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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into thread/OP-816_Setup_Wizard_Revo_Support

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This commit is contained in:
Fredrik Arvidsson 2013-03-23 16:38:26 +01:00
commit 510a7d70ad
14 changed files with 716 additions and 229 deletions
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2
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -95,7 +95,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_LED_D4 7 #define PIOS_LED_D4 7
#endif #endif
#define PIOS_LED_HEARTBEAT PIOS_LED_USB #define PIOS_LED_HEARTBEAT PIOS_LED_LINK
#define PIOS_LED_ALARM PIOS_LED_TX #define PIOS_LED_ALARM PIOS_LED_TX
#define USB_LED_ON PIOS_LED_On(PIOS_LED_USB) #define USB_LED_ON PIOS_LED_On(PIOS_LED_USB)

34
flight/Project/OpenOCD/stm32f1x.stlink.cfg Normal file
View File

@ -0,0 +1,34 @@
# script for stm32
if { [info exists CHIPNAME] } {
set _CHIPNAME $CHIPNAME
} else {
set _CHIPNAME stm32
}
# Work-area is a space in RAM used for flash programming
# By default use 16kB
if { [info exists WORKAREASIZE] } {
set _WORKAREASIZE $WORKAREASIZE
} else {
set _WORKAREASIZE 0x4000
}
if { [info exists CPUTAPID ] } {
set _CPUTAPID $CPUTAPID
} else {
set _CPUTAPID 0x1ba01477
}
transport select stlink_swd
stlink newtap $_CHIPNAME cpu -expected-id $_CPUTAPID
set _TARGETNAME $_CHIPNAME.cpu
target create $_TARGETNAME stm32_stlink -chain-position $_TARGETNAME -rtos auto
$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
# flash size will be probed
set _FLASHNAME $_CHIPNAME.flash
flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME

82
flight/RevoMini/System/pios_board.c
View File

@ -293,6 +293,31 @@ static void PIOS_Board_configure_dsm(const struct pios_usart_cfg *pios_usart_dsm
pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id; pios_rcvr_group_map[channelgroup] = pios_dsm_rcvr_id;
} }
static void PIOS_Board_configure_pwm(const struct pios_pwm_cfg *pios_pwm_cfg)
{
/* Set up the receiver port. Later this should be optional */
uint32_t pios_pwm_id;
PIOS_PWM_Init(&pios_pwm_id, pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
static void PIOS_Board_configure_ppm(const struct pios_ppm_cfg *pios_ppm_cfg)
{
uint32_t pios_ppm_id;
PIOS_PPM_Init(&pios_ppm_id, pios_ppm_cfg);
uint32_t pios_ppm_rcvr_id;
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
}
/** /**
* PIOS_Board_Init() * PIOS_Board_Init()
* initializes all the core subsystems on this specific hardware * initializes all the core subsystems on this specific hardware
@ -641,6 +666,13 @@ void PIOS_Board_Init(void) {
} }
#endif /* PIOS_INCLUDE_RFM22B */ #endif /* PIOS_INCLUDE_RFM22B */
#if defined(PIOS_INCLUDE_PWM) || defined(PIOS_INCLUDE_PWM)
const struct pios_servo_cfg *pios_servo_cfg;
// default to servo outputs only
pios_servo_cfg = &pios_servo_cfg_out;
#endif
/* Configure the receiver port*/ /* Configure the receiver port*/
uint8_t hwsettings_rcvrport; uint8_t hwsettings_rcvrport;
HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport); HwSettingsRM_RcvrPortGet(&hwsettings_rcvrport);
@ -650,35 +682,33 @@ void PIOS_Board_Init(void) {
break; break;
case HWSETTINGS_RM_RCVRPORT_PWM: case HWSETTINGS_RM_RCVRPORT_PWM:
#if defined(PIOS_INCLUDE_PWM) #if defined(PIOS_INCLUDE_PWM)
{
/* Set up the receiver port. Later this should be optional */ /* Set up the receiver port. Later this should be optional */
uint32_t pios_pwm_id; PIOS_Board_configure_pwm(&pios_pwm_cfg);
PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
uint32_t pios_pwm_rcvr_id;
if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
}
#endif /* PIOS_INCLUDE_PWM */ #endif /* PIOS_INCLUDE_PWM */
break; break;
case HWSETTINGS_RM_RCVRPORT_PPM: case HWSETTINGS_RM_RCVRPORT_PPM:
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS: case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RM_RCVRPORT_PPMPWM:
#if defined(PIOS_INCLUDE_PPM) #if defined(PIOS_INCLUDE_PPM)
if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS)
{ {
uint32_t pios_ppm_id; // configure servo outputs and the remaining 5 inputs as outputs
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
}
uint32_t pios_ppm_rcvr_id; PIOS_Board_configure_ppm(&pios_ppm_cfg);
if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
PIOS_Assert(0); // enable pwm on the remaining channels
} if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM)
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id; {
PIOS_Board_configure_pwm(&pios_pwm_ppm_cfg);
} }
break;
#endif /* PIOS_INCLUDE_PPM */ #endif /* PIOS_INCLUDE_PPM */
case HWSETTINGS_RM_RCVRPORT_OUTPUTS: case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
// configure only the servo outputs
pios_servo_cfg = &pios_servo_cfg_out_in;
break; break;
} }
@ -695,20 +725,8 @@ void PIOS_Board_Init(void) {
#endif /* PIOS_INCLUDE_GCSRCVR */ #endif /* PIOS_INCLUDE_GCSRCVR */
#ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS #ifndef PIOS_DEBUG_ENABLE_DEBUG_PINS
switch (hwsettings_rcvrport) { // pios_servo_cfg points to the correct configuration based on input port settings
case HWSETTINGS_RM_RCVRPORT_DISABLED: PIOS_Servo_Init(pios_servo_cfg);
case HWSETTINGS_RM_RCVRPORT_PWM:
case HWSETTINGS_RM_RCVRPORT_PPM:
/* Set up the servo outputs */
PIOS_Servo_Init(&pios_servo_cfg);
break;
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
//PIOS_Servo_Init(&pios_servo_rcvr_cfg);
//TODO: Prepare the configurations on board_hw_defs and handle here:
PIOS_Servo_Init(&pios_servo_cfg);
break;
}
#else #else
PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels)); PIOS_DEBUG_Init(&pios_tim_servo_all_channels, NELEMENTS(pios_tim_servo_all_channels));
#endif #endif

