mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-18 08:54:15 +01:00
Merged in f5soh/librepilot/laurent/LP-92_Feed_forward_remove (pull request #33)
Laurent/lp 92_feed_forward_remove
This commit is contained in:
Alessio Morale
commit
538a137bf6
@ -86,8 +86,6 @@ static xTaskHandle taskHandle;
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||||
static FrameType_t frameType = FRAME_TYPE_MULTIROTOR;
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static SystemSettingsThrustControlOptions thrustType = SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE;
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||||
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||||
static float lastResult[MAX_MIX_ACTUATORS] = { 0 };
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static float filterAccumulator[MAX_MIX_ACTUATORS] = { 0 };
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static uint8_t pinsMode[MAX_MIX_ACTUATORS];
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// used to inform the actuator thread that actuator update rate is changed
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static ActuatorSettingsData actuatorSettings;
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@ -111,7 +109,7 @@ static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
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static void SettingsUpdatedCb(UAVObjEvent *ev);
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float ProcessMixer(const int index, const float curve1, const float curve2,
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ActuatorDesiredData *desired,
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const float period, bool multirotor, bool fixedwing);
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bool multirotor, bool fixedwing);
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// this structure is equivalent to the UAVObjects for one mixer.
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typedef struct {
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@ -196,7 +194,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
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UAVObjEvent ev;
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portTickType lastSysTime;
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portTickType thisSysTime;
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float dTSeconds;
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uint32_t dTMilliseconds;
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ActuatorCommandData command;
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@ -246,7 +243,6 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
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thisSysTime = xTaskGetTickCount();
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dTMilliseconds = (thisSysTime == lastSysTime) ? 1 : (thisSysTime - lastSysTime) * portTICK_RATE_MS;
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lastSysTime = thisSysTime;
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dTSeconds = dTMilliseconds * 0.001f;
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FlightStatusGet(&flightStatus);
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FlightModeSettingsGet(&settings);
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@ -408,12 +404,10 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
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nonreversible_curve2 = 0.0f;
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}
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}
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status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, dTSeconds, multirotor, fixedwing);
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status[ct] = ProcessMixer(ct, nonreversible_curve1, nonreversible_curve2, &desired, multirotor, fixedwing);
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// If not armed or motors aren't meant to spin all the time
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if (!armed ||
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(!spinWhileArmed && !positiveThrottle)) {
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filterAccumulator[ct] = 0;
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lastResult[ct] = 0;
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status[ct] = -1; // force min throttle
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}
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// If armed meant to keep spinning,
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@ -426,16 +420,14 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
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}
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}
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} else if (mixer_type == MIXERSETTINGS_MIXER1TYPE_REVERSABLEMOTOR) {
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status[ct] = ProcessMixer(ct, curve1, curve2, &desired, dTSeconds, multirotor, fixedwing);
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status[ct] = ProcessMixer(ct, curve1, curve2, &desired, multirotor, fixedwing);
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// Reversable Motors are like Motors but go to neutral instead of minimum
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// If not armed or motor is inactive - no "spinwhilearmed" for this engine type
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if (!armed || !activeThrottle) {
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filterAccumulator[ct] = 0;
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lastResult[ct] = 0;
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status[ct] = 0; // force neutral throttle
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}
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} else if (mixer_type == MIXERSETTINGS_MIXER1TYPE_SERVO) {
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status[ct] = ProcessMixer(ct, curve1, curve2, &desired, dTSeconds, multirotor, fixedwing);
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status[ct] = ProcessMixer(ct, curve1, curve2, &desired, multirotor, fixedwing);
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} else {
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status[ct] = -1;
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@ -557,9 +549,9 @@ static void actuatorTask(__attribute__((unused)) void *parameters)
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* Process mixing for one actuator
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*/
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float ProcessMixer(const int index, const float curve1, const float curve2,
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ActuatorDesiredData *desired, const float period, bool multirotor, bool fixedwing)
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ActuatorDesiredData *desired, bool multirotor, bool fixedwing)
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{
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static float lastFilteredResult[MAX_MIX_ACTUATORS];
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const Mixer_t *mixers = (Mixer_t *)&mixerSettings.Mixer1Type; // pointer to array of mixers in UAVObjects
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const Mixer_t *mixer = &mixers[index];
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float differential = 1.0f;
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@ -589,46 +581,12 @@ float ProcessMixer(const int index, const float curve1, const float curve2,
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_PITCH]) * desired->Pitch) +
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(((float)mixer->matrix[MIXERSETTINGS_MIXER1VECTOR_YAW]) * desired->Yaw)) / 128.0f;
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// note: no feedforward for reversable motors yet for safety reasons
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if (mixer->type == MIXERSETTINGS_MIXER1TYPE_MOTOR) {
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if (!multirotor) { // we allow negative throttle with a multirotor
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if (result < 0.0f) { // zero throttle
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result = 0.0f;
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}
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}
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if (!fixedwing) {
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// feed forward, do not apply to fixedwing
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float accumulator = filterAccumulator[index];
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accumulator += (result - lastResult[index]) * mixerSettings.FeedForward;
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lastResult[index] = result;
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result += accumulator;
