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Merge branch 'heli_stabilization'

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Conflicts:
	flight/CopterControl/System/inc/pios_config.h
	flight/Modules/Attitude/attitude.c
	flight/Modules/ManualControl/manualcontrol.c
	flight/Modules/Stabilization/stabilization.c
This commit is contained in:
James Cotton 2011-07-12 13:28:20 -05:00
commit 53ca934b2b
24 changed files with 827 additions and 658 deletions
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136
flight/Modules/Attitude/attitude.c
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@ -3,7 +3,7 @@
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup Attitude Copter Control Attitude Estimation
* @brief Acquires sensor data and computes attitude estimate
* @brief Acquires sensor data and computes attitude estimate
* Specifically updates the the @ref AttitudeActual "AttitudeActual" and @ref AttitudeRaw "AttitudeRaw" settings objects
* @{
*
@ -89,6 +89,7 @@ static float q[4] = {1,0,0,0};
static float R[3][3];
static int8_t rotate = 0;
static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
/**
* Initialise the module, called on startup
@ -145,63 +146,66 @@ static void AttitudeTask(void *parameters)
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
// Keep flash CS pin high while talking accel
PIOS_FLASH_DISABLE;
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
zero_during_arming = false;
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(xTaskGetTickCount() < 7000) {
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
}
}
else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
accelKp = 1;
accelKi = 0.9;
yawBiasRate = 0.23;
init = 0;
init = 0;
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
AttitudeRawGet(&attitudeRaw);
updateSensors(&attitudeRaw);
updateAttitude(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
AttitudeRawSet(&attitudeRaw);
}
}
static void updateSensors(AttitudeRawData * attitudeRaw)
{
static void updateSensors(AttitudeRawData * attitudeRaw)
{
struct pios_adxl345_data accel_data;
float gyro[4];
// Only wait the time for two nominal updates before setting an alarm
if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return;
}
// First sample is temperature
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
@ -216,9 +220,9 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
} while ( (i < 32) && (samples_remaining > 0) );
attitudeRaw->gyrotemp[0] = samples_remaining;
attitudeRaw->gyrotemp[1] = i;
float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
if(rotate) {
// TODO: rotate sensors too so stabilization is well behaved
float vec_out[3];
@ -234,68 +238,71 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->accels[0] = accel[0];
attitudeRaw->accels[1] = accel[1];
attitudeRaw->accels[2] = accel[2];
}
}
// Scale accels and correct bias
attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
// Because most crafts wont get enough information from gravity to zero yaw gyro
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
}
static void updateAttitude(AttitudeRawData * attitudeRaw)
{
static portTickType lastSysTime = 0;
static portTickType thisSysTime;
static float dT = 0;
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];
gyro[2] = attitudeRaw->gyros[2];
{
float * accels = attitudeRaw->accels;
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
// Account for accel magnitude
// Account for accel magnitude
float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT;
}
{ // scoping variables to save memory
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
@ -304,28 +311,28 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
q[2] = q[2] + qdot[2];
q[3] = q[3] + qdot[3];
}
// Renomalize
float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
quat_copy(q, &attitudeActual.q1);
// Convert into eueler degrees (makes assumptions about RPY order)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
}
@ -333,36 +340,41 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
static void settingsUpdatedCb(UAVObjEvent * objEv) {
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
accelKp = attitudeSettings.AccelKp;
accelKi = attitudeSettings.AccelKi;
accelKi = attitudeSettings.AccelKi;
yawBiasRate = attitudeSettings.YawBiasRate;
gyroGain = attitudeSettings.GyroGain;
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
// Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
attitudeSettings.BoardRotation[2] == 0) {
rotate = 0;
// Shouldn't be used but to be safe
float rotationQuat[4] = {1,0,0,0};
Quaternion2R(rotationQuat, R);
} else {
float rotationQuat[4];
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
const float rpy[3] = {attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_ROLL],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_PITCH],
attitudeSettings.BoardRotation[ATTITUDESETTINGS_BOARDROTATION_YAW]};
RPY2Quaternion(rpy, rotationQuat);
Quaternion2R(rotationQuat, R);
rotate = 1;
}
}
}
/**
* @}

2
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -100,7 +100,7 @@ int32_t FirmwareIAPInitialize()
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}

62
flight/Modules/ManualControl/inc/manualcontrol.h
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@ -1,7 +1,7 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @{
* @addtogroup ManualControlModule Manual Control Module
* @{
*
@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
int32_t ManualControlInitialize();
/*
* These are assumptions we make in the flight code about the order of settings and their consistency between
* objects. Please keep this synchronized to the UAVObjects
*/
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#endif // MANUALCONTROL_H

