// number of bytes currently in the rx buffer
static int16_t gps_rx_buffer_wr = 0;
// ************
// endian swapping functions
static uint16_t swap2Bytes(uint16_t data)
{
return (((data >> 8) & 0x00ff) |
((data << 8) & 0xff00));
}
static uint32_t swap4Bytes(uint32_t data)
{
return (((data >> 24) & 0x000000ff) |
((data >> 8) & 0x0000ff00) |
((data << 8) & 0x00ff0000) |
((data << 24) & 0xff000000));
}
// ************
/**
* Parses a complete binary packet and update the GPSPosition and GPSTime UAVObjects
*
* param[in] .. b = a new received byte from the GPS
*
* return '0' if we have found a valid binary packet
* return <0 if any errors were encountered with the packet or no packet found
*/
int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors)
{
if (gps_rx_buffer_wr >= sizeof(gps_rx_buffer))
{ // make room for the new byte .. this will actually never get executed, just here as a safe guard really
memmove(gps_rx_buffer, gps_rx_buffer + 1, sizeof(gps_rx_buffer) - 1);
gps_rx_buffer_wr = sizeof(gps_rx_buffer) - 1;
}
// add the new byte into the buffer
gps_rx_buffer[gps_rx_buffer_wr++] = b;
int16_t i = 0;
while (gps_rx_buffer_wr > 0)
{
t_gps_bin_packet *rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + i);
// scan for the start of a binary packet (the header bytes)
while (gps_rx_buffer_wr - i >= sizeof(rx_packet->header))
{
if (rx_packet->header == 0x2404)
break; // found a valid header marker
rx_packet = (t_gps_bin_packet *)(gps_rx_buffer + ++i);
}
// remove unwanted bytes before the start of the packet header
if (i > 0)
{
gps_rx_buffer_wr -= i;
if (gps_rx_buffer_wr > 0)
memmove(gps_rx_buffer, gps_rx_buffer + i, gps_rx_buffer_wr);
i = 0;
}
if (gps_rx_buffer_wr < sizeof(t_gps_bin_packet))
break; // not yet enough bytes for a complete binary packet
// we have enough bytes for a complete binary packet
// check to see if certain parameters in the binary packet are valid
if (rx_packet->header != 0x2404 ||
rx_packet->end_word != 0x0A0D ||
rx_packet->asterisk != 0x2A ||
(rx_packet->data.ns_indicator != 1 && rx_packet->data.ns_indicator != 2) ||
(rx_packet->data.ew_indicator != 1 && rx_packet->data.ew_indicator != 2) ||
(rx_packet->data.fix_quality > 2) ||
(rx_packet->data.fix_type < 1 || rx_packet->data.fix_type > 3) )
{ // invalid packet
if (parsing_errors) *parsing_errors++;
i++;
continue;
}
{ // check the checksum is valid
uint8_t *p = (uint8_t *)&rx_packet->data;
uint8_t checksum = 0;
for (int i = 0; i < sizeof(t_gps_bin_packet_data); i++)
checksum ^= *p++;
if (checksum != rx_packet->checksum)
{ // checksum error
if (chksum_errors) *chksum_errors++;
i++;
continue;
}
}
// we now have a valid complete binary packet, update the GpsData and GpsTime objects
// correct the endian order of the parameters
rx_packet->data.utc_time = swap4Bytes(rx_packet->data.utc_time);
rx_packet->data.latitude = swap4Bytes(rx_packet->data.latitude);
rx_packet->data.longitude = swap4Bytes(rx_packet->data.longitude);
rx_packet->data.hdop = swap2Bytes(rx_packet->data.hdop);
rx_packet->data.msl_altitude = swap4Bytes(rx_packet->data.msl_altitude);
rx_packet->data.geoidal_seperation = swap4Bytes(rx_packet->data.geoidal_seperation);
rx_packet->data.course_over_ground = swap4Bytes(rx_packet->data.course_over_ground);
rx_packet->data.speed_over_ground = swap4Bytes(rx_packet->data.speed_over_ground);
rx_packet->data.year = swap2Bytes(rx_packet->data.year);
#if !defined(PIOS_GPS_PURISTIC)
// set the gps time object
GPSTimeData GpsTime;
// GPSTimeGet(&GpsTime);
uint32_t utc_time = rx_packet->data.utc_time / 1000;
GpsTime.Second = utc_time % 100; // seconds
GpsTime.Minute = (utc_time / 100) % 100; // minutes
GpsTime.Hour = utc_time / 10000; // hours
GpsTime.Day = rx_packet->data.day; // day
GpsTime.Month = rx_packet->data.month; // month
GpsTime.Year = rx_packet->data.year; // year
GPSTimeSet(&GpsTime);
#endif //PIOS_GPS_PURISTIC
// set the gps position object
GPSPositionData GpsData;
// GPSPositionGet(&GpsData);
switch (rx_packet->data.fix_type)
{
case 1: GpsData.Status = GPSPOSITION_STATUS_NOFIX; break;
case 2: GpsData.Status = GPSPOSITION_STATUS_FIX2D; break;
case 3: GpsData.Status = GPSPOSITION_STATUS_FIX3D; break;
default: GpsData.Status = GPSPOSITION_STATUS_NOGPS; break;
}
GpsData.Latitude = rx_packet->data.latitude * (rx_packet->data.ns_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6
GpsData.Longitude = rx_packet->data.longitude * (rx_packet->data.ew_indicator == 1 ? +1 : -1) * 10; // degrees * 10e6
GpsData.Altitude = (float)rx_packet->data.msl_altitude / 1000; // meters
GpsData.GeoidSeparation = (float)rx_packet->data.geoidal_seperation / 1000; // meters
GpsData.Heading = (float)rx_packet->data.course_over_ground / 1000; // degrees
GpsData.Groundspeed = (float)rx_packet->data.speed_over_ground / 3600; // m/s
GpsData.Satellites = rx_packet->data.satellites_used; //
GpsData.PDOP = 99.99; // not available in binary mode
GpsData.HDOP = (float)rx_packet->data.hdop / 100; //
GpsData.VDOP = 99.99; // not available in binary mode
GPSPositionSet(&GpsData);
#if !defined(PIOS_GPS_PURISTIC)
// set the number of satellites
// GPSSatellitesData SattelliteData;
//// GPSSatellitesGet(&SattelliteData);
// memset(&SattelliteData, 0, sizeof(SattelliteData));
// SattelliteData.SatsInView = rx_packet->data.satellites_used; //
// GPSSatellitesSet(&SattelliteData);
#endif //PIOS_GPS_PURISTIC
// remove the spent binary packet from the buffer
gps_rx_buffer_wr -= sizeof(t_gps_bin_packet);
if (gps_rx_buffer_wr > 0)
memmove(gps_rx_buffer, gps_rx_buffer + sizeof(t_gps_bin_packet), gps_rx_buffer_wr);
return 0; // found a valid packet
}
return -1; // no valid packet found
}
// ************
void GTOP_BIN_init(void)
{
gps_rx_buffer_wr = 0;
}
// ************
#endif // ENABLE_GPS_BINARY_GTOP