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if (period > 0.0f) {
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if (accumulator > 0.0f) {
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float invFilter = period / mixerSettings.AccelTime;
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if (invFilter > 1) {
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invFilter = 1;
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}
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accumulator -= accumulator * invFilter;
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} else {
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float invFilter = period / mixerSettings.DecelTime;
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if (invFilter > 1) {
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invFilter = 1;
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}
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accumulator -= accumulator * invFilter;
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}
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}
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filterAccumulator[index] = accumulator;
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result += accumulator;
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// acceleration limit
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float dt = result - lastFilteredResult[index];
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float maxDt = mixerSettings.MaxAccel * period;
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if (dt > maxDt) { // we are accelerating too hard
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result = lastFilteredResult[index] + maxDt;
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}
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lastFilteredResult[index] = result;
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}
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}
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return result;
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@ -163,13 +163,13 @@
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#define CPULOAD_LIMIT_CRITICAL 95
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/* Task stack sizes */
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#define PIOS_ACTUATOR_STACK_SIZE 820
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#define PIOS_ACTUATOR_STACK_SIZE 700
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#define PIOS_MANUAL_STACK_SIZE 735
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#define PIOS_RECEIVER_STACK_SIZE 620
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#define PIOS_STABILIZATION_STACK_SIZE 400
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#ifdef DIAG_TASKS
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#define PIOS_SYSTEM_STACK_SIZE 740
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#define PIOS_SYSTEM_STACK_SIZE 760
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#else
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#define PIOS_SYSTEM_STACK_SIZE 660
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#endif
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@ -128,6 +128,12 @@
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||||
</item>
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||||
<item>
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||||
<widget class="QFrame" name="vehicleTypeFrame">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Preferred" vsizetype="Expanding">
|
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<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="layoutDirection">
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||||
<enum>Qt::LeftToRight</enum>
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||||
</property>
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||||
@ -148,700 +154,30 @@
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||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_2">
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||||
<item>
|
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<widget class="QTabWidget" name="tabWidget">
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<property name="currentIndex">
|
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<number>0</number>
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<widget class="QStackedWidget" name="airframesWidget">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>0</horstretch>
|
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<verstretch>0</verstretch>
|
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</sizepolicy>
|
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
|
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<height>16777215</height>
|
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</size>
|
||||
</property>
|
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<property name="font">
|
||||
<font>
|
||||
<kerning>true</kerning>
|
||||
</font>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="currentIndex">
|
||||
<number>-1</number>
|
||||
</property>
|
||||
<widget class="QWidget" name="mixerSettingsPage">
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||||
<property name="autoFillBackground">
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||||
<bool>true</bool>
|
||||
</property>
|
||||
<attribute name="title">
|
||||
<string>Mixer Settings</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_3">
|
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<property name="leftMargin">
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<number>9</number>
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</property>
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<property name="topMargin">
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<number>9</number>
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</property>
|
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<property name="rightMargin">
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<number>9</number>
|
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</property>
|
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<property name="bottomMargin">
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<number>9</number>
|
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</property>
|
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<item>
|
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<widget class="QScrollArea" name="airframesScrollArea">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
|
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</sizepolicy>
|
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</property>
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<property name="minimumSize">
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<size>
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<width>0</width>
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<height>0</height>
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</size>
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</property>
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<property name="palette">
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<palette>
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<active>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>255</red>
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<green>255</green>
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<blue>255</blue>
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</color>
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</brush>
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</colorrole>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</color>
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</brush>
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</colorrole>
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</active>
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<inactive>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>255</red>
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<green>255</green>
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<blue>255</blue>
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</color>
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</brush>
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</colorrole>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</inactive>
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<disabled>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</brush>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<green>232</green>
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<blue>232</blue>
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</disabled>
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<property name="frameShape">
