mirror of
https://bitbucket.org/librepilot/librepilot.git
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Merge branch 'CorvusCorax_unidirectional-GPS-com' into CC_GPS
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
commit
4bd72923e5
@ -924,6 +924,8 @@ void PIOS_Board_Init(void) {
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TaskMonitorInitialize();
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TaskMonitorInitialize();
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/* Configure the main IO port */
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/* Configure the main IO port */
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uint8_t hwsettings_DSMxBind;
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HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
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uint8_t hwsettings_cc_mainport;
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uint8_t hwsettings_cc_mainport;
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HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
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HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
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@ -992,7 +994,7 @@ void PIOS_Board_Init(void) {
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}
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}
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uint32_t pios_spektrum_id;
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uint32_t pios_spektrum_id;
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if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
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if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_main_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, 0)) {
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PIOS_Assert(0);
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PIOS_Assert(0);
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}
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}
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}
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}
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@ -1056,7 +1058,7 @@ void PIOS_Board_Init(void) {
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}
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}
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uint32_t pios_spektrum_id;
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uint32_t pios_spektrum_id;
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if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, false)) {
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if (PIOS_SPEKTRUM_Init(&pios_spektrum_id, &pios_spektrum_flexi_cfg, &pios_usart_com_driver, pios_usart_spektrum_id, hwsettings_DSMxBind)) {
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PIOS_Assert(0);
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PIOS_Assert(0);
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}
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}
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}
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}
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@ -35,17 +35,12 @@
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#include <stdbool.h>
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#include <stdbool.h>
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#ifdef ENABLE_GPS_BINARY_GTOP
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#include "NMEA.h"
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#include "GTOP_BIN.h"
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#endif
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#if defined(ENABLE_GPS_ONESENTENCE_GTOP) || defined(ENABLE_GPS_NMEA)
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#include "NMEA.h"
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#endif
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#include "gpsposition.h"
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#include "gpsposition.h"
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#include "homelocation.h"
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#include "homelocation.h"
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#include "gpstime.h"
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#include "gpstime.h"
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#include "gpssatellites.h"
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#include "WorldMagModel.h"
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#include "WorldMagModel.h"
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#include "CoordinateConversions.h"
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#include "CoordinateConversions.h"
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@ -62,25 +57,16 @@ static float GravityAccel(float latitude, float longitude, float altitude);
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// ****************
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// ****************
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// Private constants
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// Private constants
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//#define FULL_COLD_RESTART // uncomment this to tell the GPS to do a FULL COLD restart
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//#define DISABLE_GPS_THRESHOLD //
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#define GPS_TIMEOUT_MS 500
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#define GPS_TIMEOUT_MS 500
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#define GPS_COMMAND_RESEND_TIMEOUT_MS 2000
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#define NMEA_MAX_PACKET_LENGTH 96 // 82 max NMEA msg size plus 12 margin (because some vendors add custom crap) plus CR plus Linefeed
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// same as in COM buffer
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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// Unfortunately need a good size stack for the WMM calculation
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// Unfortunately need a good size stack for the WMM calculation
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#ifdef ENABLE_GPS_BINARY_GTOP
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#define STACK_SIZE_BYTES 800
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#define STACK_SIZE_BYTES 800
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#else
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#define STACK_SIZE_BYTES 800
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#endif
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#else
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#else
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#ifdef ENABLE_GPS_BINARY_GTOP
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#define STACK_SIZE_BYTES 650
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#define STACK_SIZE_BYTES 650
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#else
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#define STACK_SIZE_BYTES 650
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#endif
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#endif
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#endif
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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@ -92,9 +78,7 @@ static uint32_t gpsPort;
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static xTaskHandle gpsTaskHandle;
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static xTaskHandle gpsTaskHandle;
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#ifndef ENABLE_GPS_BINARY_GTOP
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static char* gps_rx_buffer;
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static char gps_rx_buffer[128];
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#endif
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static uint32_t timeOfLastCommandMs;
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static uint32_t timeOfLastCommandMs;
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static uint32_t timeOfLastUpdateMs;
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static uint32_t timeOfLastUpdateMs;
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@ -127,12 +111,17 @@ int32_t GPSInitialize(void)
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GPSPositionInitialize();
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GPSPositionInitialize();
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#if !defined(PIOS_GPS_PURISTIC)
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#if !defined(PIOS_GPS_PURISTIC)
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GPSTimeInitialize();
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GPSTimeInitialize();
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GPSSatellitesInitialize();
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#ifdef PIOS_GPS_SETS_HOMELOCATION
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HomeLocationInitialize();
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HomeLocationInitialize();
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#endif
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#endif
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// TODO: Get gps settings object
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// TODO: Get gps settings object
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gpsPort = PIOS_COM_GPS;
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gpsPort = PIOS_COM_GPS;
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gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
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PIOS_Assert(gps_rx_buffer);
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return 0;
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return 0;
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}
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}
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// optional module, gets initialized separately
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// optional module, gets initialized separately
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@ -149,44 +138,10 @@ static void gpsTask(void *parameters)
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uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
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uint32_t timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
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GPSPositionData GpsData;
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GPSPositionData GpsData;
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#ifdef ENABLE_GPS_BINARY_GTOP
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GTOP_BIN_init();
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#else
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uint8_t rx_count = 0;
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uint8_t rx_count = 0;
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bool start_flag = false;
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bool start_flag = false;
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bool found_cr = false;
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bool found_cr = false;
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int32_t gpsRxOverflow = 0;
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int32_t gpsRxOverflow = 0;
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#endif
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#ifdef FULL_COLD_RESTART
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// tell the GPS to do a FULL COLD restart
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PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK104*37\r\n");
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timeOfLastCommandMs = timeNowMs;
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while (timeNowMs - timeOfLastCommandMs < 300) // delay for 300ms to let the GPS sort itself out
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{
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vTaskDelay(xDelay); // Block task until next update
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;;
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}
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#endif
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#ifdef DISABLE_GPS_THRESHOLD
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PIOS_COM_SendStringNonBlocking(gpsPort, "$PMTK397,0*23\r\n");
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#endif
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#ifdef ENABLE_GPS_BINARY_GTOP
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// switch to GTOP binary mode
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PIOS_COM_SendStringNonBlocking(gpsPort ,"$PGCMD,21,1*6F\r\n");
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#endif
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#ifdef ENABLE_GPS_ONESENTENCE_GTOP
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// switch to single sentence mode
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PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,2*6C\r\n");
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#endif
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#ifdef ENABLE_GPS_NMEA
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// switch to NMEA mode
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PIOS_COM_SendStringNonBlocking(gpsPort, "$PGCMD,21,3*6D\r\n");
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#endif
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numUpdates = 0;
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numUpdates = 0;
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numChecksumErrors = 0;
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numChecksumErrors = 0;
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@ -198,108 +153,87 @@ static void gpsTask(void *parameters)
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// Loop forever
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// Loop forever
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while (1)
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while (1)
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{
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{
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#ifdef ENABLE_GPS_BINARY_GTOP
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uint8_t c;
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// GTOP BINARY GPS mode
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// NMEA or SINGLE-SENTENCE GPS mode
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while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
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// This blocks the task until there is something on the buffer
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while (PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, xDelay) > 0)
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{
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// detect start while acquiring stream
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if (!start_flag && (c == '$'))
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{
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{
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uint8_t c;
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start_flag = true;
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PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
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found_cr = false;
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rx_count = 0;
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}
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else
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if (!start_flag)
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continue;
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if (GTOP_BIN_update_position(c, &numChecksumErrors, &numParsingErrors) >= 0)
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if (rx_count >= NMEA_MAX_PACKET_LENGTH)
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{
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{
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numUpdates++;
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// The buffer is already full and we haven't found a valid NMEA sentence.
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// Flush the buffer and note the overflow event.