161
flight/board_hw_defs/revomini/board_hw_defs.c
View File

@ -1291,9 +1291,120 @@ static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
}, },
.remap = GPIO_AF_TIM5, .remap = GPIO_AF_TIM5,
}, },
}; // PWM pins on FlexiIO(receiver) port
{
// * 6: PB15 = SPI2 MOSI, TIM12 CH2
const struct pios_servo_cfg pios_servo_cfg = { .timer = TIM12,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_15,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource15,
},
.remap = GPIO_AF_TIM12,
},
{
// * 7: PC6 = TIM8 CH1, USART6 TX
.timer = TIM8,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_6,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource6,
},
.remap = GPIO_AF_TIM8,
},
{
// * 8: PC7 = TIM8 CH2, USART6 RX
.timer = TIM8,
.timer_chan = TIM_Channel_2,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_7,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource7,
},
.remap = GPIO_AF_TIM8,
},
{
// * 9: PC8 = TIM8 CH3
.timer = TIM8,
.timer_chan = TIM_Channel_3,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_8,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource8,
},
.remap = GPIO_AF_TIM8,
},
{
// * 10: PC9 = TIM8 CH4
.timer = TIM8,
.timer_chan = TIM_Channel_4,
.pin = {
.gpio = GPIOC,
.init = {
.GPIO_Pin = GPIO_Pin_9,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource9,
},
.remap = GPIO_AF_TIM8,
},
{
// * 5: PB14 = SPI2 MISO, TIM12 CH1, USART3 RTS
.timer = TIM12,
.timer_chan = TIM_Channel_1,
.pin = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_14,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
.pin_source = GPIO_PinSource14,
},
.remap = GPIO_AF_TIM12,
},
};
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT 6
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM 11
#define PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN 12
const struct pios_servo_cfg pios_servo_cfg_out = {
.tim_oc_init = { .tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1, .TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable, .TIM_OutputState = TIM_OutputState_Enable,
@ -1305,7 +1416,37 @@ const struct pios_servo_cfg pios_servo_cfg = {
.TIM_OCNIdleState = TIM_OCNIdleState_Reset, .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
}, },
.channels = pios_tim_servoport_all_pins, .channels = pios_tim_servoport_all_pins,
.num_channels = NELEMENTS(pios_tim_servoport_all_pins), .num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT,
};
// All servo outputs, servo input ch1 ppm, ch2-6 outputs
const struct pios_servo_cfg pios_servo_cfg_out_in_ppm = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN_PPM,
};
// All servo outputs, servo inputs ch1-6 Outputs
const struct pios_servo_cfg pios_servo_cfg_out_in = {
.tim_oc_init = {
.TIM_OCMode = TIM_OCMode_PWM1,
.TIM_OutputState = TIM_OutputState_Enable,
.TIM_OutputNState = TIM_OutputNState_Disable,
.TIM_Pulse = PIOS_SERVOS_INITIAL_POSITION,
.TIM_OCPolarity = TIM_OCPolarity_High,
.TIM_OCNPolarity = TIM_OCPolarity_High,
.TIM_OCIdleState = TIM_OCIdleState_Reset,
.TIM_OCNIdleState = TIM_OCNIdleState_Reset,
},
.channels = pios_tim_servoport_all_pins,
.num_channels = PIOS_SERVOPORT_ALL_PINS_PWMOUT_IN,
}; };
@ -1424,6 +1565,18 @@ const struct pios_pwm_cfg pios_pwm_cfg = {
.channels = pios_tim_rcvrport_all_channels, .channels = pios_tim_rcvrport_all_channels,
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels), .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
}; };
// this configures outputs 2-6 as pwm inputs
const struct pios_pwm_cfg pios_pwm_ppm_cfg = {
.tim_ic_init = {
.TIM_ICPolarity = TIM_ICPolarity_Rising,
.TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0,
},
.channels = &pios_tim_rcvrport_all_channels[1],
.num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
};
#endif #endif
/* /*
@ -1437,7 +1590,7 @@ static const struct pios_ppm_cfg pios_ppm_cfg = {
.TIM_ICSelection = TIM_ICSelection_DirectTI, .TIM_ICSelection = TIM_ICSelection_DirectTI,
.TIM_ICPrescaler = TIM_ICPSC_DIV1, .TIM_ICPrescaler = TIM_ICPSC_DIV1,
.TIM_ICFilter = 0x0, .TIM_ICFilter = 0x0,
.TIM_Channel = TIM_Channel_2, .TIM_Channel = TIM_Channel_1,
}, },
/* Use only the first channel for ppm */ /* Use only the first channel for ppm */
.channels = &pios_tim_rcvrport_all_channels[0], .channels = &pios_tim_rcvrport_all_channels[0],