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<enum>QFrame::NoFrame</enum>
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</property>
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<property name="frameShadow">
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<enum>QFrame::Plain</enum>
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</property>
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<property name="widgetResizable">
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||||
<bool>true</bool>
|
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</property>
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||||
<widget class="QWidget" name="scrollAreaWidgetContents">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>820</width>
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<height>435</height>
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout">
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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<widget class="QStackedWidget" name="airframesWidget">
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<property name="sizePolicy">
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<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
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<horstretch>0</horstretch>
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<verstretch>0</verstretch>
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</sizepolicy>
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</property>
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<property name="maximumSize">
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<size>
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<width>16777215</width>
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<height>16777215</height>
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</size>
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</property>
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<property name="frameShape">
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<enum>QFrame::NoFrame</enum>
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</property>
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<property name="currentIndex">
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<number>-1</number>
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</property>
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</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
<widget class="QWidget" name="feedForwardPage">
|
||||
<property name="autoFillBackground">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<attribute name="title">
|
||||
<string>Feed Forward</string>
|
||||
</attribute>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_25">
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||||
<property name="spacing">
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<number>0</number>
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</property>
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<property name="leftMargin">
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<number>0</number>
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</property>
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<property name="topMargin">
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<number>0</number>
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</property>
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<property name="rightMargin">
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<number>0</number>
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</property>
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<property name="bottomMargin">
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<number>0</number>
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</property>
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<item>
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<widget class="QScrollArea" name="scrollArea_2">
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<palette>
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<active>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>255</red>
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<green>255</green>
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<blue>255</blue>
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</brush>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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<color alpha="0">
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<red>232</red>
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<inactive>
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<colorrole role="Base">
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<brush brushstyle="SolidPattern">
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<color alpha="255">
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<red>255</red>
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<colorrole role="Window">
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<brush brushstyle="SolidPattern">
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|
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|
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<brush brushstyle="SolidPattern">
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<red>232</red>
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<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<property name="widgetResizable">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<widget class="QWidget" name="scrollAreaWidgetContents_2">
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<property name="geometry">
|
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<rect>
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<x>0</x>
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<y>0</y>
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<width>293</width>
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<height>300</height>
|
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</rect>
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</property>
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<layout class="QVBoxLayout" name="verticalLayout_18">
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<property name="leftMargin">
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<number>12</number>
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<number>12</number>
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<property name="rightMargin">
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<number>12</number>
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</property>
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||||
<property name="bottomMargin">
|
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<number>12</number>
|
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</property>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_12">
|
||||
<property name="title">
|
||||
<string>Feed Forward Configuration</string>
|
||||
</property>
|
||||
<layout class="QGridLayout" name="gridLayout_8">
|
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<property name="leftMargin">
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<number>12</number>
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<property name="topMargin">
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<number>12</number>
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</property>
|
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<property name="rightMargin">
|
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<number>12</number>
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</property>
|
||||
<property name="bottomMargin">
|
||||
<number>12</number>
|
||||
</property>
|
||||
<item row="2" column="0" colspan="3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_10">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_22">
|
||||
<property name="text">
|
||||
<string>Decel Time Constant</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QDoubleSpinBox" name="decelTime">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>When tuning: Slowly raise decel time from zero to just
|
||||
under the level where the motor starts to undershoot
|
||||
its target speed when decelerating.
|
||||
|
||||
Do it after accel time is setup.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_12">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="1" column="0" colspan="3">
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_9">
|
||||
<item>
|
||||
<widget class="QLabel" name="label_21">
|
||||
<property name="text">
|
||||
<string>Accel Time Constant</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QDoubleSpinBox" name="accelTime">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>In miliseconds.