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gpsRxOverflow++;
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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}
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else
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{
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gps_rx_buffer[rx_count] = c;
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rx_count++;
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}
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// look for ending '\r\n' sequence
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if (!found_cr && (c == '\r') )
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found_cr = true;
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else
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if (found_cr && (c != '\n') )
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found_cr = false; // false end flag
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else
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if (found_cr && (c == '\n') )
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{
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// The NMEA functions require a zero-terminated string
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// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
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gps_rx_buffer[rx_count-2] = 0;
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// prepare to parse next sentence
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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// Our rxBuffer must look like this now:
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// [0] = '$'
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// ... = zero or more bytes of sentence payload
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// [end_pos - 1] = '\r'
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// [end_pos] = '\n'
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//
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// Prepare to consume the sentence from the buffer
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// Validate the checksum over the sentence
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if (!NMEA_checksum(&gps_rx_buffer[1]))
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{ // Invalid checksum. May indicate dropped characters on Rx.
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//PIOS_DEBUG_PinHigh(2);
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++numChecksumErrors;
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//PIOS_DEBUG_PinLow(2);
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}
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else
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{ // Valid checksum, use this packet to update the GPS position
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if (!NMEA_update_position(&gps_rx_buffer[1])) {
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//PIOS_DEBUG_PinHigh(2);
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++numParsingErrors;
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//PIOS_DEBUG_PinLow(2);
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}
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else
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++numUpdates;
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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}
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}
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}
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}
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}
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#else
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// NMEA or SINGLE-SENTENCE GPS mode
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// This blocks the task until there is something on the buffer
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while (PIOS_COM_ReceiveBufferUsed(gpsPort) > 0)
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{
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uint8_t c;
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PIOS_COM_ReceiveBuffer(gpsPort, &c, 1, 0);
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// detect start while acquiring stream
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if (!start_flag && (c == '$'))
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{
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start_flag = true;
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found_cr = false;
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rx_count = 0;
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}
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else
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if (!start_flag)
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continue;
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if (rx_count >= sizeof(gps_rx_buffer))
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{
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// The buffer is already full and we haven't found a valid NMEA sentence.
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// Flush the buffer and note the overflow event.
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gpsRxOverflow++;
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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}
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else
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{
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gps_rx_buffer[rx_count] = c;
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rx_count++;
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}
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// look for ending '\r\n' sequence
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if (!found_cr && (c == '\r') )
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found_cr = true;
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else
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if (found_cr && (c != '\n') )
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found_cr = false; // false end flag
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|
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else
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if (found_cr && (c == '\n') )
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{
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// The NMEA functions require a zero-terminated string
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// As we detected \r\n, the string as for sure 2 bytes long, we will also strip the \r\n
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gps_rx_buffer[rx_count-2] = 0;
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// prepare to parse next sentence
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start_flag = false;
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found_cr = false;
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rx_count = 0;
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// Our rxBuffer must look like this now:
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// [0] = '$'
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// ... = zero or more bytes of sentence payload
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// [end_pos - 1] = '\r'
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// [end_pos] = '\n'
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||||||
//
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// Prepare to consume the sentence from the buffer
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||||||
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// Validate the checksum over the sentence
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if (!NMEA_checksum(&gps_rx_buffer[1]))
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{ // Invalid checksum. May indicate dropped characters on Rx.
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//PIOS_DEBUG_PinHigh(2);
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++numChecksumErrors;
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//PIOS_DEBUG_PinLow(2);
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|
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}
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else
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{ // Valid checksum, use this packet to update the GPS position
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if (!NMEA_update_position(&gps_rx_buffer[1])) {
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//PIOS_DEBUG_PinHigh(2);
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++numParsingErrors;
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//PIOS_DEBUG_PinLow(2);
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|
||||||
}
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else
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++numUpdates;
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||||||
|
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timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
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timeOfLastUpdateMs = timeNowMs;
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timeOfLastCommandMs = timeNowMs;
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||||||
}
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}
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|
||||||
}
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||||||
#endif
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|
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// Check for GPS timeout
|
// Check for GPS timeout
|
||||||
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
|
timeNowMs = xTaskGetTickCount() * portTICK_RATE_MS;
|
||||||
@ -312,30 +246,6 @@ static void gpsTask(void *parameters)
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|||||||
GPSPositionSet(&GpsData);
|
GPSPositionSet(&GpsData);
|
||||||
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
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AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
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if ((timeNowMs - timeOfLastCommandMs) >= GPS_COMMAND_RESEND_TIMEOUT_MS)
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|
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{ // resend the command .. just incase the gps has only just been plugged in or the gps did not get our last command
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||||||
timeOfLastCommandMs = timeNowMs;
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||||||
|
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||||||
#ifdef ENABLE_GPS_BINARY_GTOP
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|
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GTOP_BIN_init();
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|
||||||
// switch to binary mode
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|
||||||
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,1*6F\r\n");
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|
||||||
#endif
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|
||||||
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#ifdef ENABLE_GPS_ONESENTENCE_GTOP
|
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// switch to single sentence mode
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|
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PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,2*6C\r\n");
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|
||||||
#endif
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|
|
||||||
#ifdef ENABLE_GPS_NMEA
|
|
||||||
// switch to NMEA mode
|
|
||||||
PIOS_COM_SendStringNonBlocking(gpsPort,"$PGCMD,21,3*6D\r\n");
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#ifdef DISABLE_GPS_TRESHOLD
|
|
||||||
PIOS_COM_SendStringNonBlocking(gpsPort,"$PMTK397,0*23\r\n");
|
|
||||||
#endif
|
|
||||||
}
|
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{ // we appear to be receiving GPS sentences OK, we've had an update
|
{ // 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);
|
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Block task until next update
|
|
||||||
vTaskDelay(xDelay);
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|||||||
@ -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
|
|
||||||
|
|
||||||
@ -40,8 +40,6 @@
|
|||||||
|
|
||||||
|
|
||||||
|
|
||||||
#if defined(ENABLE_GPS_NMEA) || defined(ENABLE_GPS_ONESENTENCE_GTOP)
|
|
||||||
|
|
||||||
// Debugging
|
// Debugging
|
||||||
#ifdef ENABLE_DEBUG_MSG
|
#ifdef ENABLE_DEBUG_MSG
|
||||||
//#define DEBUG_MSG_IN ///< define to display the incoming NMEA messages
|
//#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_GSA ///< define to enable debug of GSA messages
|
||||||
//#define NMEA_DEBUG_GSV ///< define to enable debug of GSV 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_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__)
|
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
|
||||||
#else
|
#else
|
||||||
#define DEBUG_MSG(format, ...)
|
#define DEBUG_MSG(format, ...)