134
flight/Modules/ManualControl/manualcontrol.c
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@ -87,58 +87,6 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
/**
@ -303,14 +251,14 @@ static void manualControlTask(void *parameters)
ManualControlCommandSet(&cmd);
}
} else {
ManualControlCommandGet(&cmd); /* Under GCS control */
}
FlightStatusGet(&flightStatus);
// Depending on the mode update the Stabilization or Actuator objects
switch(PARSE_FLIGHT_MODE(flightStatus.FlightMode)) {
case FLIGHTMODE_UNDEFINED:
@ -326,11 +274,11 @@ static void manualControlTask(void *parameters)
case FLIGHTMODE_GUIDANCE:
// TODO: Implement
break;
}
}
}
}
static void updateActuatorDesired(ManualControlCommandData * cmd)
static void updateActuatorDesired(ManualControlCommandData * cmd)
{
ActuatorDesiredData actuator;
ActuatorDesiredGet(&actuator);
@ -338,17 +286,17 @@ static void updateActuatorDesired(ManualControlCommandData * cmd)
actuator.Pitch = cmd->Pitch;
actuator.Yaw = cmd->Yaw;
actuator.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
ActuatorDesiredSet(&actuator);
ActuatorDesiredSet(&actuator);
}
static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
StabilizationDesiredData stabilization;
StabilizationDesiredGet(&stabilization);
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
uint8_t * stab_settings;
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
@ -365,30 +313,36 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
return;
return;
}
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = stab_settings[0];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = stab_settings[1];
stabilization.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_YAW] = stab_settings[2];
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);
}
@ -474,11 +428,11 @@ static void setArmedIfChanged(uint8_t val) {
* @param[out] cmd The structure to set the armed in
* @param[in] settings Settings indicating the necessary position
*/
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData * settings)
{
bool lowThrottle = cmd->Throttle <= 0;
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSDISARMED) {
// In this configuration we always disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
@ -486,7 +440,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
// Not really needed since this function not called when disconnected
if (cmd->Connected == MANUALCONTROLCOMMAND_CONNECTED_FALSE)
return;
// The throttle is not low, in case we where arming or disarming, abort
if (!lowThrottle) {
switch(armState) {
@ -503,20 +457,20 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
}
return;
}
// The rest of these cases throttle is low
if (settings->Arming == MANUALCONTROLSETTINGS_ARMING_ALWAYSARMED) {
// In this configuration, we go into armed state as soon as the throttle is low, never disarm
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
return;
}
// When the configuration is not "Always armed" and no "Always disarmed",
// the state will not be changed when the throttle is not low
static portTickType armedDisarmStart;
float armingInputLevel = 0;
// Calc channel see assumptions7
int8_t sign = ((settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2) ? -1 : 1;
switch ( (settings->Arming-MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 ) {
@ -524,26 +478,26 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
case ARMING_CHANNEL_PITCH: armingInputLevel = sign * cmd->Pitch; break;
case ARMING_CHANNEL_YAW: armingInputLevel = sign * cmd->Yaw; break;
}
bool manualArm = false;
bool manualDisarm = false;
if (armingInputLevel <= -ARMED_THRESHOLD)
manualArm = true;
else if (armingInputLevel >= +ARMED_THRESHOLD)
manualDisarm = true;
switch(armState) {
case ARM_STATE_DISARMED:
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
// only allow arming if it's OK too
if (manualArm && okToArm()) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_ARMING_MANUAL;
}
break;
case ARM_STATE_ARMING_MANUAL:
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMING);
@ -552,7 +506,7 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
else if (!manualArm)
armState = ARM_STATE_DISARMED;
break;
case ARM_STATE_ARMED:
// When we get here, the throttle is low,
// we go immediately to disarming due to timeout, also when the disarming mechanism is not enabled
@ -560,19 +514,19 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
armState = ARM_STATE_DISARMING_TIMEOUT;
setArmedIfChanged(FLIGHTSTATUS_ARMED_ARMED);
break;
case ARM_STATE_DISARMING_TIMEOUT:
// We get here when armed while throttle low, even when the arming timeout is not enabled
if ((settings->ArmedTimeout != 0) && (timeDifferenceMs(armedDisarmStart, lastSysTime) > settings->ArmedTimeout))
armState = ARM_STATE_DISARMED;
// Switch to disarming due to manual control when needed
if (manualDisarm) {
armedDisarmStart = lastSysTime;
armState = ARM_STATE_DISARMING_MANUAL;
}
break;
case ARM_STATE_DISARMING_MANUAL:
if (manualDisarm &&(timeDifferenceMs(armedDisarmStart, lastSysTime) > ARMED_TIME_MS))
armState = ARM_STATE_DISARMED;
@ -589,25 +543,25 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
* @param[in] settings The settings which indicate which position is which mode
* @param[in] flightMode the value of the switch position
*/
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
uint8_t newMode;
// Note here the code is ass
if (flightMode < -FLIGHT_MODE_LIMIT)
if (flightMode < -FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[0];
else if (flightMode > FLIGHT_MODE_LIMIT)
else if (flightMode > FLIGHT_MODE_LIMIT)
newMode = settings->FlightModePosition[2];
else
newMode = settings->FlightModePosition[1];
else
newMode = settings->FlightModePosition[1];
if(flightStatus.FlightMode != newMode) {
flightStatus.FlightMode = newMode;
FlightStatusSet(&flightStatus);
}
}
/**