175
flight/Modules/GPS/NMEA.c
View File

@ -40,8 +40,6 @@
#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)
// Debugging
#ifdef ENABLE_DEBUG_MSG
//#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages
@ -54,7 +52,6 @@
//#define NMEA_DEBUG_GSA ///< define to enable debug of GSA messages
//#define NMEA_DEBUG_GSV ///< define to enable debug of GSV messages
//#define NMEA_DEBUG_ZDA ///< define to enable debug of ZDA messages
//#define NMEA_DEBUG_PGTOP ///< define to enable debug of PGTOP messages
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
#else
#define DEBUG_MSG(format, ...)
@ -69,60 +66,49 @@ struct nmea_parser {
uint32_t cnt;
};
#ifdef ENABLE_GPS_NMEA
static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
#if !defined(PIOS_GPS_PURISTIC)
static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
#endif //PIOS_GPS_PURISTIC
#endif
static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static struct nmea_parser nmea_parsers[] = {
#ifdef ENABLE_GPS_NMEA
{
.prefix = "GPGGA",
.handler = nmeaProcessGPGGA,
.cnt = 0,
},
{
.prefix = "GPVTG",
.handler = nmeaProcessGPVTG,
.cnt = 0,
},
{
.prefix = "GPGSA",
.handler = nmeaProcessGPGSA,
.cnt = 0,
},
{
.prefix = "GPRMC",
.handler = nmeaProcessGPRMC,
.cnt = 0,
},
static struct nmea_parser nmea_parsers[] = {
{
.prefix = "GPGGA",
.handler = nmeaProcessGPGGA,
.cnt = 0,
},
{
.prefix = "GPVTG",
.handler = nmeaProcessGPVTG,
.cnt = 0,
},
{
.prefix = "GPGSA",
.handler = nmeaProcessGPGSA,
.cnt = 0,
},
{
.prefix = "GPRMC",
.handler = nmeaProcessGPRMC,
.cnt = 0,
},
#if !defined(PIOS_GPS_PURISTIC)
{
.prefix = "GPZDA",
.handler = nmeaProcessGPZDA,
.cnt = 0,
},
{
.prefix = "GPGSV",
.handler = nmeaProcessGPGSV,
.cnt = 0,
},
{
.prefix = "GPZDA",
.handler = nmeaProcessGPZDA,
.cnt = 0,
},
{
.prefix = "GPGSV",
.handler = nmeaProcessGPGSV,
.cnt = 0,
},
#endif //PIOS_GPS_PURISTIC
#endif
{
.prefix = "PGTOP",
.handler = nmeaProcessPGTOP,
.cnt = 0,
},
};
static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix)
@ -233,7 +219,6 @@ static float NMEA_real_to_float(char *nmea_real)
return (((float)whole) + fract * pow(10, -fract_units));
}
#ifdef ENABLE_GPS_NMEA
/*
* Parse a field in the format:
* DD[D]MM.mmmm[mm]
@ -291,7 +276,6 @@ static bool NMEA_latlon_to_fixed_point(int32_t * latlon, char *nmea_latlon, bool
return true;
}
#endif // ENABLE_GPS_NMEA
/**
@ -380,7 +364,6 @@ bool NMEA_update_position(char *nmea_sentence)
return true;
}
#ifdef ENABLE_GPS_NMEA
/**
* Parse an NMEA GPGGA sentence and update the given UAVObject
@ -685,87 +668,3 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
return true;
}
#endif // ENABLE_GPS_NMEA
/**
* Parse an NMEA PGTOP sentence and update the given UAVObject
* \param[in] A pointer to a GPSPosition UAVObject to be updated.
* \param[in] An NMEA sentence with a valid checksum
*/
static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam)
{
if (nbParam != 17)
return false;
*gpsDataUpdated = true;
#if !defined(PIOS_GPS_PURISTIC)
GPSTimeData gpst;
GPSTimeGet(&gpst);
// get UTC time [hhmmss.sss]
float hms = NMEA_real_to_float(param[1]);
gpst.Second = (int)hms % 100;
gpst.Minute = (((int)hms - gpst.Second) / 100) % 100;
gpst.Hour = (int)hms / 10000;
#endif //PIOS_GPS_PURISTIC
// get latitude decimal degrees
GpsData->Latitude = NMEA_real_to_float(param[2])*1e7;
if (param[3][0] == 'S')
GpsData->Latitude = -GpsData->Latitude;
// get longitude decimal degrees
GpsData->Longitude = NMEA_real_to_float(param[4])*1e7;
if (param[5][0] == 'W')
GpsData->Longitude = -GpsData->Longitude;
// get number of satellites used in GPS solution
GpsData->Satellites = atoi(param[7]);
// next field: HDOP
GpsData->HDOP = NMEA_real_to_float(param[8]);
// get altitude (in meters mm.m)
GpsData->Altitude = NMEA_real_to_float(param[9]);
// next field: geoid separation
GpsData->GeoidSeparation = NMEA_real_to_float(param[10]);
// Mode: 1=Fix not available, 2=2D, 3=3D
switch (atoi(param[11])) {
case 1:
GpsData->Status = GPSPOSITION_STATUS_NOFIX;
break;
case 2:
GpsData->Status = GPSPOSITION_STATUS_FIX2D;
break;
case 3:
GpsData->Status = GPSPOSITION_STATUS_FIX3D;
break;
default:
/* Unhandled */
return false;
break;
}
// get course over ground in degrees [ddd.dd]
GpsData->Heading = NMEA_real_to_float(param[12]);
// get speed in km/h
GpsData->Groundspeed = NMEA_real_to_float(param[13]);
// to m/s
GpsData->Groundspeed /= 3.6;
#if !defined(PIOS_GPS_PURISTIC)
gpst.Day = atoi(param[14]);
gpst.Month = atoi(param[15]);
gpst.Year = atoi(param[16]);
GPSTimeSet(&gpst);
#endif //PIOS_GPS_PURISTIC
return true;
}
#endif // #if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)