146
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -128,8 +128,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>850</width> <width>852</width>
<height>508</height> <height>518</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
@ -215,7 +215,7 @@
<enum>QFrame::NoFrame</enum> <enum>QFrame::NoFrame</enum>
</property> </property>
<property name="currentIndex"> <property name="currentIndex">
<number>1</number> <number>4</number>
</property> </property>
<widget class="QWidget" name="fixedWing"> <widget class="QWidget" name="fixedWing">
<property name="enabled"> <property name="enabled">
@ -703,7 +703,7 @@ margin:1px;</string>
<number>0</number> <number>0</number>
</property> </property>
<property name="verticalSpacing"> <property name="verticalSpacing">
<number>-1</number> <number>6</number>
</property> </property>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QGroupBox" name="groupBox_10"> <widget class="QGroupBox" name="groupBox_10">
@ -1555,8 +1555,8 @@ margin:1px;</string>
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>800</width> <width>808</width>
<height>386</height> <height>397</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_11"> <layout class="QVBoxLayout" name="verticalLayout_11">
@ -2158,6 +2158,9 @@ margin:1px;</string>
<property name="alternatingRowColors"> <property name="alternatingRowColors">
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="columnCount">
<number>12</number>
</property>
<attribute name="horizontalHeaderDefaultSectionSize"> <attribute name="horizontalHeaderDefaultSectionSize">
<number>50</number> <number>50</number>
</attribute> </attribute>
@ -2244,6 +2247,16 @@ margin:1px;</string>
<string>Ch 10</string> <string>Ch 10</string>
</property> </property>
</column> </column>
<column>
<property name="text">
<string>Ch 11</string>
</property>
</column>
<column>
<property name="text">
<string>Ch 12</string>
</property>
</column>
<item row="0" column="0"> <item row="0" column="0">
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
@ -2324,6 +2337,24 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set> <set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property> </property>
</item> </item>
<item row="0" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="0" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="0"> <item row="1" column="0">
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
@ -2404,6 +2435,23 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set> <set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property> </property>
</item> </item>
<item row="1" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="1" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="0"> <item row="2" column="0">
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
@ -2484,6 +2532,23 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set> <set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property> </property>
</item> </item>
<item row="2" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="2" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="0"> <item row="3" column="0">
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
@ -2564,6 +2629,24 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set> <set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property> </property>
</item> </item>
<item row="3" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="3" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="0"> <item row="4" column="0">
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
@ -2644,6 +2727,23 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set> <set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property> </property>
</item> </item>
<item row="4" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="4" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="0"> <item row="5" column="0">
<property name="text"> <property name="text">
<string>-</string> <string>-</string>
@ -2724,6 +2824,24 @@ margin:1px;</string>
<set>AlignHCenter|AlignVCenter|AlignCenter</set> <set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property> </property>
</item> </item>
<item row="5" column="10">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
<item row="5" column="11">
<property name="text">
<string>-</string>
</property>
<property name="textAlignment">
<set>AlignHCenter|AlignVCenter|AlignCenter</set>
</property>
</item>
</widget> </widget>
</item> </item>
</layout> </layout>
@ -2832,8 +2950,8 @@ margin:1px;</string>
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>287</width> <width>852</width>
<height>326</height> <height>518</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_18"> <layout class="QVBoxLayout" name="verticalLayout_18">
@ -3216,15 +3334,15 @@ p, li { white-space: pre-wrap; }
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt; <string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt; &lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; } p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Lucida Grande'; font-size:13pt; font-weight:400; font-style:normal;&quot;&gt; &lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'Ubuntu'; font-size:9pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt; &lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
&lt;tr&gt; &lt;tr&gt;
&lt;td style=&quot;border: none;&quot;&gt; &lt;td style=&quot;border: none;&quot;&gt;
&lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt; &lt;p align=&quot;center&quot; style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD REQUIRES CAUTION&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt; &lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:11pt;&quot;&gt;&lt;br /&gt;&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/p&gt; &lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string> &lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property> </property>
</widget> </widget>
</item> </item>