202
flight/Modules/Stabilization/stabilization.c
View File

@ -77,6 +77,14 @@ static xTaskHandle taskHandle;
static StabilizationSettingsData settings;
static xQueueHandle queue;
float dT = 1;
float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0};
uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
pid_type pids[PID_MAX];
// Private functions
@ -131,8 +139,8 @@ static void stabilizationTask(void* parameters)
portTickType lastSysTime;
portTickType thisSysTime;
UAVObjEvent ev;
ActuatorDesiredData actuatorDesired;
StabilizationDesiredData stabDesired;
RateDesiredData rateDesired;
@ -140,28 +148,28 @@ static void stabilizationTask(void* parameters)
AttitudeRawData attitudeRaw;
SystemSettingsData systemSettings;
FlightStatusData flightStatus;
SettingsUpdatedCb((UAVObjEvent *) NULL);
// Main task loop
lastSysTime = xTaskGetTickCount();
ZeroPids();
while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
{
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
continue;
}
}
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
FlightStatusGet(&flightStatus);
StabilizationDesiredGet(&stabDesired);
AttitudeActualGet(&attitudeActual);
@ -175,11 +183,11 @@ static void stabilizationTask(void* parameters)
float q_desired[4];
float q_error[4];
float local_error[3];
// Essentially zero errors for anything in rate or none
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = stabDesired.Roll;
else
rpy_desired[0] = attitudeActual.Roll;
if(stabDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE)
@ -191,13 +199,13 @@ static void stabilizationTask(void* parameters)
rpy_desired[2] = stabDesired.Yaw;
else
rpy_desired[2] = attitudeActual.Yaw;
RPY2Quaternion(rpy_desired, q_desired);
quat_inverse(q_desired);
quat_mult(q_desired, &attitudeActual.q1, q_error);
quat_inverse(q_error);
Quaternion2RPY(q_error, local_error);
#else
// Simpler algorithm for CC, less memory
float local_error[3] = {stabDesired.Roll - attitudeActual.Roll,
@ -205,49 +213,83 @@ static void stabilizationTask(void* parameters)
stabDesired.Yaw - attitudeActual.Yaw};
local_error[2] = fmod(local_error[2] + 180, 360) - 180;
#endif
for(uint8_t i = 0; i < MAX_AXES; i++) {
gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha);
}
float *attitudeDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
//Calculate desired rate
for(int8_t ct=0; ct< MAX_AXES; ct++)
for(uint8_t i=0; i< MAX_AXES; i++)
{
switch(stabDesired.StabilizationMode[ct])
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float weak_leveling = local_error[i] * weak_leveling_kp;
if(weak_leveling > weak_leveling_max)
weak_leveling = weak_leveling_max;
if(weak_leveling < -weak_leveling_max)
weak_leveling = -weak_leveling_max;
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]);
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
if(axis_lock_accum[i] > max_axis_lock)
axis_lock_accum[i] = max_axis_lock;
else if(axis_lock_accum[i] < -max_axis_lock)
axis_lock_accum[i] = -max_axis_lock;
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
break;
}
}
uint8_t shouldUpdate = 1;
RateDesiredSet(&rateDesired);
ActuatorDesiredGet(&actuatorDesired);
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(fabs(rateDesiredAxis[ct]) > settings.MaximumRate[ct])
{
if(rateDesiredAxis[ct] > 0)
{
rateDesiredAxis[ct] = settings.MaximumRate[ct];
}else
{
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
}
}
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct]-attitudeRaw.gyros[ct]);
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]);
actuatorDesiredAxis[ct] = bound(command);
break;
}
@ -268,16 +310,16 @@ static void stabilizationTask(void* parameters)
break;
}
break;
}
}
// Save dT
actuatorDesired.UpdateTime = dT * 1000;
if(PARSE_FLIGHT_MODE(flightStatus.FlightMode) == FLIGHTMODE_MANUAL)
shouldUpdate = 0;
if(shouldUpdate)
{
actuatorDesired.Throttle = stabDesired.Throttle;
@ -285,16 +327,16 @@ static void stabilizationTask(void* parameters)
actuatorDesired.NumLongUpdates++;
ActuatorDesiredSet(&actuatorDesired);
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
!shouldUpdate || (stabDesired.Throttle < 0))
{
ZeroPids();
}
// Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
}
}
@ -302,15 +344,15 @@ float ApplyPid(pid_type * pid, const float err)
{
float diff = (err - pid->lastErr);
pid->lastErr = err;
pid->iAccumulator += err * pid->i * dT;
if(fabs(pid->iAccumulator) > pid->iLim) {
if(pid->iAccumulator >0) {
pid->iAccumulator = pid->iLim;
} else {
pid->iAccumulator = -pid->iLim;
}
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000);
if(pid->iAccumulator > (pid->iLim * 1000)) {
pid->iAccumulator = pid->iLim * 1000;
} else if (pid->iAccumulator < -(pid->iLim * 1000)) {
pid->iAccumulator = -pid->iLim * 1000;
}
return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
return ((err * pid->p) + pid->iAccumulator / 1000 + (diff * pid->d / dT));
}
@ -320,6 +362,8 @@ static void ZeroPids(void)
pids[ct].iAccumulator = 0;
pids[ct].lastErr = 0;
}
for(uint8_t i = 0; i < 3; i++)
axis_lock_accum[i] = 0;
}
@ -341,14 +385,58 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
{
memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings);
float * data = settings.RollRatePI;
for(int8_t pid=0; pid < PID_MAX; pid++)
{
pids[pid].p = *data++;
pids[pid].i = *data++;
pids[pid].iLim = *data++;
}
// Set the roll rate PID constants
pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
// Set the pitch rate PID constants
pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
// Set the yaw rate PID constants
pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
// Set the roll attitude PI constants
pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
// Set the pitch attitude PI constants
pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
// Set the yaw attitude PI constants
pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
// Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock;
max_axislock_rate = settings.MaxAxisLockRate;
// Settings for weak leveling
weak_leveling_kp = settings.WeakLevelingKp;
weak_leveling_max = settings.MaxWeakLevelingRate;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant
// based on a time (in ms) rather than a fixed multiplier. The error between
// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
// calculation
const float fakeDt = 0.0025;
if(settings.GyroTau < 0.0001)
gyro_alpha = 0; // not trusting this to resolve to 0
else
gyro_alpha = exp(-fakeDt / settings.GyroTau);
}