2
flight/Modules/GPS/inc/GPS.h
View File

@ -34,8 +34,6 @@
#ifndef GPS_H
#define GPS_H
#include "gps_mode.h"
int32_t GPSInitialize(void);
#endif // GPS_H

7
flight/Modules/GPS/inc/NMEA.h
View File

@ -33,11 +33,8 @@
#include <stdbool.h>
#include <stdint.h>
#include "gps_mode.h"
#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)
extern bool NMEA_update_position(char *nmea_sentence);
extern bool NMEA_checksum(char *nmea_sentence);
#endif
extern bool NMEA_update_position(char *nmea_sentence);
extern bool NMEA_checksum(char *nmea_sentence);
#endif /* NMEA_H */

58
flight/Modules/GPS/inc/gps_mode.h
View File

@ -1,58 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file gps_mode.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Include file of the GPS module.
* As with all modules only the initialize function is exposed all other
* interactions with the module take place through the event queue and
* objects.
* @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 GPS_MODE_H
#define GPS_MODE_H
// ****************
// you MUST have one of these uncommented - and ONLY one
//#define ENABLE_GPS_BINARY_GTOP // uncomment this if we are using GTOP BINARY mode
//#define ENABLE_GPS_ONESENTENCE_GTOP // uncomment this if we are using GTOP SINGLE SENTENCE mode
#define ENABLE_GPS_NMEA // uncomment this if we are using NMEA mode
// ****************
// make sure they have defined a protocol to use
#if !defined(ENABLE_GPS_BINARY_GTOP) && !defined(ENABLE_GPS_ONESENTENCE_GTOP) && !defined(ENABLE_GPS_NMEA)
#error YOU MUST SELECT THE DESIRED GPS PROTOCOL IN gps_mode.h!
#endif
// ****************
#endif
/**
* @}
* @}
*/

5
flight/Modules/System/systemmod.c
View File

@ -251,6 +251,11 @@ static void objectUpdatedCb(UAVObjEvent * ev)
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjDeleteMetaobjects();
}
} else if (objper.Operation == OBJECTPERSISTENCE_OPERATION_FULLERASE) {
retval = -1;
#if defined(PIOS_INCLUDE_FLASH_SECTOR_SETTINGS)
retval = PIOS_FLASHFS_Format();
#endif
}
if(retval == 0) {
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;

6
flight/OpenPilot/System/pios_board.c
View File

@ -526,7 +526,6 @@ static const struct pios_spektrum_cfg pios_spektrum_cfg = {
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_GPS_TX_BUF_LEN 96
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
@ -1079,12 +1078,10 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) {
NULL, 0)) {
PIOS_Assert(0);
}
}
@ -1097,6 +1094,7 @@ void PIOS_Board_Init(void) {
/* Configure the selected receiver */
uint8_t manualcontrolsettings_inputmode;
ManualControlSettingsInitialize();
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
switch (manualcontrolsettings_inputmode) {