3
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -31,6 +31,7 @@
#include "extensionsystem/pluginmanager.h" #include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h" #include "uavobjectmanager.h"
#include "uavobject.h" #include "uavobject.h"
#include "actuatorcommand.h"
typedef struct { typedef struct {
@ -144,7 +145,7 @@ class VehicleConfig: public ConfigTaskWidget
QStringList mixerVectors; QStringList mixerVectors;
QStringList mixerTypeDescriptions; QStringList mixerTypeDescriptions;
static const quint32 CHANNEL_NUMELEM = 10; static const quint32 CHANNEL_NUMELEM = ActuatorCommand::CHANNEL_NUMELEM;
private: private:

177
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -54,26 +54,21 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
m_config = new Ui_OutputWidget(); m_config = new Ui_OutputWidget();
m_config->setupUi(this); m_config->setupUi(this);
ExtensionSystem::PluginManager *pm=ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Core::Internal::GeneralSettings * settings=pm->getObject<Core::Internal::GeneralSettings>(); Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
if(!settings->useExpertMode()) if(!settings->useExpertMode()) {
m_config->saveRCOutputToRAM->setVisible(false); m_config->saveRCOutputToRAM->setVisible(false);
}
UAVSettingsImportExportFactory *importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin, SIGNAL(importAboutToBegin()), this, SLOT(stopTests()));
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
// NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10. // NOTE: we have channel indices from 0 to 9, but the convention for OP is Channel 1 to Channel 10.
// Register for ActuatorSettings changes: // Register for ActuatorSettings changes:
for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) for (unsigned int i = 0; i < ActuatorCommand::CHANNEL_NUMELEM; i++) {
{ OutputChannelForm *form = new OutputChannelForm(i, this, i == 0);
OutputChannelForm *form = new OutputChannelForm(i, this, i==0); connect(m_config->channelOutTest, SIGNAL(toggled(bool)), form, SLOT(enableChannelTest(bool)));
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), connect(form, SIGNAL(channelChanged(int,int)), this, SLOT(sendChannelTest(int,int)));
form, SLOT(enableChannelTest(bool)));
connect(form, SIGNAL(channelChanged(int,int)),
this, SLOT(sendChannelTest(int,int)));
m_config->channelLayout->addWidget(form); m_config->channelLayout->addWidget(form);
} }
@ -89,6 +84,8 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
addUAVObject("ActuatorSettings"); addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields // Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate6);
addWidget(m_config->cb_outputRate5);
addWidget(m_config->cb_outputRate4); addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3); addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2); addWidget(m_config->cb_outputRate2);
@ -99,17 +96,20 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand")); UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
this->setEnabled(false); this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*))); }
connect(obj,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(disableIfNotMe(UAVObject*)));
refreshWidgetsValues(); refreshWidgetsValues();
} }
void ConfigOutputWidget::enableControls(bool enable) void ConfigOutputWidget::enableControls(bool enable)
{ {
ConfigTaskWidget::enableControls(enable); ConfigTaskWidget::enableControls(enable);
if(!enable) if(!enable) {
m_config->channelOutTest->setChecked(false); m_config->channelOutTest->setChecked(false);
}
m_config->channelOutTest->setEnabled(enable); m_config->channelOutTest->setEnabled(enable);
} }
@ -118,9 +118,6 @@ ConfigOutputWidget::~ConfigOutputWidget()
// Do nothing // Do nothing
} }
// ************************************
/** /**
Toggles the channel testing mode by making the GCS take over Toggles the channel testing mode by making the GCS take over
the ActuatorCommand objects the ActuatorCommand objects
@ -159,9 +156,8 @@ void ConfigOutputWidget::runChannelTests(bool state)
ActuatorCommand * obj = ActuatorCommand::GetInstance(getObjectManager()); ActuatorCommand * obj = ActuatorCommand::GetInstance(getObjectManager());
UAVObject::Metadata mdata = obj->getMetadata(); UAVObject::Metadata mdata = obj->getMetadata();
if (state) if (state) {
{ wasItMe = true;
wasItMe=true;
accInitialData = mdata; accInitialData = mdata;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY); UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE); UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
@ -169,9 +165,8 @@ void ConfigOutputWidget::runChannelTests(bool state)
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE); UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100; mdata.gcsTelemetryUpdatePeriod = 100;
} }
else else {
{ wasItMe = false;
wasItMe=false;
mdata = accInitialData; // Restore metadata mdata = accInitialData; // Restore metadata
} }
obj->setMetadata(mdata); obj->setMetadata(mdata);
@ -182,11 +177,11 @@ void ConfigOutputWidget::runChannelTests(bool state)
OutputChannelForm* ConfigOutputWidget::getOutputChannelForm(const int index) const OutputChannelForm* ConfigOutputWidget::getOutputChannelForm(const int index) const