|
||||
When tuning: Slowly raise accel time from zero to just
|
||||
under the level where the motor starts to overshoot
|
||||
its target speed.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>100.000000000000000</double>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<double>0.010000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_13">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>40</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item row="3" column="1">
|
||||
<widget class="QLabel" name="maxAccelSliderValue">
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>1000</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QSlider" name="feedForwardSlider">
|
||||
<property name="enabled">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Overall level of feed forward (in percentage).</string>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
</property>
|
||||
<property name="singleStep">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::NoTicks</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="2">
|
||||
<widget class="QSlider" name="maxAccelSlider">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>32</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>Limits how much the engines can accelerate or decelerate.
|
||||
In 'units per second', a sound default is 1000.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>500</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>2000</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>1000</number>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="invertedAppearance">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="invertedControls">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="3" column="0">
|
||||
<widget class="QLabel" name="label_37">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>16</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>MaxAccel</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="1">
|
||||
<widget class="QLabel" name="feedForwardSliderValue">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>30</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>000</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="0">
|
||||
<widget class="QLabel" name="label_20">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>FeedForward </string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="verticalSpacer_5">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>20</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QGroupBox" name="groupBox_13">
|
||||
<property name="title">
|
||||
<string/>
|
||||
</property>
|
||||
<layout class="QHBoxLayout" name="horizontalLayout_5">
|
||||
<property name="leftMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>0</number>
|
||||
</property>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_8">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>267</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="ffTestBox1">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="ffTestBox2">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string/>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QCheckBox" name="ffTestBox3">
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">Beware! Check </span><span style=" font-family:'Sans'; font-size:10pt; font-weight:600;">all three</span><span style=" font-family:'Sans'; font-size:10pt;"> checkboxes to test Feed Forward.</span></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Sans'; font-size:10pt;">It will run only if your airframe armed.</span></p></body></html></string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Enable FF tuning</string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<spacer name="horizontalSpacer_7">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>267</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QTextBrowser" name="textBrowser">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Expanding" vsizetype="MinimumExpanding">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>0</width>
|
||||
<height>40</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="html">
|
||||
<string><!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd">
|
||||
<html><head><meta name="qrichtext" content="1" /><style type="text/css">
|
||||
p, li { white-space: pre-wrap; }
|
||||
</style></head><body style=" font-family:'Ubuntu'; font-size:11pt; font-weight:400; font-style:normal;">
|
||||
<table border="0" style="-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;">
|
||||
<tr>
|
||||
<td style="border: none;">
|
||||