6
flight/OpenPilot/System/pios_board_posix.c
View File

@ -72,7 +72,7 @@ const struct pios_udp_cfg pios_udp_aux_cfg = {
#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 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
/*
* Board specific number of devices.
@ -165,12 +165,10 @@ void PIOS_Board_Init(void) {
PIOS_Assert(0);
}
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
uint8_t * tx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id,
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
tx_buffer, PIOS_COM_GPS_RX_BUF_LEN)) {
NULL, 0)) {
PIOS_Assert(0);
}
}

13
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -116,6 +116,19 @@ int32_t PIOS_FLASHFS_Init()
return 0;
}
/**
* @brief Erase the whole flash chip and create the file system
* @return 0 if successful, -1 if not
*/
int32_t PIOS_FLASHFS_Format()
{
if(PIOS_Flash_W25X_EraseChip() != 0)
return -1;
if(PIOS_FLASHFS_ClearObjectTableHeader() != 0)
return -1;
return 0;
}
/**
* @brief Erase the headers for all objects in the flash chip
* @return 0 if successful, -1 if not

33
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -8,7 +8,6 @@
*
* @file pios_spektrum.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* Parts by Thorsten Klose (tk@midibox.org) (tk@midibox.org)
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
* @see The GNU Public License (GPL) Version 3
*
@ -59,7 +58,7 @@ uint8_t sync_of = 0;
uint16_t supv_timer=0;
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg);
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind);
static int32_t PIOS_SPEKTRUM_Decode(uint8_t b);
static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint16_t buf_len, uint16_t * headroom, bool * need_yield)
@ -85,11 +84,11 @@ static uint16_t PIOS_SPEKTRUM_RxInCallback(uint32_t context, uint8_t * buf, uint
/**
* Bind and Initialise Spektrum satellite receiver
*/
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind)
int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind)
{
// TODO: need setting flag for bind on next powerup
if (bind) {
PIOS_SPEKTRUM_Bind(cfg);
PIOS_SPEKTRUM_Bind(cfg,bind);
}
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
@ -121,9 +120,15 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t rcvr_id, uint8_t channel)
* \output true Successful bind
* \output false Bind failed
*/
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg, uint8_t bind)
{
#define BIND_PULSES 5
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = cfg->bind.init.GPIO_Pin;
GPIO_InitStructure.GPIO_Speed = cfg->bind.init.GPIO_Speed;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
/* just to limit bind pulses */
bind=(bind<=10)?bind:10;
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
/* RX line, set high */
@ -132,7 +137,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
PIOS_DELAY_WaitmS(60);
for (int i = 0; i < BIND_PULSES ; i++) {
for (int i = 0; i < bind ; i++) {
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
@ -141,6 +146,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
PIOS_DELAY_WaituS(120);
}
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
return true;
}
@ -172,9 +178,10 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
CaptureValue[7]=b;
}
#endif
/* Known sync bytes, 0x01, 0x02, 0x12 */
/* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
/* 0xb2 DX8 3bind pulses only */
if (bytecount == 2) {
if (b == 0x01) {
if ((b == 0x01) || (b == 0xb2)) {
datalength=0; // 10bit
//frames=1;
sync = 1;
@ -234,17 +241,17 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
*@brief clears the channel values
*/
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
/* 125hz */
/* 625hz */
supv_timer++;
if(supv_timer > 5) {
if(supv_timer > 4) {
/* sync between frames */
sync = 0;
bytecount = 0;
prev_byte = 0xFF;
frame_error = 0;
sync_of++;
/* watchdog activated after 100ms silence */
if (sync_of > 12) {
/* watchdog activated after 200ms silence */
if (sync_of > 30) {
/* signal lost */
sync_of = 0;
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {

3
flight/PiOS/inc/pios_flashfs_objlist.h
View File

@ -32,6 +32,7 @@
#include "uavobjectmanager.h"
int32_t PIOS_FLASHFS_Init();
int32_t PIOS_FLASHFS_Format();
int32_t PIOS_FLASHFS_ObjSave(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjLoad(UAVObjHandle obj, uint16_t instId, uint8_t * data);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);
int32_t PIOS_FLASHFS_ObjDelete(UAVObjHandle obj, uint16_t instId);

2
flight/PiOS/inc/pios_spektrum_priv.h
View File

@ -42,7 +42,7 @@ struct pios_spektrum_cfg {
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, bool bind);
extern int32_t PIOS_SPEKTRUM_Init(uint32_t * spektrum_id, const struct pios_spektrum_cfg *cfg, const struct pios_com_driver * driver, uint32_t lower_id, uint8_t bind);
#endif /* PIOS_PWM_PRIV_H */

2
flight/UAVTalk/inc/uavtalk_priv.h
View File

@ -51,7 +51,7 @@ typedef struct {
typedef uint8_t uavtalk_checksum;
#define UAVTALK_CHECKSUM_LENGTH sizeof(uavtalk_checksum)
#define UAVTALK_MAX_PAYLOAD_LENGTH UAVOBJECTS_LARGEST
#define UAVTALK_MAX_PAYLOAD_LENGTH (UAVOBJECTS_LARGEST + 1)
#define UAVTALK_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH

159
ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp Normal file
View File

@ -0,0 +1,159 @@
/**
******************************************************************************
*
* @file cachedsvgitem.h
* @author Dmytro Poplavskiy Copyright (C) 2011.
* @{
* @brief OpenGL texture cached SVG item
*****************************************************************************/
/*
* 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 "cachedsvgitem.h"
#include <QGLContext>
#include <QDebug>
#ifndef GL_CLAMP_TO_EDGE
#define GL_CLAMP_TO_EDGE 0x812F
#endif
CachedSvgItem::CachedSvgItem(QGraphicsItem * parent) :
QGraphicsSvgItem(parent),
m_context(0),
m_texture(0),
m_scale(1.0)
{
setCacheMode(NoCache);
}
CachedSvgItem::CachedSvgItem(const QString & fileName, QGraphicsItem * parent):
QGraphicsSvgItem(fileName, parent),
m_context(0),
m_texture(0),
m_scale(1.0)
{
setCacheMode(NoCache);
}
CachedSvgItem::~CachedSvgItem()
{
if (m_context && m_texture) {
m_context->makeCurrent();
glDeleteTextures(1, &m_texture);
}
}
void CachedSvgItem::paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget)
{
if (painter->paintEngine()->type() != QPaintEngine::OpenGL &&
painter->paintEngine()->type() != QPaintEngine::OpenGL2) {
//Fallback to direct painting
QGraphicsSvgItem::paint(painter, option, widget);
return;
}
QRectF br = boundingRect();
QTransform transform = painter->worldTransform();
qreal sceneScale = transform.map(QLineF(0,0,1,0)).length();
bool stencilTestEnabled = glIsEnabled(GL_STENCIL_TEST);
bool scissorTestEnabled = glIsEnabled(GL_SCISSOR_TEST);
painter->beginNativePainting();
if (stencilTestEnabled)
glEnable(GL_STENCIL_TEST);
if (scissorTestEnabled)
glEnable(GL_SCISSOR_TEST);
bool dirty = false;
if (!m_texture) {
glGenTextures(1, &m_texture);
m_context = const_cast<QGLContext*>(QGLContext::currentContext());
dirty = true;
}
if (!qFuzzyCompare(sceneScale, m_scale)) {
m_scale = sceneScale;
dirty = true;
}
int textureWidth = (int(br.width()*m_scale) + 3) & ~3;
int textureHeight = (int(br.height()*m_scale) + 3) & ~3;
if (dirty) {
//qDebug() << "re-render image";
QImage img(textureWidth, textureHeight, QImage::Format_ARGB32);
{
img.fill(Qt::transparent);
QPainter p;
p.begin(&img);
p.setRenderHints(painter->renderHints());
p.translate(br.topLeft());
p.scale(m_scale, m_scale);
QGraphicsSvgItem::paint(&p, option, 0);
p.end();
img = img.rgbSwapped();
}
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_texture);
glTexImage2D(
GL_TEXTURE_2D,
0,
GL_RGBA,
textureWidth,
textureHeight,
0,
GL_RGBA,
GL_UNSIGNED_BYTE,
img.bits());
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
glTexParameterf(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
glDisable(GL_TEXTURE_2D);
dirty = false;
}
glEnable(GL_BLEND);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glEnable(GL_TEXTURE_2D);
glBindTexture(GL_TEXTURE_2D, m_texture);
//texture may be slightly large than svn image, ensure only used area is rendered
qreal tw = br.width()*m_scale/textureWidth;
qreal th = br.height()*m_scale/textureHeight;
glBegin(GL_QUADS);
glTexCoord2d(0, 0 ); glVertex3d(br.left(), br.top(), -1);
glTexCoord2d(tw, 0 ); glVertex3d(br.right(), br.top(), -1);
glTexCoord2d(tw, th); glVertex3d(br.right(), br.bottom(), -1);
glTexCoord2d(0, th); glVertex3d(br.left(), br.bottom(), -1);
glEnd();
glDisable(GL_TEXTURE_2D);
painter->endNativePainting();
}

48
flight/Modules/GPS/inc/GTOP_BIN.h → ground/openpilotgcs/src/libs/utils/cachedsvgitem.h
View File

@ -1,16 +1,10 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup GSPModule GPS Module
* @brief Process GPS information
* @{
*
* @file GTOP_BIN.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief GPS module, handles GPS and NMEA stream
* @see The GNU Public License (GPL) Version 3
*
* @file cachedsvgitem.h
* @author Dmytro Poplavskiy Copyright (C) 2011.
* @{
* @brief OpenGL texture cached SVG item
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
@ -28,15 +22,33 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef GTOP_BIN_H
#define GTOP_BIN_H
#ifndef CACHEDSVGITEM_H
#define CACHEDSVGITEM_H
#include <stdint.h>
#include "gps_mode.h"
#include <QGraphicsSvgItem>
#include <QGLContext>
#ifdef ENABLE_GPS_BINARY_GTOP
extern int GTOP_BIN_update_position(uint8_t b, volatile uint32_t *chksum_errors, volatile uint32_t *parsing_errors);
extern void GTOP_BIN_init(void);
#endif
#include "utils_global.h"
class QGLContext;
//Cache Svg item as GL Texture.
//Texture is regenerated each time item is scaled
//but it's reused during rotation, unlike DeviceCoordinateCache mode
class QTCREATOR_UTILS_EXPORT CachedSvgItem: public QGraphicsSvgItem
{
Q_OBJECT
public:
CachedSvgItem(QGraphicsItem * parent = 0);
CachedSvgItem(const QString & fileName, QGraphicsItem * parent = 0);
~CachedSvgItem();
void paint(QPainter *painter, const QStyleOptionGraphicsItem *option, QWidget *widget);
private:
QGLContext *m_context;
GLuint m_texture;
qreal m_scale;
};
#endif