|
||||||
@ -69,60 +66,49 @@ struct nmea_parser {
|
|||||||
uint32_t cnt;
|
uint32_t cnt;
|
||||||
};
|
};
|
||||||
|
|
||||||
#ifdef ENABLE_GPS_NMEA
|
static bool nmeaProcessGPGGA(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 nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
|
static bool nmeaProcessGPVTG(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 nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
|
|
||||||
#if !defined(PIOS_GPS_PURISTIC)
|
#if !defined(PIOS_GPS_PURISTIC)
|
||||||
static bool nmeaProcessGPZDA(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);
|
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
|
||||||
#endif //PIOS_GPS_PURISTIC
|
#endif //PIOS_GPS_PURISTIC
|
||||||
#endif
|
|
||||||
|
|
||||||
static bool nmeaProcessPGTOP(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
|
|
||||||
|
|
||||||
static struct nmea_parser nmea_parsers[] = {
|
static struct nmea_parser nmea_parsers[] = {
|
||||||
|
{
|
||||||
#ifdef ENABLE_GPS_NMEA
|
.prefix = "GPGGA",
|
||||||
{
|
.handler = nmeaProcessGPGGA,
|
||||||
.prefix = "GPGGA",
|
.cnt = 0,
|
||||||
.handler = nmeaProcessGPGGA,
|
},
|
||||||
.cnt = 0,
|
{
|
||||||
},
|
.prefix = "GPVTG",
|
||||||
{
|
.handler = nmeaProcessGPVTG,
|
||||||
.prefix = "GPVTG",
|
.cnt = 0,
|
||||||
.handler = nmeaProcessGPVTG,
|
},
|
||||||
.cnt = 0,
|
{
|
||||||
},
|
.prefix = "GPGSA",
|
||||||
{
|
.handler = nmeaProcessGPGSA,
|
||||||
.prefix = "GPGSA",
|
.cnt = 0,
|
||||||
.handler = nmeaProcessGPGSA,
|
},
|
||||||
.cnt = 0,
|
{
|
||||||
},
|
.prefix = "GPRMC",
|
||||||
{
|
.handler = nmeaProcessGPRMC,
|
||||||
.prefix = "GPRMC",
|
.cnt = 0,
|
||||||
.handler = nmeaProcessGPRMC,
|
},
|
||||||
.cnt = 0,
|
|
||||||
},
|
|
||||||
#if !defined(PIOS_GPS_PURISTIC)
|
#if !defined(PIOS_GPS_PURISTIC)
|
||||||
{
|
{
|
||||||
.prefix = "GPZDA",
|
.prefix = "GPZDA",
|
||||||
.handler = nmeaProcessGPZDA,
|
.handler = nmeaProcessGPZDA,
|
||||||
.cnt = 0,
|
.cnt = 0,
|
||||||
},
|
},
|
||||||
{
|
{
|
||||||
.prefix = "GPGSV",
|
.prefix = "GPGSV",
|
||||||
.handler = nmeaProcessGPGSV,
|
.handler = nmeaProcessGPGSV,
|
||||||
.cnt = 0,
|
.cnt = 0,
|
||||||
},
|
},
|
||||||
#endif //PIOS_GPS_PURISTIC
|
#endif //PIOS_GPS_PURISTIC
|
||||||
#endif
|
|
||||||
{
|
|
||||||
.prefix = "PGTOP",
|
|
||||||
.handler = nmeaProcessPGTOP,
|
|
||||||
.cnt = 0,
|
|
||||||
},
|
|
||||||
};
|
};
|
||||||
|
|
||||||
static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix)
|
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));
|
return (((float)whole) + fract * pow(10, -fract_units));
|
||||||
}
|
}
|
||||||
|
|
||||||
#ifdef ENABLE_GPS_NMEA
|
|
||||||
/*
|
/*
|
||||||
* Parse a field in the format:
|
* Parse a field in the format:
|
||||||
* DD[D]MM.mmmm[mm]
|
* 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;
|
return true;
|
||||||
}
|
}
|
||||||
#endif // ENABLE_GPS_NMEA
|
|
||||||
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
@ -380,7 +364,6 @@ bool NMEA_update_position(char *nmea_sentence)
|
|||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
|
|
||||||
#ifdef ENABLE_GPS_NMEA
|
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* Parse an NMEA GPGGA sentence and update the given UAVObject
|
* Parse an NMEA GPGGA sentence and update the given UAVObject
|
||||||
@ -685,87 +668,3 @@ static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
|
|||||||
return true;
|
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)
|
|
||||||
|
|||||||
@ -34,8 +34,6 @@
|
|||||||
#ifndef GPS_H
|
#ifndef GPS_H
|
||||||
#define GPS_H
|
#define GPS_H
|
||||||
|
|
||||||
#include "gps_mode.h"
|
|
||||||
|
|
||||||
int32_t GPSInitialize(void);
|
int32_t GPSInitialize(void);
|
||||||
|
|
||||||
#endif // GPS_H
|
#endif // GPS_H
|
||||||
|
|||||||
@ -33,11 +33,8 @@
|
|||||||
|
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdint.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_update_position(char *nmea_sentence);
|
extern bool NMEA_checksum(char *nmea_sentence);
|
||||||
extern bool NMEA_checksum(char *nmea_sentence);
|
|
||||||
#endif
|
|
||||||
|
|
||||||
#endif /* NMEA_H */
|
#endif /* NMEA_H */
|
||||||
|
|||||||
@ -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
|
|
||||||
|
|
||||||
/**
|
|
||||||
* @}
|
|
||||||
* @}
|
|
||||||
*/
|
|
||||||
@ -251,6 +251,11 @@ static void objectUpdatedCb(UAVObjEvent * ev)
|
|||||||
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
|
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
|
||||||
retval = UAVObjDeleteMetaobjects();
|
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) {
|
if(retval == 0) {
|
||||||
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
|
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
|
||||||
|
|||||||
@ -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_TELEM_RF_TX_BUF_LEN 192
|
||||||
|
|
||||||
#define PIOS_COM_GPS_RX_BUF_LEN 96
|
#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_RX_BUF_LEN 192
|
||||||
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
|
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192
|
||||||
@ -1079,12 +1078,10 @@ void PIOS_Board_Init(void) {
|
|||||||
PIOS_Assert(0);
|
PIOS_Assert(0);
|
||||||
}
|
}
|
||||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
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(rx_buffer);
|
||||||
PIOS_Assert(tx_buffer);
|
|
||||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_gps_id,
|
||||||
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
||||||
tx_buffer, PIOS_COM_GPS_TX_BUF_LEN)) {
|
NULL, 0)) {
|
||||||
PIOS_Assert(0);
|
PIOS_Assert(0);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
@ -1097,6 +1094,7 @@ void PIOS_Board_Init(void) {
|
|||||||
|
|
||||||
/* Configure the selected receiver */
|
/* Configure the selected receiver */
|
||||||
uint8_t manualcontrolsettings_inputmode;
|
uint8_t manualcontrolsettings_inputmode;
|
||||||
|
ManualControlSettingsInitialize();
|
||||||
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
|
ManualControlSettingsInputModeGet(&manualcontrolsettings_inputmode);
|
||||||
|
|
||||||
switch (manualcontrolsettings_inputmode) {
|
switch (manualcontrolsettings_inputmode) {
|
||||||
|
|||||||
@ -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_RX_BUF_LEN 192
|
||||||
#define PIOS_COM_TELEM_RF_TX_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.
|
* Board specific number of devices.