<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-size:14pt; font-weight:600; color:#ff0000;">SETTING UP FEED FORWARD REQUIRES CAUTION</span></p>
|
||||
<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p>
|
||||
<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!</span></p>
|
||||
<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Lucida Grande'; font-size:13pt;">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.</span></p></td></tr></table></body></html></string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
@ -951,56 +287,12 @@ p, li { white-space: pre-wrap; }
|
||||
<tabstops>
|
||||
<tabstop>nameEdit</tabstop>
|
||||
<tabstop>vehicleSetupWizardButton</tabstop>
|
||||
<tabstop>airframesScrollArea</tabstop>
|
||||
<tabstop>scrollArea_2</tabstop>
|
||||
<tabstop>decelTime</tabstop>
|
||||
<tabstop>accelTime</tabstop>
|
||||
<tabstop>feedForwardSlider</tabstop>
|
||||
<tabstop>maxAccelSlider</tabstop>
|
||||
<tabstop>ffTestBox1</tabstop>
|
||||
<tabstop>ffTestBox2</tabstop>
|
||||
<tabstop>ffTestBox3</tabstop>
|
||||
<tabstop>textBrowser</tabstop>
|
||||
<tabstop>airframeHelp</tabstop>
|
||||
<tabstop>saveAircraftToRAM</tabstop>
|
||||
<tabstop>saveAircraftToSD</tabstop>
|
||||
<tabstop>tabWidget</tabstop>
|
||||
</tabstops>
|
||||
<resources>
|
||||
<include location="../coreplugin/core.qrc"/>
|
||||
</resources>
|
||||
<connections>
|
||||
<connection>
|
||||
<sender>feedForwardSlider</sender>
|
||||
<signal>valueChanged(int)</signal>
|
||||
<receiver>feedForwardSliderValue</receiver>
|
||||
<slot>setNum(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>248</x>
|
||||
<y>103</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>146</x>
|
||||
<y>107</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
<connection>
|
||||
<sender>maxAccelSlider</sender>
|
||||
<signal>valueChanged(int)</signal>
|
||||
<receiver>maxAccelSliderValue</receiver>
|
||||
<slot>setNum(int)</slot>
|
||||
<hints>
|
||||
<hint type="sourcelabel">
|
||||
<x>272</x>
|
||||
<y>214</y>
|
||||
</hint>
|
||||
<hint type="destinationlabel">
|
||||
<x>127</x>
|
||||
<y>214</y>
|
||||
</hint>
|
||||
</hints>
|
||||
</connection>
|
||||
</connections>
|
||||
<connections/>
|
||||
</ui>
|
||||
|
||||
@ -310,9 +310,6 @@ QString ConfigFixedWingWidget::updateConfigObjectsFromWidgets()
|
||||
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
// Remove Feed Forward, it is pointless on a plane:
|
||||
setMixerValue(mixer, "FeedForward", 0.0);
|
||||
|
||||
// Set the throttle curve
|
||||
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->fixedWingThrottle->getCurve());
|
||||
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configgroundvehiclemwidget.cpp
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* @author K. Sebesta & The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
@ -353,9 +354,6 @@ QString ConfigGroundVehicleWidget::updateConfigObjectsFromWidgets()
|
||||
// Save the curve (common to all ground vehicle frames)
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
|
||||
// Remove Feed Forward, it is pointless on a ground vehicle:
|
||||
setMixerValue(mixer, "FeedForward", 0.0);
|
||||
|
||||
// set the throttle curves
|
||||
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE1, m_aircraft->groundVehicleThrottle1->getCurve());
|
||||
setThrottleCurve(mixer, VehicleConfig::MIXER_THROTTLECURVE2, m_aircraft->groundVehicleThrottle2->getCurve());
|
||||
|
||||
@ -135,9 +135,6 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
addUAVObject("MixerSettings");
|
||||
addUAVObject("ActuatorSettings");
|
||||
|
||||
m_ffTuningInProgress = false;
|
||||
m_ffTuningPhase = false;
|
||||
|
||||
// The order of the tabs is important since they correspond with the AirframCategory enum
|
||||
m_aircraft->aircraftType->addTab(tr("Multirotor"));
|
||||
m_aircraft->aircraftType->addTab(tr("Fixed Wing"));
|
||||
@ -148,24 +145,11 @@ ConfigVehicleTypeWidget::ConfigVehicleTypeWidget(QWidget *parent) : ConfigTaskWi
|
||||
// Connect aircraft type selection dropbox to callback function
|
||||
connect(m_aircraft->aircraftType, SIGNAL(currentChanged(int)), this, SLOT(switchAirframeType(int)));
|
||||
|
||||
// Connect the three feed forward test checkboxes
|
||||
connect(m_aircraft->ffTestBox1, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox2, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
connect(m_aircraft->ffTestBox3, SIGNAL(clicked(bool)), this, SLOT(enableFFTest()));
|
||||
|
||||
// Connect the help pushbutton
|
||||
connect(m_aircraft->airframeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
|
||||
|
||||
refreshWidgetsValues();
|
||||
|
||||