10
ground/openpilotgcs/src/libs/utils/utils.pro
View File

@ -3,7 +3,9 @@ TARGET = Utils
QT += gui \
network \
xml
xml \
svg \
opengl
DEFINES += QTCREATOR_UTILS_LIB
@ -48,7 +50,8 @@ SOURCES += reloadpromptutils.cpp \
homelocationutil.cpp \
mytabbedstackwidget.cpp \
mytabwidget.cpp \
mylistwidget.cpp
mylistwidget.cpp \
cachedsvgitem.cpp
SOURCES += xmlconfig.cpp
win32 {
@ -102,7 +105,8 @@ HEADERS += utils_global.h \
homelocationutil.h \
mytabbedstackwidget.h \
mytabwidget.h \
mylistwidget.h
mylistwidget.h \
cachedsvgitem.h
HEADERS += xmlconfig.h
FORMS += filewizardpage.ui \

76
ground/openpilotgcs/src/plugins/config/configplugin.cpp
View File

@ -30,7 +30,7 @@
#include <QStringList>
#include <QTimer>
#include <extensionsystem/pluginmanager.h>
#include "objectpersistence.h"
ConfigPlugin::ConfigPlugin()
{
@ -58,7 +58,7 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
"ConfigPlugin.EraseAll",
QList<int>() <<
Core::Constants::C_GLOBAL_ID);
cmd->action()->setText("Erase all settings from board...");
cmd->action()->setText(tr("Erase all settings from board..."));
ac->menu()->addSeparator();
ac->appendGroup("Utilities");
@ -80,6 +80,17 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
return true;
}
/**
* @brief Return handle to object manager
*/
UAVObjectManager * ConfigPlugin::getObjectManager()
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
return objMngr;
}
void ConfigPlugin::extensionsInitialized()
{
cmd->action()->setEnabled(false);
@ -122,18 +133,19 @@ void ConfigPlugin::eraseAllSettings()
return;
settingsErased = false;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME) );
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
Q_ASSERT(objper);
connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
ObjectPersistence::DataFields data;
data.Operation = ObjectPersistence::OPERATION_DELETE;
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
ObjectPersistence::DataFields data = objper->getData();
data.Operation = ObjectPersistence::OPERATION_FULLERASE;
// No need for manual updated event, this is triggered by setData
// based on UAVO meta data
objper->setData(data);
objper->updated();
QTimer::singleShot(1500,this,SLOT(eraseFailed()));
QTimer::singleShot(6000,this,SLOT(eraseFailed()));
}
@ -141,37 +153,47 @@ void ConfigPlugin::eraseFailed()
{
if (settingsErased)
return;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
Q_ASSERT(objMngr);
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME));
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
QMessageBox msgBox;
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
ObjectPersistence::DataFields data = objper->getData();
if(data.Operation == ObjectPersistence::OPERATION_FULLERASE) {
// First attempt via flash erase failed. Fall back on erase all settings
data.Operation = ObjectPersistence::OPERATION_DELETE;
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
objper->setData(data);
objper->updated();
QTimer::singleShot(1500,this,SLOT(eraseFailed()));
} else {
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
QMessageBox msgBox;
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
msgBox.exec();
}
}
void ConfigPlugin::eraseDone(UAVObject * obj)
{
QMessageBox msgBox;
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>(sender());
Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
QString tmp = obj->getField("Operation")->getValue().toString();
if (obj->getField("Operation")->getValue().toString().compare(QString("Delete")) == 0 ) {
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
ObjectPersistence::DataFields data = objper->getData();
Q_ASSERT(obj->getInstID() == objper->getInstID());
if(data.Operation != ObjectPersistence::OPERATION_COMPLETED) {
return;
}
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
if (obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0) {
if (data.Operation == ObjectPersistence::OPERATION_COMPLETED) {
settingsErased = true;
msgBox.setText(tr("Settings are now erased."));
msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset."));
} else {
msgBox.setText(tr("Error trying to erase settings."));
msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
msgBox.setInformativeText(tr("Power-cycle your board after removing all blades. Settings might be inconsistent."));
}
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);

1
ground/openpilotgcs/src/plugins/config/configplugin.h
View File

@ -48,6 +48,7 @@ public:
ConfigPlugin();
~ConfigPlugin();
UAVObjectManager * getObjectManager();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();