|
||||||
@ -165,12 +165,10 @@ void PIOS_Board_Init(void) {
|
|||||||
PIOS_Assert(0);
|
PIOS_Assert(0);
|
||||||
}
|
}
|
||||||
uint8_t * rx_buffer = (uint8_t *) pvPortMalloc(PIOS_COM_GPS_RX_BUF_LEN);
|
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(rx_buffer);
|
||||||
PIOS_Assert(tx_buffer);
|
|
||||||
if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id,
|
if (PIOS_COM_Init(&pios_com_gps_id, &pios_udp_com_driver, pios_udp_gps_id,
|
||||||
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
|
||||||
tx_buffer, PIOS_COM_GPS_RX_BUF_LEN)) {
|
NULL, 0)) {
|
||||||
PIOS_Assert(0);
|
PIOS_Assert(0);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|||||||
@ -116,6 +116,19 @@ int32_t PIOS_FLASHFS_Init()
|
|||||||
return 0;
|
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
|
* @brief Erase the headers for all objects in the flash chip
|
||||||
* @return 0 if successful, -1 if not
|
* @return 0 if successful, -1 if not
|
||||||
|
|||||||
@ -8,7 +8,6 @@
|
|||||||
*
|
*
|
||||||
* @file pios_spektrum.c
|
* @file pios_spektrum.c
|
||||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
* @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)
|
* @brief USART commands. Inits USARTs, controls USARTs & Interrupt handlers. (STM32 dependent)
|
||||||
* @see The GNU Public License (GPL) Version 3
|
* @see The GNU Public License (GPL) Version 3
|
||||||
*
|
*
|
||||||
@ -59,7 +58,7 @@ uint8_t sync_of = 0;
|
|||||||
uint16_t supv_timer=0;
|
uint16_t supv_timer=0;
|
||||||
|
|
||||||
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id);
|
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 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)
|
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
|
* 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
|
// TODO: need setting flag for bind on next powerup
|
||||||
if (bind) {
|
if (bind) {
|
||||||
PIOS_SPEKTRUM_Bind(cfg);
|
PIOS_SPEKTRUM_Bind(cfg,bind);
|
||||||
}
|
}
|
||||||
|
|
||||||
(driver->bind_rx_cb)(lower_id, PIOS_SPEKTRUM_RxInCallback, 0);
|
(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 true Successful bind
|
||||||
* \output false Bind failed
|
* \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);
|
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
|
||||||
/* RX line, set high */
|
/* 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 */
|
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
|
||||||
PIOS_DELAY_WaitmS(60);
|
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 */
|
/* RX line, drive low for 120us */
|
||||||
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
|
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
|
||||||
PIOS_DELAY_WaituS(120);
|
PIOS_DELAY_WaituS(120);
|
||||||
@ -141,6 +146,7 @@ static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
|
|||||||
PIOS_DELAY_WaituS(120);
|
PIOS_DELAY_WaituS(120);
|
||||||
}
|
}
|
||||||
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
|
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
|
||||||
|
GPIO_Init(cfg->bind.gpio, &GPIO_InitStructure);
|
||||||
|
|
||||||
return true;
|
return true;
|
||||||
}
|
}
|
||||||
@ -172,9 +178,10 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
|
|||||||
CaptureValue[7]=b;
|
CaptureValue[7]=b;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
/* Known sync bytes, 0x01, 0x02, 0x12 */
|
/* Known sync bytes, 0x01, 0x02, 0x12, 0xb2 */
|
||||||
|
/* 0xb2 DX8 3bind pulses only */
|
||||||
if (bytecount == 2) {
|
if (bytecount == 2) {
|
||||||
if (b == 0x01) {
|
if ((b == 0x01) || (b == 0xb2)) {
|
||||||
datalength=0; // 10bit
|
datalength=0; // 10bit
|
||||||
//frames=1;
|
//frames=1;
|
||||||
sync = 1;
|
sync = 1;
|
||||||
@ -234,17 +241,17 @@ static int32_t PIOS_SPEKTRUM_Decode(uint8_t b)
|
|||||||
*@brief clears the channel values
|
*@brief clears the channel values
|
||||||
*/
|
*/
|
||||||
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
|
static void PIOS_SPEKTRUM_Supervisor(uint32_t spektrum_id) {
|
||||||
/* 125hz */
|
/* 625hz */
|
||||||
supv_timer++;
|
supv_timer++;
|
||||||
if(supv_timer > 5) {
|
if(supv_timer > 4) {
|
||||||
/* sync between frames */
|
/* sync between frames */
|
||||||
sync = 0;
|
sync = 0;
|
||||||
bytecount = 0;
|
bytecount = 0;
|
||||||
prev_byte = 0xFF;
|
prev_byte = 0xFF;
|
||||||
frame_error = 0;
|
frame_error = 0;
|
||||||
sync_of++;
|
sync_of++;
|
||||||
/* watchdog activated after 100ms silence */
|
/* watchdog activated after 200ms silence */
|
||||||
if (sync_of > 12) {
|
if (sync_of > 30) {
|
||||||
/* signal lost */
|
/* signal lost */
|
||||||
sync_of = 0;
|
sync_of = 0;
|
||||||
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
|
for (int i = 0; i < PIOS_SPEKTRUM_NUM_INPUTS; i++) {
|
||||||
|
|||||||
@ -32,6 +32,7 @@
|
|||||||
#include "uavobjectmanager.h"
|
#include "uavobjectmanager.h"
|
||||||
|
|
||||||
int32_t PIOS_FLASHFS_Init();
|
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_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_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);
|
||||||
@ -42,7 +42,7 @@ struct pios_spektrum_cfg {
|
|||||||
|
|
||||||
extern const struct pios_rcvr_driver pios_spektrum_rcvr_driver;
|
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 */
|
#endif /* PIOS_PWM_PRIV_H */
|
||||||
|
|
||||||
|
|||||||
@ -51,7 +51,7 @@ typedef struct {
|
|||||||
|
|
||||||
typedef uint8_t uavtalk_checksum;
|
typedef uint8_t uavtalk_checksum;
|
||||||
#define UAVTALK_CHECKSUM_LENGTH sizeof(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_MIN_PACKET_LENGTH UAVTALK_MAX_HEADER_LENGTH + UAVTALK_CHECKSUM_LENGTH
|
||||||
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
|
#define UAVTALK_MAX_PACKET_LENGTH UAVTALK_MIN_PACKET_LENGTH + UAVTALK_MAX_PAYLOAD_LENGTH
|
||||||
|
|
||||||
|
|||||||
159
ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp
Normal file
159
ground/openpilotgcs/src/libs/utils/cachedsvgitem.cpp
Normal 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();
|
||||||
|
}
|
||||||
@ -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
|
* 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
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#ifndef GTOP_BIN_H
|
#ifndef CACHEDSVGITEM_H
|
||||||
#define GTOP_BIN_H
|
#define CACHEDSVGITEM_H
|
||||||
|
|
||||||
#include <stdint.h>
|
#include <QGraphicsSvgItem>
|
||||||
#include "gps_mode.h"
|
#include <QGLContext>
|
||||||
|
|
||||||
#ifdef ENABLE_GPS_BINARY_GTOP
|
#include "utils_global.h"
|
||||||
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);
|
class QGLContext;
|
||||||
#endif
|
|
||||||
|
//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
|
#endif
|
||||||
@ -3,7 +3,9 @@ TARGET = Utils
|
|||||||
|
|
||||||
QT += gui \
|
QT += gui \
|
||||||
network \
|
network \
|
||||||
xml
|
xml \
|
||||||
|
svg \
|
||||||
|
opengl
|
||||||
|
|
||||||
DEFINES += QTCREATOR_UTILS_LIB
|
DEFINES += QTCREATOR_UTILS_LIB
|
||||||
|
|
||||||
@ -48,7 +50,8 @@ SOURCES += reloadpromptutils.cpp \
|
|||||||
homelocationutil.cpp \
|
homelocationutil.cpp \
|
||||||
mytabbedstackwidget.cpp \
|
mytabbedstackwidget.cpp \
|
||||||
mytabwidget.cpp \
|
mytabwidget.cpp \
|
||||||
mylistwidget.cpp
|
mylistwidget.cpp \
|
||||||
|
cachedsvgitem.cpp
|
||||||
SOURCES += xmlconfig.cpp
|
SOURCES += xmlconfig.cpp
|
||||||
|
|
||||||
win32 {
|
win32 {
|
||||||
@ -102,7 +105,8 @@ HEADERS += utils_global.h \
|
|||||||
homelocationutil.h \
|
homelocationutil.h \
|
||||||
mytabbedstackwidget.h \
|
mytabbedstackwidget.h \
|
||||||
mytabwidget.h \
|
mytabwidget.h \
|
||||||
mylistwidget.h
|
mylistwidget.h \
|
||||||
|
cachedsvgitem.h
|
||||||
HEADERS += xmlconfig.h
|
HEADERS += xmlconfig.h
|
||||||
|
|
||||||
FORMS += filewizardpage.ui \
|
FORMS += filewizardpage.ui \
|
||||||
|
|||||||
@ -30,7 +30,7 @@
|
|||||||
#include <QStringList>
|
#include <QStringList>
|
||||||
#include <QTimer>
|
#include <QTimer>
|
||||||
#include <extensionsystem/pluginmanager.h>
|
#include <extensionsystem/pluginmanager.h>
|
||||||
|
#include "objectpersistence.h"
|
||||||
|
|
||||||
ConfigPlugin::ConfigPlugin()
|
ConfigPlugin::ConfigPlugin()
|
||||||
{
|
{
|
||||||
@ -58,7 +58,7 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
|
|||||||
"ConfigPlugin.EraseAll",
|
"ConfigPlugin.EraseAll",
|
||||||
QList<int>() <<
|
QList<int>() <<
|
||||||
Core::Constants::C_GLOBAL_ID);
|
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->menu()->addSeparator();
|
||||||
ac->appendGroup("Utilities");
|
ac->appendGroup("Utilities");
|
||||||
@ -80,6 +80,17 @@ bool ConfigPlugin::initialize(const QStringList& args, QString *errMsg)
|
|||||||
return true;
|
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()
|
void ConfigPlugin::extensionsInitialized()
|
||||||
{
|
{
|
||||||
cmd->action()->setEnabled(false);
|
cmd->action()->setEnabled(false);
|
||||||
@ -122,18 +133,19 @@ void ConfigPlugin::eraseAllSettings()
|
|||||||
return;
|
