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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

86
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; {
PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg); // configure servo outputs and the remaining 5 inputs as outputs
pios_servo_cfg = &pios_servo_cfg_out_in_ppm;
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_configure_ppm(&pios_ppm_cfg);
// enable pwm on the remaining channels
if(hwsettings_rcvrport == HWSETTINGS_RM_RCVRPORT_PPMPWM)
{
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:

185
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
@ -132,7 +129,7 @@ void ConfigOutputWidget::runChannelTests(bool state)
if(state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) { if(state && systemAlarms.Alarm[SystemAlarms::ALARM_ACTUATOR] != SystemAlarms::ALARM_OK) {
QMessageBox mbox; QMessageBox mbox;
mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs."))); mbox.setText(QString(tr("The actuator module is in an error state. This can also occur because there are no inputs. Please fix these before testing outputs.")));
mbox.setStandardButtons(QMessageBox::Ok); mbox.setStandardButtons(QMessageBox::Ok);
mbox.exec(); mbox.exec();
@ -146,7 +143,7 @@ void ConfigOutputWidget::runChannelTests(bool state)
// Confirm this is definitely what they want // Confirm this is definitely what they want
if(state) { if(state) {
QMessageBox mbox; QMessageBox mbox;
mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter. It is recommended to remove any blades from motors. Are you sure you want to do this?"))); mbox.setText(QString(tr("This option will start your motors by the amount selected on the sliders regardless of transmitter. It is recommended to remove any blades from motors. Are you sure you want to do this?")));
mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No); mbox.setStandardButtons(QMessageBox::Yes | QMessageBox::No);
int retval = mbox.exec(); int retval = mbox.exec();
if(retval != QMessageBox::Yes) { if(retval != QMessageBox::Yes) {
@ -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);
@ -182,10 +177,10 @@ 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
@ -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");
@ -292,37 +321,27 @@ 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) }
{ else if((board & 0xff00) == 0x0900) {
m_config->cb_outputRate3->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[2])); // Revolution family of boards 6 timer banks
} m_config->chBank1->setText("1-2");
if(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3]))==-1) m_config->chBank2->setText("3");
{ m_config->chBank3->setText("4");
m_config->cb_outputRate4->addItem(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])); m_config->chBank4->setText("5-6");
} m_config->chBank5->setText("7-8");
m_config->cb_outputRate3->setCurrentIndex(m_config->cb_outputRate3->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[2]))); m_config->chBank6->setText("9-10");
m_config->cb_outputRate4->setCurrentIndex(m_config->cb_outputRate4->findText(QString::number(actuatorSettingsData.ChannelUpdateFreq[3])));
} else if ((board & 0xff00) == 256 ) {
// Mainboard family
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);
}
} }

4
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -648,8 +648,8 @@ void ConfigVehicleTypeWidget::updateCustomAirframeUI()
m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin()); m_aircraft->customThrottle2Curve->initLinearCurve(curveValues.count(), 1.0, m_aircraft->customThrottle2Curve->getMin());
} }
// 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"> </property>
<enum>Qt::Horizontal</enum> <item row="0" column="6">
<widget class="QLabel" name="chBank5">
<property name="text">
<string>-</string>
</property> </property>
<property name="sizeType"> <property name="alignment">
<enum>QSizePolicy::Minimum</enum> <set>Qt::AlignCenter</set>
</property> </property>
<property name="sizeHint" stdset="0"> </widget>
<size> </item>
<width>5</width> <item row="0" column="2">
<height>20</height> <widget class="QLabel" name="chBank1">
</size> <property name="text">
<string>-</string>
</property> </property>
</spacer> <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"/>

18
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -1,19 +1,19 @@
<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"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/> <field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/> <field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>