1264
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -6,649 +6,689 @@
<rect>
<x>0</x>
<y>0</y>
<width>639</width>
<height>611</height>
<width>683</width>
<height>685</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QGroupBox" name="groupBox">
<widget class="QScrollArea" name="scrollArea">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
<verstretch>1</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="title">
<string>Rate Stabilization Coefficients (Inner Loop)</string>
<property name="widgetResizable">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_14">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="rateRollKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>665</width>
<height>627</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="title">
<string>Rate Stabilization Coefficients (Inner Loop)</string>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="2">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_13">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_14">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="label_10">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QDoubleSpinBox" name="rateRollKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="rateRollKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QDoubleSpinBox" name="rateRollILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="linkRateRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QDoubleSpinBox" name="rateRollKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QDoubleSpinBox" name="rateRollILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="linkRateRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
When you change one, the other is updated.</string>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="ratePitchKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QDoubleSpinBox" name="ratePitchKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="ratePitchKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="ratePitchILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rateYawKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="ratePitchKi">
<property name="toolTip">
<string>I factor for rate stabilization is usually very low or even zero.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QDoubleSpinBox" name="ratePitchILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_15">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rateYawKp">
<property name="toolTip">
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
Then lower the value by 20% or so.
You can usually go for higher values for Yaw factors.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rateYawKi">
<property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rateYawKi">
<property name="toolTip">
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
value as YawRate Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rateYawILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="title">
<string>Attitude Stabization Coefficients (Outer Loop)</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rollKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rateYawILimit">
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.000100000000000</double>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_3">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>150</height>
</size>
</property>
<property name="title">
<string>Attitude Stabization Coefficients (Outer Loop)</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="3" column="2">
<widget class="QDoubleSpinBox" name="rollKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rollKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rollILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QDoubleSpinBox" name="rollKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="3" column="4">
<widget class="QDoubleSpinBox" name="rollILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="label_21">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QDoubleSpinBox" name="yawILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Kp</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Ki</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="label_21">
<property name="text">
<string>ILimit</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="7" column="4">
<widget class="QDoubleSpinBox" name="yawILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QDoubleSpinBox" name="yawKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="yawKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QDoubleSpinBox" name="yawKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QDoubleSpinBox" name="yawKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="pitchKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QDoubleSpinBox" name="pitchKp">
<property name="toolTip">
<string>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QDoubleSpinBox" name="pitchKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QDoubleSpinBox" name="pitchILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLabel" name="label_18">
<property name="text">
<string>Yaw</string>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLabel" name="label_17">
<property name="text">
<string>Pitch</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLabel" name="label_16">
<property name="text">
<string>Roll</string>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QDoubleSpinBox" name="pitchKi">
<property name="toolTip">
<string>Ki can usually be almost identical to Kp.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="4">
<widget class="QDoubleSpinBox" name="pitchILimit">
<property name="toolTip">
<string>ILimit can be equal to three to four times Ki, but you can adjust
depending on whether your airframe is well balanced, and your
flying style.</string>
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="linkAttitudeRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
</property>
<property name="decimals">
<number>6</number>
</property>
<property name="singleStep">
<double>0.100000000000000</double>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QCheckBox" name="linkAttitudeRP">
<property name="toolTip">
<string>If checked, the Roll and Pitch factors will be identical.
When you change one, the other is updated.</string>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
</layout>
</property>
<property name="text">
<string>Link</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>13</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Stick range and limits</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
<property name="sizeConstraint">
<enum>QLayout::SetMinAndMaxSize</enum>
</property>
<item row="0" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="pitchMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="yawMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick angle (deg)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_6">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick rate (deg/s)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="manualRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="manualPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="manualYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_24">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip">
<string notr="true"/>
</property>
<property name="text">
<string>Maximum rate in attitude mode (deg/s)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="maximumRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="maximumPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="maximumYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
<property name="text">
<string>Zero the integral when throttle is low</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>0</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>5</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QGroupBox" name="groupBox_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="title">
<string>Stick range and limits</string>
</property>
<layout class="QGridLayout" name="gridLayout" rowminimumheight="5,5,5,5">
<property name="sizeConstraint">
<enum>QLayout::SetMinAndMaxSize</enum>
</property>
<item row="0" column="1">
<widget class="QLabel" name="label">
<property name="text">
<string>Roll</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_22">
<property name="text">
<string>Pitch</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLabel" name="label_23">
<property name="text">
<string>Yaw</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="rollMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSpinBox" name="pitchMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QSpinBox" name="yawMax">
<property name="maximum">
<number>180</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick angle (deg)</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QLabel" name="label_6">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="text">
<string>Full stick rate (deg/s)</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QSpinBox" name="manualRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="2">
<widget class="QSpinBox" name="manualPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="2" column="3">
<widget class="QSpinBox" name="manualYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_24">
<property name="minimumSize">
<size>
<width>150</width>
<height>0</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip">
<string notr="true"/>
</property>
<property name="text">
<string>Maximum rate in attitude mode (deg/s)</string>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QSpinBox" name="maximumRoll">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QSpinBox" name="maximumPitch">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QSpinBox" name="maximumYaw">
<property name="maximum">
<number>300</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral">
<property name="text">
<string>Zero the integral when throttle is low</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>