return;
|
||||||
|
|
||||||
settingsErased = false;
|
settingsErased = false;
|
||||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
|
||||||
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
|
|
||||||
Q_ASSERT(objMngr);
|
|
||||||
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME) );
|
|
||||||
Q_ASSERT(objper);
|
Q_ASSERT(objper);
|
||||||
|
|
||||||
connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
|
connect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
|
||||||
ObjectPersistence::DataFields data;
|
|
||||||
data.Operation = ObjectPersistence::OPERATION_DELETE;
|
ObjectPersistence::DataFields data = objper->getData();
|
||||||
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
|
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->setData(data);
|
||||||
objper->updated();
|
objper->updated();
|
||||||
QTimer::singleShot(1500,this,SLOT(eraseFailed()));
|
QTimer::singleShot(6000,this,SLOT(eraseFailed()));
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
@ -141,37 +153,47 @@ void ConfigPlugin::eraseFailed()
|
|||||||
{
|
{
|
||||||
if (settingsErased)
|
if (settingsErased)
|
||||||
return;
|
return;
|
||||||
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
|
|
||||||
UAVObjectManager * objMngr = pm->getObject<UAVObjectManager>();
|
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
|
||||||
Q_ASSERT(objMngr);
|
|
||||||
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>( objMngr->getObject(ObjectPersistence::NAME));
|
ObjectPersistence::DataFields data = objper->getData();
|
||||||
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
|
if(data.Operation == ObjectPersistence::OPERATION_FULLERASE) {
|
||||||
QMessageBox msgBox;
|
// First attempt via flash erase failed. Fall back on erase all settings
|
||||||
msgBox.setText(tr("Error trying to erase settings."));
|
data.Operation = ObjectPersistence::OPERATION_DELETE;
|
||||||
msgBox.setInformativeText(tr("Power-cycle your board. Settings might be inconsistent."));
|
data.Selection = ObjectPersistence::SELECTION_ALLSETTINGS;
|
||||||
msgBox.setStandardButtons(QMessageBox::Ok);
|
objper->setData(data);
|
||||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
objper->updated();
|
||||||
msgBox.exec();
|
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)
|
void ConfigPlugin::eraseDone(UAVObject * obj)
|
||||||
{
|
{
|
||||||
QMessageBox msgBox;
|
QMessageBox msgBox;
|
||||||
ObjectPersistence* objper = dynamic_cast<ObjectPersistence*>(sender());
|
ObjectPersistence* objper = ObjectPersistence::GetInstance(getObjectManager());
|
||||||
Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0);
|
ObjectPersistence::DataFields data = objper->getData();
|
||||||
QString tmp = obj->getField("Operation")->getValue().toString();
|
Q_ASSERT(obj->getInstID() == objper->getInstID());
|
||||||
if (obj->getField("Operation")->getValue().toString().compare(QString("Delete")) == 0 ) {
|
|
||||||
|
if(data.Operation != ObjectPersistence::OPERATION_COMPLETED) {
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
disconnect(objper, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(eraseDone(UAVObject *)));
|
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;
|
settingsErased = true;
|
||||||
msgBox.setText(tr("Settings are now erased."));
|
msgBox.setText(tr("Settings are now erased."));
|
||||||
msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset."));
|
msgBox.setInformativeText(tr("Please now power-cycle your board to complete reset."));
|
||||||
} else {
|
} else {
|
||||||
msgBox.setText(tr("Error trying to erase settings."));
|
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.setStandardButtons(QMessageBox::Ok);
|
||||||
msgBox.setDefaultButton(QMessageBox::Ok);
|
msgBox.setDefaultButton(QMessageBox::Ok);
|
||||||
|
|||||||
@ -48,6 +48,7 @@ public:
|
|||||||
ConfigPlugin();
|
ConfigPlugin();
|
||||||
~ConfigPlugin();
|
~ConfigPlugin();
|
||||||
|
|
||||||
|
UAVObjectManager * getObjectManager();
|
||||||
void extensionsInitialized();
|
void extensionsInitialized();
|
||||||
bool initialize(const QStringList & arguments, QString * errorString);
|
bool initialize(const QStringList & arguments, QString * errorString);
|
||||||
void shutdown();
|
void shutdown();
|
||||||
|
|||||||
@ -6,649 +6,689 @@
|
|||||||
<rect>
|
<rect>
|
||||||
<x>0</x>
|
<x>0</x>
|
||||||
<y>0</y>
|
<y>0</y>
|
||||||
<width>639</width>
|
<width>683</width>
|
||||||
<height>611</height>
|
<height>685</height>
|
||||||
</rect>
|
</rect>
|
||||||
</property>
|
</property>
|
||||||
<property name="windowTitle">
|
<property name="windowTitle">
|
||||||
<string>Form</string>
|
<string>Form</string>
|
||||||
</property>
|
</property>
|
||||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
<layout class="QVBoxLayout" name="verticalLayout_2">
|
||||||
<item>
|
<item>
|
||||||
<widget class="QGroupBox" name="groupBox">
|
<widget class="QScrollArea" name="scrollArea">
|
||||||
<property name="sizePolicy">
|
<property name="sizePolicy">
|
||||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
|
||||||
<horstretch>0</horstretch>
|
<horstretch>0</horstretch>
|
||||||
<verstretch>0</verstretch>
|
<verstretch>1</verstretch>
|
||||||
</sizepolicy>
|
</sizepolicy>
|
||||||
</property>
|
</property>
|
||||||
<property name="minimumSize">
|
<property name="frameShape">
|
||||||
<size>
|
<enum>QFrame::NoFrame</enum>
|
||||||
<width>0</width>
|
|
||||||
<height>150</height>
|
|
||||||
</size>
|
|
||||||
</property>
|
</property>
|
||||||
<property name="title">
|
<property name="widgetResizable">
|
||||||
<string>Rate Stabilization Coefficients (Inner Loop)</string>
|
<bool>true</bool>
|
||||||
</property>
|
</property>
|
||||||
<layout class="QGridLayout" name="gridLayout_3">
|
<widget class="QWidget" name="scrollAreaWidgetContents">
|
||||||
<item row="0" column="2">
|
<property name="geometry">
|
||||||
<widget class="QLabel" name="label_12">
|
<rect>
|
||||||
<property name="text">
|
<x>0</x>
|
||||||
<string>Kp</string>
|
<y>0</y>
|
||||||
</property>
|
<width>665</width>
|
||||||
<property name="alignment">
|
<height>627</height>
|
||||||
<set>Qt::AlignCenter</set>
|
</rect>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
<property name="sizePolicy">
|
||||||
</item>
|
<sizepolicy hsizetype="MinimumExpanding" vsizetype="MinimumExpanding">
|
||||||
<item row="0" column="3">
|
<horstretch>0</horstretch>
|
||||||
<widget class="QLabel" name="label_13">
|
<verstretch>0</verstretch>
|
||||||
<property name="text">
|
</sizepolicy>
|
||||||
<string>Ki</string>
|
</property>
|
||||||
</property>
|
<layout class="QVBoxLayout" name="verticalLayout">
|
||||||
<property name="alignment">
|
<property name="spacing">
|
||||||
<set>Qt::AlignCenter</set>
|
<number>0</number>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
<property name="margin">
|
||||||
</item>
|
<number>0</number>
|
||||||
<item row="0" column="4">
|
</property>
|
||||||
<widget class="QLabel" name="label_14">
|
<item>
|
||||||
<property name="text">
|
<widget class="QGroupBox" name="groupBox">
|
||||||
<string>ILimit</string>
|
<property name="sizePolicy">
|
||||||
</property>
|
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||||
<property name="alignment">
|
<horstretch>0</horstretch>
|
||||||
<set>Qt::AlignCenter</set>
|
<verstretch>0</verstretch>
|
||||||
</property>
|
</sizepolicy>
|
||||||
</widget>
|
</property>
|
||||||
</item>
|
<property name="minimumSize">
|
||||||
<item row="1" column="1">
|
<size>
|
||||||
<widget class="QLabel" name="label_10">
|
<width>0</width>
|
||||||
<property name="text">
|
<height>150</height>
|
||||||
<string>Roll</string>
|
</size>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
<property name="title">
|
||||||
</item>
|
<string>Rate Stabilization Coefficients (Inner Loop)</string>
|
||||||
<item row="1" column="2">
|
</property>
|
||||||
<widget class="QDoubleSpinBox" name="rateRollKp">
|
<layout class="QGridLayout" name="gridLayout_3">
|
||||||
<property name="toolTip">
|
<item row="0" column="2">
|
||||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
<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>
|
Then lower the value by 20% or so.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="1" column="3">
|
<item row="1" column="3">
|
||||||
<widget class="QDoubleSpinBox" name="rateRollKi">
|
<widget class="QDoubleSpinBox" name="rateRollKi">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="1" column="4">
|
<item row="1" column="4">
|
||||||
<widget class="QDoubleSpinBox" name="rateRollILimit">
|
<widget class="QDoubleSpinBox" name="rateRollILimit">
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="0">
|
<item row="2" column="0">
|
||||||
<widget class="QCheckBox" name="linkRateRP">
|
<widget class="QCheckBox" name="linkRateRP">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>If checked, the Roll and Pitch factors will be identical.