{ {
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>(); QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
{ if(outputChannelForm->index() == index) {
if( outputChannelForm->index() == index)
return outputChannelForm; return outputChannelForm;
} }
}
// no OutputChannelForm found with given index // no OutputChannelForm found with given index
return NULL; return NULL;
@ -203,8 +198,9 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
int index = options.indexOf(field->getValue().toString()); int index = options.indexOf(field->getValue().toString());
OutputChannelForm *outputChannelForm = getOutputChannelForm(index); OutputChannelForm *outputChannelForm = getOutputChannelForm(index);
if(outputChannelForm) if(outputChannelForm) {
outputChannelForm->setAssignment(str); outputChannelForm->setAssignment(str);
}
} }
/** /**
@ -213,11 +209,13 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
*/ */
void ConfigOutputWidget::sendChannelTest(int index, int value) void ConfigOutputWidget::sendChannelTest(int index, int value)
{ {
if (!m_config->channelOutTest->isChecked()) if (!m_config->channelOutTest->isChecked()) {
return; return;
}
if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) if(index < 0 || (unsigned)index >= ActuatorCommand::CHANNEL_NUMELEM) {
return; return;
}
ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager()); ActuatorCommand *actuatorCommand = ActuatorCommand::GetInstance(getObjectManager());
Q_ASSERT(actuatorCommand); Q_ASSERT(actuatorCommand);
@ -244,13 +242,12 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
Q_ASSERT(actuatorSettings); Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData(); ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// get channel descriptions // Get channel descriptions
QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions(); QStringList ChannelDesc = ConfigVehicleTypeWidget::getChannelDescriptions();
// Initialize output forms // Initialize output forms
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>(); QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
{
outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]); outputChannelForm->setAssignment(ChannelDesc[outputChannelForm->index()]);
// init min,max,neutral // init min,max,neutral
@ -265,25 +262,57 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
// Get the SpinWhileArmed setting // Get the SpinWhileArmed setting
m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE); m_config->spinningArmed->setChecked(actuatorSettingsData.MotorsSpinWhileArmed == ActuatorSettings::MOTORSSPINWHILEARMED_TRUE);
// Get Output rates for both banks // Setup output rates for all banks
if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]))==-1) if(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])) == -1) {
{
m_config->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])); m_config->cb_outputRate1->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]));
} }
if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]))==-1) if(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])) == -1) {
{
m_config->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])); m_config->cb_outputRate2->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]));
} }
if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]) )== -1) {
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
}
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])) == -1) {
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]));
}
if(m_config->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])) == -1) {
m_config->cb_outputRate5->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[4]));
}
if(m_config->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])) == -1) {
m_config->cb_outputRate6->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[5]));
}
m_config->cb_outputRate1->setCurrentIndex(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0]))); m_config->cb_outputRate1->setCurrentIndex(m_config->cb_outputRate1->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[0])));
m_config->cb_outputRate2->setCurrentIndex(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1]))); m_config->cb_outputRate2->setCurrentIndex(m_config->cb_outputRate2->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[1])));
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate5->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[4])));
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate6->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[5])));
// Reset to all disabled
m_config->chBank1->setText("-");
m_config->chBank2->setText("-");
m_config->chBank3->setText("-");
m_config->chBank4->setText("-");
m_config->chBank5->setText("-");
m_config->chBank6->setText("-");
m_config->cb_outputRate1->setEnabled(false);
m_config->cb_outputRate2->setEnabled(false);
m_config->cb_outputRate3->setEnabled(false);
m_config->cb_outputRate4->setEnabled(false);
m_config->cb_outputRate5->setEnabled(false);
m_config->cb_outputRate6->setEnabled(false);
// Get connected board model
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm); Q_ASSERT(pm);