2
ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c vendored
View File

@ -30,8 +30,6 @@
/*!
* \defgroup light Lights
*/
/*!
/*!
* \ingroup light

1
ground/openpilotgcs/src/plugins/config/ahrs.ui
View File

@ -110,7 +110,6 @@
</layout>
</item>
</layout>
<zorder></zorder>
</widget>
</item>
<item>

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

@ -27,6 +27,7 @@
#include "configccattitudewidget.h"
#include "ui_ccattitude.h"
#include "utils/coordinateconversions.h"
#include "attitudesettings.h"
#include <QMutexLocker>
#include <QMessageBox>
#include <QDebug>
@ -48,7 +49,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
enableControls(true);
refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected.
UAVObject * settings = getObjectManager()->getObject(QString("AttitudeSettings"));
UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager());
connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
// Connect the help button
@ -79,7 +80,10 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
x_accum.append(field->getDouble(0));
y_accum.append(field->getDouble(1));
z_accum.append(field->getDouble(2));
qDebug("update %d: %f, %f, %f\n",updates,field->getDouble(0),field->getDouble(1),field->getDouble(2));
field = obj->getField(QString("gyros"));
x_gyro_accum.append(field->getDouble(0));
y_gyro_accum.append(field->getDouble(1));
z_gyro_accum.append(field->getDouble(2));;
} else if ( updates == NUM_ACCEL_UPDATES ) {
updates++;
timer.stop();
@ -90,17 +94,22 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
float y_bias = listMean(y_accum) / ACCEL_SCALE;
float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
float x_gyro_bias = listMean(x_gyro_accum) * 100.0f;
float y_gyro_bias = listMean(y_gyro_accum) * 100.0f;
float z_gyro_bias = listMean(z_gyro_accum) * 100.0f;
obj->setMetadata(initialMdata);
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("AccelBias");
field->setDouble(field->getDouble(0) + x_bias,0);
field->setDouble(field->getDouble(1) + y_bias,1);
field->setDouble(field->getDouble(2) + z_bias,2);
qDebug("New X bias: %f\n", field->getDouble(0)+x_bias);
qDebug("New Y bias: %f\n", field->getDouble(1)+y_bias);
qDebug("New Z bias: %f\n", field->getDouble(2)+z_bias);
settings->updated();
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
// We offset the gyro bias by current bias to help precision
attitudeSettingsData.AccelBias[0] += x_bias;
attitudeSettingsData.AccelBias[1] += y_bias;
attitudeSettingsData.AccelBias[2] += z_bias;
attitudeSettingsData.GyroBias[0] = -x_gyro_bias;
attitudeSettingsData.GyroBias[1] = -y_gyro_bias;
attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
attitudeSettingsData.BiasCorrectGyro = initialBiasCorrected;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
ui->status->setText("Calibration done.");
} else {
// Possible to get here if weird threading stuff happens. Just ignore updates.
@ -123,32 +132,22 @@ void ConfigCCAttitudeWidget::timeout() {
}
void ConfigCCAttitudeWidget::applyAttitudeSettings() {
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("BoardRotation");
field->setValue(ui->rollBias->value(),0);
field->setValue(ui->pitchBias->value(),1);
field->setValue(ui->yawBias->value(),2);
field = settings->getField("ZeroDuringArming");
// Handling of boolean values is done through enums on
// uavobjects...
field->setValue((ui->zeroGyroBiasOnArming->isChecked()) ? "TRUE": "FALSE");
settings->updated();
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value();
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value();
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = ui->yawBias->value();
attitudeSettingsData.ZeroDuringArming = ui->zeroGyroBiasOnArming->isChecked() ? AttitudeSettings::ZERODURINGARMING_TRUE :
AttitudeSettings::ZERODURINGARMING_FALSE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
}
void ConfigCCAttitudeWidget::refreshValues() {
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("BoardRotation");
ui->rollBias->setValue(field->getDouble(0));
ui->pitchBias->setValue(field->getDouble(1));
ui->yawBias->setValue(field->getDouble(2));
field = settings->getField("ZeroDuringArming");