|
<string>If checked, the Roll and Pitch factors will be identical.
|
||||||
When you change one, the other is updated.</string>
|
When you change one, the other is updated.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Link</string>
|
<string>Link</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="1">
|
<item row="2" column="1">
|
||||||
<widget class="QLabel" name="label_11">
|
<widget class="QLabel" name="label_11">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Pitch</string>
|
<string>Pitch</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="2">
|
<item row="2" column="2">
|
||||||
<widget class="QDoubleSpinBox" name="ratePitchKp">
|
<widget class="QDoubleSpinBox" name="ratePitchKp">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||||
Then lower the value by 20% or so.</string>
|
Then lower the value by 20% or so.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="3">
|
<item row="2" column="3">
|
||||||
<widget class="QDoubleSpinBox" name="ratePitchKi">
|
<widget class="QDoubleSpinBox" name="ratePitchKi">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
<string>I factor for rate stabilization is usually very low or even zero.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="4">
|
<item row="2" column="4">
|
||||||
<widget class="QDoubleSpinBox" name="ratePitchILimit">
|
<widget class="QDoubleSpinBox" name="ratePitchILimit">
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="1">
|
<item row="3" column="1">
|
||||||
<widget class="QLabel" name="label_15">
|
<widget class="QLabel" name="label_15">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Yaw</string>
|
<string>Yaw</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="2">
|
<item row="3" column="2">
|
||||||
<widget class="QDoubleSpinBox" name="rateYawKp">
|
<widget class="QDoubleSpinBox" name="rateYawKp">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
<string>Slowly raise Kp until you start seeing clear oscillations when you fly.
|
||||||
Then lower the value by 20% or so.
|
Then lower the value by 20% or so.
|
||||||
|
|
||||||
You can usually go for higher values for Yaw factors.</string>
|
You can usually go for higher values for Yaw factors.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="3">
|
<item row="3" column="3">
|
||||||
<widget class="QDoubleSpinBox" name="rateYawKi">
|
<widget class="QDoubleSpinBox" name="rateYawKi">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
|
<string>As a rule of thumb, you can set YawRate Ki at roughly the same
|
||||||
value as YawRate Kp.</string>
|
value as YawRate Kp.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="4">
|
<item row="3" column="4">
|
||||||
<widget class="QDoubleSpinBox" name="rateYawILimit">
|
<widget class="QDoubleSpinBox" name="rateYawILimit">
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.000100000000000</double>
|
<double>0.000100000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
</layout>
|
</layout>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item>
|
<item>
|
||||||
<spacer name="verticalSpacer_3">
|
<spacer name="verticalSpacer_3">
|
||||||
<property name="orientation">
|
<property name="orientation">
|
||||||
<enum>Qt::Vertical</enum>
|
<enum>Qt::Vertical</enum>
|
||||||
</property>
|
</property>
|
||||||
<property name="sizeType">
|
<property name="sizeType">
|
||||||
<enum>QSizePolicy::Fixed</enum>
|
<enum>QSizePolicy::Fixed</enum>
|
||||||
</property>
|
</property>
|
||||||
<property name="sizeHint" stdset="0">
|
<property name="sizeHint" stdset="0">
|
||||||
<size>
|
<size>
|
||||||
<width>20</width>
|
<width>20</width>
|
||||||
<height>5</height>
|
<height>13</height>
|
||||||
</size>
|
</size>
|
||||||
</property>
|
</property>
|
||||||
</spacer>
|
</spacer>
|
||||||
</item>
|
</item>
|
||||||
<item>
|
<item>
|
||||||
<widget class="QGroupBox" name="groupBox_2">
|
<widget class="QGroupBox" name="groupBox_2">
|
||||||
<property name="sizePolicy">
|
<property name="sizePolicy">
|
||||||
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
<sizepolicy hsizetype="Preferred" vsizetype="MinimumExpanding">
|
||||||
<horstretch>0</horstretch>
|
<horstretch>0</horstretch>
|
||||||
<verstretch>0</verstretch>
|
<verstretch>0</verstretch>
|
||||||
</sizepolicy>
|
</sizepolicy>
|
||||||
</property>
|
</property>
|
||||||
<property name="minimumSize">
|
<property name="minimumSize">
|
||||||
<size>
|
<size>
|
||||||
<width>0</width>
|
<width>0</width>
|
||||||
<height>150</height>
|
<height>150</height>
|
||||||
</size>
|
</size>
|
||||||
</property>
|
</property>
|
||||||
<property name="title">
|
<property name="title">
|
||||||
<string>Attitude Stabization Coefficients (Outer Loop)</string>
|
<string>Attitude Stabization Coefficients (Outer Loop)</string>
|
||||||
</property>
|
</property>
|
||||||
<layout class="QGridLayout" name="gridLayout_2">
|
<layout class="QGridLayout" name="gridLayout_2">
|
||||||
<item row="3" column="2">
|
<item row="3" column="2">
|
||||||
<widget class="QDoubleSpinBox" name="rollKp">
|
<widget class="QDoubleSpinBox" name="rollKp">
|
||||||
<property name="toolTip">
|
<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>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||||
</string>
|
</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="3">
|
<item row="3" column="3">
|
||||||
<widget class="QDoubleSpinBox" name="rollKi">
|
<widget class="QDoubleSpinBox" name="rollKi">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>Ki can usually be almost identical to Kp.</string>
|
<string>Ki can usually be almost identical to Kp.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="4">
|
<item row="3" column="4">
|
||||||
<widget class="QDoubleSpinBox" name="rollILimit">
|
<widget class="QDoubleSpinBox" name="rollILimit">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
<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
|
depending on whether your airframe is well balanced, and your
|
||||||
flying style.</string>
|
flying style.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="2">
|
<item row="2" column="2">
|
||||||
<widget class="QLabel" name="label_19">
|
<widget class="QLabel" name="label_19">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Kp</string>
|
<string>Kp</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="alignment">
|
<property name="alignment">
|
||||||
<set>Qt::AlignCenter</set>
|
<set>Qt::AlignCenter</set>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="3">
|
<item row="2" column="3">
|
||||||
<widget class="QLabel" name="label_20">
|
<widget class="QLabel" name="label_20">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Ki</string>
|
<string>Ki</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="alignment">
|
<property name="alignment">
|
||||||
<set>Qt::AlignCenter</set>
|
<set>Qt::AlignCenter</set>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="2" column="4">
|
<item row="2" column="4">
|
||||||
<widget class="QLabel" name="label_21">
|
<widget class="QLabel" name="label_21">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>ILimit</string>
|
<string>ILimit</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="alignment">
|
<property name="alignment">
|
||||||
<set>Qt::AlignCenter</set>
|
<set>Qt::AlignCenter</set>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="7" column="4">
|
<item row="7" column="4">
|
||||||
<widget class="QDoubleSpinBox" name="yawILimit">
|
<widget class="QDoubleSpinBox" name="yawILimit">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
<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
|
depending on whether your airframe is well balanced, and your
|
||||||
flying style.</string>
|
flying style.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="7" column="3">
|
<item row="7" column="3">
|
||||||
<widget class="QDoubleSpinBox" name="yawKi">
|
<widget class="QDoubleSpinBox" name="yawKi">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>Ki can usually be almost identical to Kp.</string>
|
<string>Ki can usually be almost identical to Kp.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="7" column="2">
|
<item row="7" column="2">
|
||||||
<widget class="QDoubleSpinBox" name="yawKp">
|
<widget class="QDoubleSpinBox" name="yawKp">
|
||||||
<property name="toolTip">
|
<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>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||||
</string>
|
</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="6" column="2">
|
<item row="6" column="2">
|
||||||
<widget class="QDoubleSpinBox" name="pitchKp">
|
<widget class="QDoubleSpinBox" name="pitchKp">
|
||||||
<property name="toolTip">
|
<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>Once Rate stabilization is done, you should increase the Kp factor until the airframe oscillates again, and go back down 20% or so.