UAVObjectUtilManager* utilMngr = pm->getObject<UAVObjectUtilManager>(); UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
if (utilMngr) { Q_ASSERT(utilMngr);
if(utilMngr) {
int board = utilMngr->getBoardModel(); int board = utilMngr->getBoardModel();
if ((board & 0xff00) == 1024) { // Setup labels and combos for banks according to board type
// CopterControl family if ((board & 0xff00) == 0x0400) {
// Coptercontrol family of boards 4 timer banks
m_config->chBank1->setText("1-3"); m_config->chBank1->setText("1-3");
m_config->chBank2->setText("4"); m_config->chBank2->setText("4");
m_config->chBank3->setText("5,7-8"); m_config->chBank3->setText("5,7-8");
@ -292,36 +321,26 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
m_config->cb_outputRate2->setEnabled(true); m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(true); m_config->cb_outputRate3->setEnabled(true);
m_config->cb_outputRate4->setEnabled(true); m_config->cb_outputRate4->setEnabled(true);
if(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))==-1)
{
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]));
} }
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))==-1) else if((board & 0xff00) == 0x0900) {
{ // Revolution family of boards 6 timer banks
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])); m_config->chBank1->setText("1-2");
} m_config->chBank2->setText("3");
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))); m_config->chBank3->setText("4");
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))); m_config->chBank4->setText("5-6");
} else if ((board & 0xff00) == 256 ) { m_config->chBank5->setText("7-8");
// Mainboard family m_config->chBank6->setText("9-10");
m_config->cb_outputRate1->setEnabled(true); m_config->cb_outputRate1->setEnabled(true);
m_config->cb_outputRate2->setEnabled(true); m_config->cb_outputRate2->setEnabled(true);
m_config->cb_outputRate3->setEnabled(false); m_config->cb_outputRate3->setEnabled(true);
m_config->cb_outputRate4->setEnabled(false); m_config->cb_outputRate4->setEnabled(true);
m_config->chBank1->setText("1-4"); m_config->cb_outputRate5->setEnabled(true);
m_config->chBank2->setText("5-8"); m_config->cb_outputRate6->setEnabled(true);
m_config->chBank3->setText("-");
m_config->chBank4->setText("-");
m_config->cb_outputRate3->addItem("0");
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText("0"));
m_config->cb_outputRate4->addItem("0");
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText("0"));
} }
} }
// Get Channel ranges: // Get Channel ranges:
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
{
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()]; int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()]; int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue); outputChannelForm->minmax(minValue, maxValue);
@ -345,8 +364,7 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
// Set channel ranges // Set channel ranges
QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>(); QList<OutputChannelForm*> outputChannelForms = findChildren<OutputChannelForm*>();
foreach(OutputChannelForm *outputChannelForm, outputChannelForms) foreach(OutputChannelForm *outputChannelForm, outputChannelForms) {
{
actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max(); actuatorSettingsData.ChannelMax[outputChannelForm->index()] = outputChannelForm->max();
actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min(); actuatorSettingsData.ChannelMin[outputChannelForm->index()] = outputChannelForm->min();
actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral(); actuatorSettingsData.ChannelNeutral[outputChannelForm->index()] = outputChannelForm->neutral();
@ -357,11 +375,12 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt(); actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt(); actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt(); actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[4] = m_config->cb_outputRate5->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[5] = m_config->cb_outputRate6->currentText().toUInt();
if(m_config->spinningArmed->isChecked() == true) actuatorSettingsData.MotorsSpinWhileArmed = m_config->spinningArmed->isChecked() ?
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE; ActuatorSettings::MOTORSSPINWHILEARMED_TRUE :
else ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings // Apply settings
actuatorSettings->setData(actuatorSettingsData); actuatorSettings->setData(actuatorSettingsData);
@ -370,7 +389,6 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
void ConfigOutputWidget::openHelp() void ConfigOutputWidget::openHelp()
{ {
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/WIGf", QUrl::StrictMode) ); QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/x/WIGf", QUrl::StrictMode) );
} }
@ -381,11 +399,12 @@ void ConfigOutputWidget::stopTests()
void ConfigOutputWidget::disableIfNotMe(UAVObject* obj) void ConfigOutputWidget::disableIfNotMe(UAVObject* obj)
{ {
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) {
{ if(!wasItMe) {
if(!wasItMe)
this->setEnabled(false); this->setEnabled(false);
} }
else }
else {
this->setEnabled(true); this->setEnabled(true);
}
} }