// register FF widgets for dirty state management
|
||||
addWidget(m_aircraft->feedForwardSlider);
|
||||
addWidget(m_aircraft->accelTime);
|
||||
addWidget(m_aircraft->decelTime);
|
||||
addWidget(m_aircraft->maxAccelSlider);
|
||||
addWidget(m_aircraft->ffTestBox1);
|
||||
addWidget(m_aircraft->ffTestBox2);
|
||||
addWidget(m_aircraft->ffTestBox3);
|
||||
addWidget(m_aircraft->nameEdit);
|
||||
|
||||
disableMouseWheelEvents();
|
||||
@ -183,7 +167,6 @@ ConfigVehicleTypeWidget::~ConfigVehicleTypeWidget()
|
||||
void ConfigVehicleTypeWidget::switchAirframeType(int index)
|
||||
{
|
||||
m_aircraft->airframesWidget->setCurrentWidget(getVehicleConfigWidget(index));
|
||||
m_aircraft->tabWidget->setTabEnabled(1, index != 1);
|
||||
}
|
||||
|
||||
/**
|
||||
@ -247,7 +230,6 @@ void ConfigVehicleTypeWidget::refreshWidgetsValues(UAVObject *object)
|
||||
}
|
||||
m_aircraft->nameEdit->setText(name);
|
||||
|
||||
updateFeedForwardUI();
|
||||
setDirty(dirty);
|
||||
}
|
||||
|
||||
@ -281,17 +263,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
|
||||
field->setValue(airframeType);
|
||||
}
|
||||
|
||||
// Update feed forward settings
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
QPointer<VehicleConfig> vconfig = new VehicleConfig();
|
||||
|
||||
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
|
||||
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
|
||||
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
|
||||
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
|
||||
|
||||
field = system->getField(QString("VehicleName"));
|
||||
Q_ASSERT(field);
|
||||
QString name = m_aircraft->nameEdit->text();
|
||||
@ -306,7 +277,6 @@ void ConfigVehicleTypeWidget::updateObjectsFromWidgets()
|
||||
// call refreshWidgetsValues() to reflect actual saved values
|
||||
refreshWidgetsValues();
|
||||
ConfigTaskWidget::updateObjectsFromWidgets();
|
||||
updateFeedForwardUI();
|
||||
}
|
||||
|
||||
int ConfigVehicleTypeWidget::frameCategory(QString frameType)
|
||||
@ -372,86 +342,6 @@ VehicleConfig *ConfigVehicleTypeWidget::createVehicleConfigWidget(int frameCateg
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/**
|
||||
Enables and runs feed forward testing
|
||||
*/
|
||||
void ConfigVehicleTypeWidget::enableFFTest()
|
||||
{
|
||||
// Role:
|
||||
// - Check if all three checkboxes are checked
|
||||
// - Every other timer event: toggle engine from 45% to 55%
|
||||
// - Every other time event: send FF settings to flight FW
|
||||
if (m_aircraft->ffTestBox1->isChecked() && m_aircraft->ffTestBox2->isChecked()
|
||||
&& m_aircraft->ffTestBox3->isChecked()) {
|
||||
if (!m_ffTuningInProgress) {
|
||||
// Initiate tuning:
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
|
||||
QString("ManualControlCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
m_accInitialData = mdata;
|
||||
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
|
||||
obj->setMetadata(mdata);
|
||||
}
|
||||
// Depending on phase, either move actuator or send FF settings:
|
||||
if (m_ffTuningPhase) {
|
||||
// Send FF settings to the board
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
QPointer<VehicleConfig> vconfig = new VehicleConfig();
|
||||
|
||||
// Update feed forward settings
|
||||
vconfig->setMixerValue(mixer, "FeedForward", m_aircraft->feedForwardSlider->value() / 100.0);
|
||||
vconfig->setMixerValue(mixer, "AccelTime", m_aircraft->accelTime->value());
|
||||
vconfig->setMixerValue(mixer, "DecelTime", m_aircraft->decelTime->value());
|
||||
vconfig->setMixerValue(mixer, "MaxAccel", m_aircraft->maxAccelSlider->value());
|
||||
mixer->updated();
|
||||
} else {
|
||||
// Toggle motor state
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
|
||||
QString("ManualControlCommand")));
|
||||
double value = obj->getField("Throttle")->getDouble();
|
||||
double target = (value < 0.5) ? 0.55 : 0.45;
|
||||
obj->getField("Throttle")->setValue(target);
|
||||
obj->updated();
|
||||
}
|
||||
m_ffTuningPhase = !m_ffTuningPhase;
|
||||
m_ffTuningInProgress = true;
|
||||
QTimer::singleShot(1000, this, SLOT(enableFFTest()));
|
||||
} else {
|
||||
// - If no: disarm timer, restore actuatorcommand metadata
|
||||
// Disarm!
|
||||
if (m_ffTuningInProgress) {
|
||||
m_ffTuningInProgress = false;
|
||||
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(
|
||||
QString("ManualControlCommand")));
|
||||
UAVObject::Metadata mdata = obj->getMetadata();
|
||||
mdata = m_accInitialData; // Restore metadata
|
||||
obj->setMetadata(mdata);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
Updates the custom airframe settings based on the current airframe.