|
||||||
</string>
|
</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="7" column="1">
|
<item row="7" column="1">
|
||||||
<widget class="QLabel" name="label_18">
|
<widget class="QLabel" name="label_18">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Yaw</string>
|
<string>Yaw</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="6" column="1">
|
<item row="6" column="1">
|
||||||
<widget class="QLabel" name="label_17">
|
<widget class="QLabel" name="label_17">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Pitch</string>
|
<string>Pitch</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="3" column="1">
|
<item row="3" column="1">
|
||||||
<widget class="QLabel" name="label_16">
|
<widget class="QLabel" name="label_16">
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Roll</string>
|
<string>Roll</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="6" column="3">
|
<item row="6" column="3">
|
||||||
<widget class="QDoubleSpinBox" name="pitchKi">
|
<widget class="QDoubleSpinBox" name="pitchKi">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>Ki can usually be almost identical to Kp.</string>
|
<string>Ki can usually be almost identical to Kp.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="6" column="4">
|
<item row="6" column="4">
|
||||||
<widget class="QDoubleSpinBox" name="pitchILimit">
|
<widget class="QDoubleSpinBox" name="pitchILimit">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>ILimit can be equal to three to four times Ki, but you can adjust
|
<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
|
depending on whether your airframe is well balanced, and your
|
||||||
flying style.</string>
|
flying style.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="decimals">
|
<property name="decimals">
|
||||||
<number>6</number>
|
<number>6</number>
|
||||||
</property>
|
</property>
|
||||||
<property name="singleStep">
|
<property name="singleStep">
|
||||||
<double>0.100000000000000</double>
|
<double>0.100000000000000</double>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
<item row="6" column="0">
|
<item row="6" column="0">
|
||||||
<widget class="QCheckBox" name="linkAttitudeRP">
|
<widget class="QCheckBox" name="linkAttitudeRP">
|
||||||
<property name="toolTip">
|
<property name="toolTip">
|
||||||
<string>If checked, the Roll and Pitch factors will be identical.
|
<string>If checked, the Roll and Pitch factors will be identical.
|
||||||
When you change one, the other is updated.</string>
|
When you change one, the other is updated.</string>
|
||||||
</property>
|
</property>
|
||||||
<property name="text">
|
<property name="text">
|
||||||
<string>Link</string>
|
<string>Link</string>
|
||||||
</property>
|
</property>
|
||||||
</widget>
|
</widget>
|
||||||
</item>
|
</item>
|
||||||
</layout>
|
</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>
|
</widget>
|
||||||
</item>
|
</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>
|
<item>
|
||||||
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
<layout class="QHBoxLayout" name="horizontalLayout_2">
|
||||||
<item>
|
<item>
|
||||||
|
|||||||
@ -27,6 +27,7 @@
|
|||||||
|
|
||||||
#include "pfdgadgetwidget.h"
|
#include "pfdgadgetwidget.h"
|
||||||
#include <utils/stylehelper.h>
|
#include <utils/stylehelper.h>
|
||||||
|
#include <utils/cachedsvgitem.h>
|
||||||
#include <iostream>
|
#include <iostream>
|
||||||
#include <QDebug>
|
#include <QDebug>
|
||||||
#include <QPainter>
|
#include <QPainter>
|
||||||
@ -383,7 +384,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
- Battery stats: battery-txt
|
- Battery stats: battery-txt
|
||||||
*/
|
*/
|
||||||
l_scene->clear(); // Deletes all items contained in the scene as well.
|
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
|
// All other items will be clipped to the shape of the background
|
||||||
m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
m_background->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||||
QGraphicsItem::ItemClipsToShape);
|
QGraphicsItem::ItemClipsToShape);
|
||||||
@ -391,28 +392,28 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
m_background->setElementId("background");
|
m_background->setElementId("background");
|
||||||
l_scene->addItem(m_background);
|
l_scene->addItem(m_background);
|
||||||
|
|
||||||
m_world = new QGraphicsSvgItem();
|
m_world = new CachedSvgItem();
|
||||||
m_world->setParentItem(m_background);
|
m_world->setParentItem(m_background);
|
||||||
m_world->setSharedRenderer(m_renderer);
|
m_world->setSharedRenderer(m_renderer);
|
||||||
m_world->setElementId("world");
|
m_world->setElementId("world");
|
||||||
l_scene->addItem(m_world);
|
l_scene->addItem(m_world);
|
||||||
|
|
||||||
// red Roll scale: rollscale
|
// red Roll scale: rollscale
|
||||||
m_rollscale = new QGraphicsSvgItem();
|
m_rollscale = new CachedSvgItem();
|
||||||
m_rollscale->setSharedRenderer(m_renderer);
|
m_rollscale->setSharedRenderer(m_renderer);
|
||||||
m_rollscale->setElementId("rollscale");
|
m_rollscale->setElementId("rollscale");
|
||||||
l_scene->addItem(m_rollscale);
|
l_scene->addItem(m_rollscale);
|
||||||
|
|
||||||
// Home point:
|
// Home point:
|
||||||
m_homewaypoint = new QGraphicsSvgItem();
|
m_homewaypoint = new CachedSvgItem();
|
||||||
// Next point:
|
// Next point:
|
||||||
m_nextwaypoint = new QGraphicsSvgItem();
|
m_nextwaypoint = new CachedSvgItem();
|
||||||
// Home point bearing:
|
// Home point bearing:
|
||||||
m_homepointbearing = new QGraphicsSvgItem();
|
m_homepointbearing = new CachedSvgItem();
|
||||||
// Next point bearing:
|
// 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->setParentItem(m_background);
|
||||||
m_foreground->setSharedRenderer(m_renderer);
|
m_foreground->setSharedRenderer(m_renderer);
|
||||||
m_foreground->setElementId("foreground");
|
m_foreground->setElementId("foreground");
|
||||||
@ -429,7 +430,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
// into a QGraphicsSvgItem which we will display at the same
|
// into a QGraphicsSvgItem which we will display at the same
|
||||||
// place: we do this so that the heading scale can be clipped to
|
// place: we do this so that the heading scale can be clipped to
|
||||||
// the compass dial region.
|
// the compass dial region.