2
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -649,7 +649,7 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
} }
// Update the mixer table: // Update the mixer table:
for (int channel=0; channel<(int)(VehicleConfig::CHANNEL_NUMELEM); channel++) { for (int channel=0; channel < m_aircraft->customMixerTable->columnCount(); channel++) {
UAVObjectField* field = mixer->getField(mixerTypes.at(channel)); UAVObjectField* field = mixer->getField(mixerTypes.at(channel));
if (field) if (field)
{ {

286
ground/openpilotgcs/src/plugins/config/output.ui
View File

@ -117,12 +117,12 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>668</width> <width>668</width>
<height>654</height> <height>671</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_3"> <layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing"> <property name="spacing">
<number>-1</number> <number>6</number>
</property> </property>
<property name="margin"> <property name="margin">
<number>12</number> <number>12</number>
@ -145,27 +145,31 @@
<string>Output Update Speed</string> <string>Output Update Speed</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
<property name="horizontalSpacing">
<number>6</number>
</property>
<property name="margin"> <property name="margin">
<number>12</number> <number>12</number>
</property> </property>
<item row="0" column="0"> <property name="horizontalSpacing">
<spacer name="horizontalSpacer_3"> <number>6</number>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property> </property>
<property name="sizeType"> <item row="0" column="6">
<enum>QSizePolicy::Minimum</enum> <widget class="QLabel" name="chBank5">
<property name="text">
<string>-</string>
</property> </property>
<property name="sizeHint" stdset="0"> <property name="alignment">
<size> <set>Qt::AlignCenter</set>
<width>5</width>
<height>20</height>
</size>
</property> </property>
</spacer> </widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="chBank1">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_9"> <widget class="QLabel" name="label_9">
@ -183,45 +187,21 @@
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="2"> <item row="0" column="0">
<widget class="QLabel" name="chBank1"> <spacer name="horizontalSpacer_3">
<property name="text"> <property name="orientation">
<string>-</string> <enum>Qt::Horizontal</enum>
</property> </property>
<property name="alignment"> <property name="sizeType">
<set>Qt::AlignCenter</set> <enum>QSizePolicy::Minimum</enum>
</property> </property>
</widget> <property name="sizeHint" stdset="0">
</item> <size>
<item row="0" column="3"> <width>5</width>
<widget class="QLabel" name="chBank2"> <height>20</height>
<property name="text"> </size>
<string>-</string>
</property> </property>
<property name="alignment"> </spacer>
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item> </item>
<item row="1" column="0"> <item row="1" column="0">
<spacer name="horizontalSpacer_4"> <spacer name="horizontalSpacer_4">
@ -251,31 +231,33 @@
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="1" column="1"> <item row="0" column="3">
<widget class="QLabel" name="label_3"> <widget class="QLabel" name="chBank2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text"> <property name="text">
<string>Update rate:</string> <string>-</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> <set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="chBank3">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="5">
<widget class="QLabel" name="chBank4">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property> </property>
</widget> </widget>
</item> </item>
@ -395,6 +377,34 @@ Leave at 50Hz for fixed wing.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="1" column="1">
<widget class="QLabel" name="label_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Update rate:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="4"> <item row="1" column="4">
<widget class="QComboBox" name="cb_outputRate3"> <widget class="QComboBox" name="cb_outputRate3">
<property name="enabled"> <property name="enabled">
@ -472,6 +482,132 @@ Leave at 50Hz for fixed wing.</string>
</property> </property>
<property name="toolTip"> <property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes. <string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="chBank6">
<property name="text">
<string>-</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QComboBox" name="cb_outputRate5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string>
</property>
<item>
<property name="text">
<string>50</string>
</property>
</item>
<item>
<property name="text">
<string>60</string>
</property>
</item>
<item>
<property name="text">
<string>125</string>
</property>
</item>
<item>
<property name="text">
<string>165</string>
</property>
</item>
<item>
<property name="text">
<string>270</string>
</property>
</item>
<item>
<property name="text">
<string>330</string>
</property>
</item>
<item>
<property name="text">
<string>400</string>
</property>
</item>
</widget>
</item>
<item row="1" column="7">
<widget class="QComboBox" name="cb_outputRate6">
<property name="enabled">
<bool>false</bool>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>Setup &quot;TurboPWM&quot; here: usual value is 400 Hz for multirotor airframes.
Leave at 50Hz for fixed wing.</string> Leave at 50Hz for fixed wing.</string>
</property> </property>
<item> <item>