// Handling of boolean values is done through enums on
// uavobjects...
bool enabled = (field->getValue().toString() == "FALSE") ? false : true;
ui->zeroGyroBiasOnArming->setChecked(enabled);
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]);
ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]);
ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]);
ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE);
}
@ -159,9 +158,18 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
x_accum.clear();
y_accum.clear();
z_accum.clear();
x_gyro_accum.clear();
y_gyro_accum.clear();
z_gyro_accum.clear();
ui->status->setText(tr("Calibrating..."));
// Disable gyro bias correction to see raw data
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
initialBiasCorrected = attitudeSettingsData.BiasCorrectGyro;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
// Set up to receive updates
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));

2
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
View File

@ -60,10 +60,12 @@ private:
Ui_ccattitude *ui;
QTimer timer;
UAVObject::Metadata initialMdata;
quint8 initialBiasCorrected;
int updates;
QList<double> x_accum, y_accum, z_accum;
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const int NUM_ACCEL_UPDATES = 60;
static const float ACCEL_SCALE = 0.004f * 9.81f;

36
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -194,17 +194,17 @@ void ConfigStabilizationWidget::refreshValues()
// stabSettings->requestUpdate();
StabilizationSettings::DataFields stabData = stabSettings->getData();
// Now fill in all the fields, this is fairly tedious:
m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]);
m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]);
m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]);
m_stabilization->rateRollKp->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]);
m_stabilization->rateRollKi->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]);
m_stabilization->rateRollILimit->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT]);
m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]);
m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]);
m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]);
m_stabilization->ratePitchKp->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]);
m_stabilization->ratePitchKi->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]);
m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT]);
m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]);
m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]);
m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]);
m_stabilization->rateYawKp->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP]);
m_stabilization->rateYawKi->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI]);
m_stabilization->rateYawILimit->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT]);
m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
@ -241,17 +241,17 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
{
StabilizationSettings::DataFields stabData = stabSettings->getData();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value();
stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = m_stabilization->rateRollKp->value();
stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = m_stabilization->rateRollKi->value();
stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT] = m_stabilization->rateRollILimit->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value();
stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = m_stabilization->ratePitchKp->value();
stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = m_stabilization->ratePitchKi->value();
stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT] = m_stabilization->ratePitchILimit->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value();
stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP] = m_stabilization->rateYawKp->value();
stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI] = m_stabilization->rateYawKi->value();
stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT] = m_stabilization->rateYawILimit->value();
stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();