41
ground/openpilotgcs/src/plugins/pfd/pfdgadgetwidget.cpp
View File

@ -27,6 +27,7 @@
#include "pfdgadgetwidget.h"
#include <utils/stylehelper.h>
#include <utils/cachedsvgitem.h>
#include <iostream>
#include <QDebug>
#include <QPainter>
@ -383,7 +384,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
- Battery stats: battery-txt
*/
l_scene->clear(); // Deletes all items contained in the scene as well.
m_background = new QGraphicsSvgItem();
m_background = new CachedSvgItem();
// All other items will be clipped to the shape of the background
m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
QGraphicsItem::ItemClipsToShape);
@ -391,28 +392,28 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_background->setElementId("background");
l_scene->addItem(m_background);
m_world = new QGraphicsSvgItem();
m_world = new CachedSvgItem();
m_world->setParentItem(m_background);
m_world->setSharedRenderer(m_renderer);
m_world->setElementId("world");
l_scene->addItem(m_world);
// red Roll scale: rollscale
m_rollscale = new QGraphicsSvgItem();
m_rollscale = new CachedSvgItem();
m_rollscale->setSharedRenderer(m_renderer);
m_rollscale->setElementId("rollscale");
l_scene->addItem(m_rollscale);
// Home point:
m_homewaypoint = new QGraphicsSvgItem();
m_homewaypoint = new CachedSvgItem();
// Next point:
m_nextwaypoint = new QGraphicsSvgItem();
m_nextwaypoint = new CachedSvgItem();
// Home point bearing:
m_homepointbearing = new QGraphicsSvgItem();
m_homepointbearing = new CachedSvgItem();
// Next point bearing:
m_nextpointbearing = new QGraphicsSvgItem();
m_nextpointbearing = new CachedSvgItem();
QGraphicsSvgItem *m_foreground = new QGraphicsSvgItem();
QGraphicsSvgItem *m_foreground = new CachedSvgItem();
m_foreground->setParentItem(m_background);
m_foreground->setSharedRenderer(m_renderer);
m_foreground->setElementId("foreground");
@ -429,7 +430,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
// 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.
m_compass = new QGraphicsSvgItem();
m_compass = new CachedSvgItem();
m_compass->setSharedRenderer(m_renderer);
m_compass->setElementId("compass");
m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -440,7 +441,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_compass->setTransform(matrix,false);
// Now place the compass scale inside:
m_compassband = new QGraphicsSvgItem();
m_compassband = new CachedSvgItem();
m_compassband->setSharedRenderer(m_renderer);
m_compassband->setElementId("compass-band");
m_compassband->setParentItem(m_compass);
@ -462,7 +463,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("speed-bg");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y();
QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem();
QGraphicsSvgItem *verticalbg = new CachedSvgItem();
verticalbg->setSharedRenderer(m_renderer);
verticalbg->setElementId("speed-bg");
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -477,7 +478,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_speedscale = new QGraphicsItemGroup();
m_speedscale->setParentItem(verticalbg);
QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem();
QGraphicsSvgItem *speedscalelines = new CachedSvgItem();
speedscalelines->setSharedRenderer(m_renderer);
speedscalelines->setElementId("speed-scale");
speedScaleHeight = m_renderer->matrixForElement("speed-scale").mapRect(
@ -523,7 +524,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y();
qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height();
QGraphicsSvgItem *speedwindow = new QGraphicsSvgItem();
QGraphicsSvgItem *speedwindow = new CachedSvgItem();
speedwindow->setSharedRenderer(m_renderer);
speedwindow->setElementId("speed-window");
speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -548,7 +549,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("altitude-bg");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y();
verticalbg = new QGraphicsSvgItem();
verticalbg = new CachedSvgItem();
verticalbg->setSharedRenderer(m_renderer);
verticalbg->setElementId("altitude-bg");
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -563,7 +564,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
m_altitudescale = new QGraphicsItemGroup();
m_altitudescale->setParentItem(verticalbg);
QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem();
QGraphicsSvgItem *altitudescalelines = new CachedSvgItem();
altitudescalelines->setSharedRenderer(m_renderer);
altitudescalelines->setElementId("altitude-scale");
altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect(
@ -604,7 +605,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y();
qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height();
QGraphicsSvgItem *altitudewindow = new QGraphicsSvgItem();
QGraphicsSvgItem *altitudewindow = new CachedSvgItem();
altitudewindow->setSharedRenderer(m_renderer);
altitudewindow->setElementId("altitude-window");
altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
@ -633,7 +634,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
gcsTelemetryArrow = new QGraphicsSvgItem();
gcsTelemetryArrow = new CachedSvgItem();
gcsTelemetryArrow->setSharedRenderer(m_renderer);
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
l_scene->addItem(gcsTelemetryArrow);
@ -669,7 +670,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
gcsTelemetryArrow = new QGraphicsSvgItem();
gcsTelemetryArrow = new CachedSvgItem();
gcsTelemetryArrow->setSharedRenderer(m_renderer);
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
l_scene->addItem(gcsTelemetryArrow);
@ -702,7 +703,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
gcsTelemetryArrow = new QGraphicsSvgItem();
gcsTelemetryArrow = new CachedSvgItem();
gcsTelemetryArrow->setSharedRenderer(m_renderer);
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
l_scene->addItem(gcsTelemetryArrow);
@ -771,7 +772,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
{ qDebug()<<"Error on PFD artwork file.";
m_renderer->load(QString(":/pfd/images/pfd-default.svg"));
l_scene->clear(); // This also deletes all items contained in the scene.
m_background = new QGraphicsSvgItem();
m_background = new CachedSvgItem();
m_background->setSharedRenderer(m_renderer);
l_scene->addItem(m_background);
pfdError = true;

1
shared/uavobjectdefinition/hwsettings.xml
View File

@ -4,6 +4,7 @@
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,Spektrum,ComAux,I2C" defaultvalue="Disabled"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,S.Bus,GPS,Spektrum,ComAux" defaultvalue="Telemetry"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/objectpersistence.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="ObjectPersistence" singleinstance="true" settings="false">
<description>Someone who knows please enter this</description>
<field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,Completed"/>
<field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed"/>
<field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
<field name="ObjectID" units="" type="uint32" elements="1"/>
<field name="InstanceID" units="" type="uint32" elements="1"/>