2
shared/uavobjectdefinition/actuatorcommand.xml
View File

@ -1,7 +1,7 @@
<xml> <xml>
<object name="ActuatorCommand" singleinstance="true" settings="false"> <object name="ActuatorCommand" singleinstance="true" settings="false">
<description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description> <description>Contains the pulse duration sent to each of the channels. Set by @ref ActuatorModule</description>
<field name="Channel" units="us" type="int16" elements="10"/> <field name="Channel" units="us" type="int16" elements="12"/>
<field name="UpdateTime" units="ms" type="uint16" elements="1"/> <field name="UpdateTime" units="ms" type="uint16" elements="1"/>
<field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/> <field name="MaxUpdateTime" units="ms" type="uint16" elements="1"/>
<field name="NumFailedUpdates" units="" type="uint8" elements="1"/> <field name="NumFailedUpdates" units="" type="uint8" elements="1"/>

10
shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -2,11 +2,11 @@
<object name="ActuatorSettings" singleinstance="true" settings="true"> <object name="ActuatorSettings" singleinstance="true" settings="true">
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description> <description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
<field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/> <field name="ChannelUpdateFreq" units="Hz" type="uint16" elements="6" defaultvalue="50"/>
<field name="ChannelMax" units="us" type="int16" elements="10" defaultvalue="1000"/> <field name="ChannelMax" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="10" defaultvalue="1000"/> <field name="ChannelNeutral" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelMin" units="us" type="int16" elements="10" defaultvalue="1000"/> <field name="ChannelMin" units="us" type="int16" elements="12" defaultvalue="1000"/>
<field name="ChannelType" units="" type="enum" elements="10" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/> <field name="ChannelType" units="" type="enum" elements="12" options="PWM,MK,ASTEC4,PWM Alarm Buzzer,Arming led,Info led" defaultvalue="PWM"/>
<field name="ChannelAddr" units="" type="uint8" elements="10" defaultvalue="0,1,2,3,4,5,6,7,8,9"/> <field name="ChannelAddr" units="" type="uint8" elements="12" defaultvalue="0,1,2,3,4,5,6,7,8,9,10,11"/>
<field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/> <field name="MotorsSpinWhileArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>

6
shared/uavobjectdefinition/mixersettings.xml
View File

@ -75,6 +75,12 @@
<field name="Mixer10Type" cloneof="Mixer1Type"/> <field name="Mixer10Type" cloneof="Mixer1Type"/>
<field name="Mixer10Vector" cloneof="Mixer1Vector"/> <field name="Mixer10Vector" cloneof="Mixer1Vector"/>
<field name="Mixer11Type" cloneof="Mixer1Type"/>
<field name="Mixer11Vector" cloneof="Mixer1Vector"/>
<field name="Mixer12Type" cloneof="Mixer1Type"/>
<field name="Mixer12Vector" cloneof="Mixer1Vector"/>
<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"/>

2
shared/uavobjectdefinition/mixerstatus.xml
View File

@ -11,6 +11,8 @@
<field name="Mixer8" units="" type="float" elements="1"/> <field name="Mixer8" units="" type="float" elements="1"/>
<field name="Mixer9" units="" type="float" elements="1"/> <field name="Mixer9" units="" type="float" elements="1"/>
<field name="Mixer10" units="" type="float" elements="1"/> <field name="Mixer10" units="" type="float" elements="1"/>
<field name="Mixer11" units="" type="float" elements="1"/>
<field name="Mixer12" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>

16
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -1,17 +1,17 @@
<xml> <xml>
<object name="StabilizationSettings" singleinstance="true" settings="true"> <object name="StabilizationSettings" singleinstance="true" settings="true">
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description> <description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/> <field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="55" limits="%BE:0:180"/> <field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35" limits="%BE:0:180"/> <field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150" limits="%BE:0:500,%BE:0:500,%BE:0:500"/> <field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/> <field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/> <field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/> <field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/> <field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/> <field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>