|
||||
|
||||
Note: does NOT ask for an object refresh itself!
|
||||
*/
|
||||
void ConfigVehicleTypeWidget::updateFeedForwardUI()
|
||||
{
|
||||
UAVDataObject *mixer = dynamic_cast<UAVDataObject *>(getObjectManager()->getObject(QString("MixerSettings")));
|
||||
|
||||
Q_ASSERT(mixer);
|
||||
|
||||
QPointer<VehicleConfig> vconfig = new VehicleConfig();
|
||||
|
||||
// Update feed forward settings
|
||||
m_aircraft->feedForwardSlider->setValue(vconfig->getMixerValue(mixer, "FeedForward") * 100);
|
||||
m_aircraft->accelTime->setValue(vconfig->getMixerValue(mixer, "AccelTime"));
|
||||
m_aircraft->decelTime->setValue(vconfig->getMixerValue(mixer, "DecelTime"));
|
||||
m_aircraft->maxAccelSlider->setValue(vconfig->getMixerValue(mixer, "MaxAccel"));
|
||||
}
|
||||
|
||||
/**
|
||||
Opens the wiki from the user's default browser
|
||||
*/
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file configairframetwidget.h
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
@ -86,17 +87,9 @@ private:
|
||||
VehicleConfig *getVehicleConfigWidget(int frameCategory);
|
||||
VehicleConfig *createVehicleConfigWidget(int frameCategory);
|
||||
|
||||
// Feed Forward
|
||||
void updateFeedForwardUI();
|
||||
|
||||
bool m_ffTuningInProgress;
|
||||
bool m_ffTuningPhase;
|
||||
UAVObject::Metadata m_accInitialData;
|
||||
|
||||
private slots:
|
||||
void switchAirframeType(int index);
|
||||
void openHelp();
|
||||
void enableFFTest();
|
||||
};
|
||||
|
||||
#endif // CONFIGVEHICLETYPEWIDGET_H
|
||||
|
||||
@ -2,6 +2,7 @@
|
||||
******************************************************************************
|
||||
*
|
||||
* @file vehicleconfigurationhelper.cpp
|
||||
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015.
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
|
||||
* @addtogroup
|
||||
* @{
|
||||
@ -1013,12 +1014,6 @@ void VehicleConfigurationHelper::resetVehicleConfig()
|
||||
// Reset all vehicle data
|
||||
MixerSettings *mSettings = MixerSettings::GetInstance(m_uavoManager);
|
||||
|
||||
// Reset feed forward, accel times etc
|
||||
mSettings->setFeedForward(0.0f);
|
||||
mSettings->setMaxAccel(1000.0f);
|
||||
mSettings->setAccelTime(0.0f);
|
||||
mSettings->setDecelTime(0.0f);
|
||||
|
||||
// Reset throttle curves
|
||||
QString throttlePattern = "ThrottleCurve%1";
|
||||
for (int i = 1; i <= 2; i++) {
|
||||
|
||||
@ -1,16 +1,12 @@
|
||||
<xml>
|
||||
<object name="MixerSettings" singleinstance="true" settings="true" category="Control">
|
||||
<description>Settings for the @ref ActuatorModule that controls the channel assignments for the mixer based on AircraftType</description>
|
||||
<field name="MaxAccel" units="units/sec" type="float" elements="1" defaultvalue="1000"/>
|
||||
<field name="MixerValueRoll" units="percent" type="int8" elements="1" defaultvalue="50"/>
|
||||
<field name="MixerValueRoll" units="percent" type="int8" elements="1" defaultvalue="50"/>
|
||||
<field name="MixerValuePitch" units="percent" type="int8" elements="1" defaultvalue="50"/>
|
||||
<field name="MixerValueYaw" units="percent" type="int8" elements="1" defaultvalue="50"/>
|
||||
<field name="RollDifferential" units="percent" type="int8" elements="1" defaultvalue="0"/>
|
||||
<field name="FirstRollServo" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="FeedForward" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="FirstRollServo" units="" type="uint8" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elementnames="0,25,50,75,100" defaultvalue="0,0,0,0,0"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" defaultvalue="Throttle">
|
||||
<options>
|
||||
<option>Throttle</option>
|
||||
@ -83,10 +79,10 @@
|
||||
|
||||
<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"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user