|
||||||
m_compass = new QGraphicsSvgItem();
|
m_compass = new CachedSvgItem();
|
||||||
m_compass->setSharedRenderer(m_renderer);
|
m_compass->setSharedRenderer(m_renderer);
|
||||||
m_compass->setElementId("compass");
|
m_compass->setElementId("compass");
|
||||||
m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
m_compass->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||||
@ -440,7 +441,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
m_compass->setTransform(matrix,false);
|
m_compass->setTransform(matrix,false);
|
||||||
|
|
||||||
// Now place the compass scale inside:
|
// Now place the compass scale inside:
|
||||||
m_compassband = new QGraphicsSvgItem();
|
m_compassband = new CachedSvgItem();
|
||||||
m_compassband->setSharedRenderer(m_renderer);
|
m_compassband->setSharedRenderer(m_renderer);
|
||||||
m_compassband->setElementId("compass-band");
|
m_compassband->setElementId("compass-band");
|
||||||
m_compassband->setParentItem(m_compass);
|
m_compassband->setParentItem(m_compass);
|
||||||
@ -462,7 +463,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
compassMatrix = m_renderer->matrixForElement("speed-bg");
|
compassMatrix = m_renderer->matrixForElement("speed-bg");
|
||||||
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-bg")).y();
|
||||||
QGraphicsSvgItem *verticalbg = new QGraphicsSvgItem();
|
QGraphicsSvgItem *verticalbg = new CachedSvgItem();
|
||||||
verticalbg->setSharedRenderer(m_renderer);
|
verticalbg->setSharedRenderer(m_renderer);
|
||||||
verticalbg->setElementId("speed-bg");
|
verticalbg->setElementId("speed-bg");
|
||||||
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||||
@ -477,7 +478,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
m_speedscale = new QGraphicsItemGroup();
|
m_speedscale = new QGraphicsItemGroup();
|
||||||
m_speedscale->setParentItem(verticalbg);
|
m_speedscale->setParentItem(verticalbg);
|
||||||
|
|
||||||
QGraphicsSvgItem *speedscalelines = new QGraphicsSvgItem();
|
QGraphicsSvgItem *speedscalelines = new CachedSvgItem();
|
||||||
speedscalelines->setSharedRenderer(m_renderer);
|
speedscalelines->setSharedRenderer(m_renderer);
|
||||||
speedscalelines->setElementId("speed-scale");
|
speedscalelines->setElementId("speed-scale");
|
||||||
speedScaleHeight = m_renderer->matrixForElement("speed-scale").mapRect(
|
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();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).y();
|
||||||
qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height();
|
qreal speedWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("speed-window")).height();
|
||||||
QGraphicsSvgItem *speedwindow = new QGraphicsSvgItem();
|
QGraphicsSvgItem *speedwindow = new CachedSvgItem();
|
||||||
speedwindow->setSharedRenderer(m_renderer);
|
speedwindow->setSharedRenderer(m_renderer);
|
||||||
speedwindow->setElementId("speed-window");
|
speedwindow->setElementId("speed-window");
|
||||||
speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
speedwindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||||
@ -548,7 +549,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
compassMatrix = m_renderer->matrixForElement("altitude-bg");
|
compassMatrix = m_renderer->matrixForElement("altitude-bg");
|
||||||
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-bg")).y();
|
||||||
verticalbg = new QGraphicsSvgItem();
|
verticalbg = new CachedSvgItem();
|
||||||
verticalbg->setSharedRenderer(m_renderer);
|
verticalbg->setSharedRenderer(m_renderer);
|
||||||
verticalbg->setElementId("altitude-bg");
|
verticalbg->setElementId("altitude-bg");
|
||||||
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
verticalbg->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||||
@ -563,7 +564,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
m_altitudescale = new QGraphicsItemGroup();
|
m_altitudescale = new QGraphicsItemGroup();
|
||||||
m_altitudescale->setParentItem(verticalbg);
|
m_altitudescale->setParentItem(verticalbg);
|
||||||
|
|
||||||
QGraphicsSvgItem *altitudescalelines = new QGraphicsSvgItem();
|
QGraphicsSvgItem *altitudescalelines = new CachedSvgItem();
|
||||||
altitudescalelines->setSharedRenderer(m_renderer);
|
altitudescalelines->setSharedRenderer(m_renderer);
|
||||||
altitudescalelines->setElementId("altitude-scale");
|
altitudescalelines->setElementId("altitude-scale");
|
||||||
altitudeScaleHeight = m_renderer->matrixForElement("altitude-scale").mapRect(
|
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();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).y();
|
||||||
qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height();
|
qreal altitudeWindowHeight = compassMatrix.mapRect(m_renderer->boundsOnElement("altitude-window")).height();
|
||||||
QGraphicsSvgItem *altitudewindow = new QGraphicsSvgItem();
|
QGraphicsSvgItem *altitudewindow = new CachedSvgItem();
|
||||||
altitudewindow->setSharedRenderer(m_renderer);
|
altitudewindow->setSharedRenderer(m_renderer);
|
||||||
altitudewindow->setElementId("altitude-window");
|
altitudewindow->setElementId("altitude-window");
|
||||||
altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
altitudewindow->setFlags(QGraphicsItem::ItemClipsChildrenToShape|
|
||||||
@ -633,7 +634,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
|
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
|
||||||
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
|
||||||
gcsTelemetryArrow = new QGraphicsSvgItem();
|
gcsTelemetryArrow = new CachedSvgItem();
|
||||||
gcsTelemetryArrow->setSharedRenderer(m_renderer);
|
gcsTelemetryArrow->setSharedRenderer(m_renderer);
|
||||||
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
|
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
|
||||||
l_scene->addItem(gcsTelemetryArrow);
|
l_scene->addItem(gcsTelemetryArrow);
|
||||||
@ -669,7 +670,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
|
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
|
||||||
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
|
||||||
gcsTelemetryArrow = new QGraphicsSvgItem();
|
gcsTelemetryArrow = new CachedSvgItem();
|
||||||
gcsTelemetryArrow->setSharedRenderer(m_renderer);
|
gcsTelemetryArrow->setSharedRenderer(m_renderer);
|
||||||
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
|
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
|
||||||
l_scene->addItem(gcsTelemetryArrow);
|
l_scene->addItem(gcsTelemetryArrow);
|
||||||
@ -702,7 +703,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
|
compassMatrix = m_renderer->matrixForElement("gcstelemetry-Disconnected");
|
||||||
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
|
startX = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).x();
|
||||||
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
|
startY = compassMatrix.mapRect(m_renderer->boundsOnElement("gcstelemetry-Disconnected")).y();
|
||||||
gcsTelemetryArrow = new QGraphicsSvgItem();
|
gcsTelemetryArrow = new CachedSvgItem();
|
||||||
gcsTelemetryArrow->setSharedRenderer(m_renderer);
|
gcsTelemetryArrow->setSharedRenderer(m_renderer);
|
||||||
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
|
gcsTelemetryArrow->setElementId("gcstelemetry-Disconnected");
|
||||||
l_scene->addItem(gcsTelemetryArrow);
|
l_scene->addItem(gcsTelemetryArrow);
|
||||||
@ -771,7 +772,7 @@ void PFDGadgetWidget::setDialFile(QString dfn)
|
|||||||
{ qDebug()<<"Error on PFD artwork file.";
|
{ qDebug()<<"Error on PFD artwork file.";
|
||||||
m_renderer->load(QString(":/pfd/images/pfd-default.svg"));
|
m_renderer->load(QString(":/pfd/images/pfd-default.svg"));
|
||||||
l_scene->clear(); // This also deletes all items contained in the scene.
|
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);
|
m_background->setSharedRenderer(m_renderer);
|
||||||
l_scene->addItem(m_background);
|
l_scene->addItem(m_background);
|
||||||
pfdError = true;
|
pfdError = true;
|
||||||
|
|||||||
@ -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_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="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="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"/>
|
<access gcs="readwrite" flight="readwrite"/>
|
||||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||||
|
|||||||
@ -1,7 +1,7 @@
|
|||||||
<xml>
|
<xml>
|
||||||
<object name="ObjectPersistence" singleinstance="true" settings="false">
|
<object name="ObjectPersistence" singleinstance="true" settings="false">
|
||||||
<description>Someone who knows please enter this</description>
|
<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="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
|
||||||
<field name="ObjectID" units="" type="uint32" elements="1"/>
|
<field name="ObjectID" units="" type="uint32" elements="1"/>
|
||||||
<field name="InstanceID" units="" type="uint32" elements="1"/>
|
<field name="InstanceID" units="" type="uint32" elements="1"/>
|
||||||
|
|||||||
Loading…
x
Reference in New Issue
Block a user