23
ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
View File

@ -46,23 +46,23 @@ HITLWidget::HITLWidget(QWidget *parent)
: QWidget(parent),
simulator(0)
{
widget = new Ui_HITLWidget();
widget->setupUi(this);
widget = new Ui_HITLWidget();
widget->setupUi(this);
widget->startButton->setEnabled(true);
widget->stopButton->setEnabled(false);
greenColor = "rgb(35, 221, 35)";
strAutopilotDisconnected = " Autopilot disconnected ";
strSimulatorDisconnected = " Simulator disconnected ";
strAutopilotConnected = " Autopilot connected ";
strSimulatorConnected = " Simulator connected ";
strAutopilotDisconnected = " Autopilot OFF ";
strSimulatorDisconnected = " Simulator OFF ";
strAutopilotConnected = " Autopilot ON ";
strSimulatorConnected = " Simulator ON ";
widget->apLabel->setText(strAutopilotDisconnected);
widget->simLabel->setText(strSimulatorDisconnected);
connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
connect(widget->buttonClearLog, SIGNAL(clicked()), this, SLOT(buttonClearLogClicked()));
}
@ -188,10 +188,9 @@ void HITLWidget::buttonClearLogClicked()
void HITLWidget::onAutopilotConnect()
{
widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
widget->apLabel->setText(strAutopilotConnected);
qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
}
void HITLWidget::onAutopilotDisconnect()
@ -214,5 +213,3 @@ void HITLWidget::onSimulatorDisconnect()
widget->simLabel->setText(" " + simulator->Name() +" disconnected ");
qxtLog->info(QString("HITL: %1 disconnected").arg(simulator->Name()));
}

2
ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui
View File

@ -31,7 +31,7 @@
<property name="title">
<string>Sound Collection</string>
</property>
<widget class="QWidget" name="layoutWidget">
<widget class="QWidget" name="layoutWidget_2">
<property name="geometry">
<rect>
<x>10</x>

8
ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h
View File

@ -14,16 +14,16 @@ public:
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("Board name: OpenPilot MainBoard");
return QString("OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("Board name: PipXtreame");
return QString("PipXtreame");
break;
case 0x0411://Coptercontrol
return QString("Board name: CopterControl");
return QString("CopterControl");
break;
case 0x0211://INS
return QString("Board name: OpenPilot INS");
return QString("OpenPilot INS");
break;
default:
return QString("");

36
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -82,16 +82,16 @@ QString deviceWidget::idToBoardName(int id)
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("Board name: OpenPilot MainBoard");
return QString("OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("Board name: PipXtreame");
return QString("PipXtreme");
break;
case 0x0411://Coptercontrol
return QString("Board name: CopterControl");
return QString("CopterControl");
break;
case 0x0211://INS
return QString("Board name: OpenPilot INS");
return QString("OpenPilot INS");
break;
default:
return QString("");
@ -141,7 +141,7 @@ void deviceWidget::populate()
myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode));
myDevice->lblCRC->setText(QString("Firmware CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->lblCRC->setText(QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc;
m_dfu->enterDFU(deviceID);
@ -182,8 +182,8 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
{
if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition))
{
myDevice->lblGitTag->setText("Git commit tag: "+onBoardDescrition.gitTag);
myDevice->lblBuildDate->setText(QString("Firmware date: ") + onBoardDescrition.buildDate);
myDevice->lblGitTag->setText(onBoardDescrition.gitTag);
myDevice->lblBuildDate->setText(onBoardDescrition.buildDate);
if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description);
@ -194,7 +194,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
}
else
{
myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description+QString(" (beta or custom build)"));
myDevice->lblDescription->setText(onBoardDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
@ -212,11 +212,11 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
{
if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition))
{
myDevice->lblGitTagL->setText("Git commit tag: "+LoadedDescrition.gitTag);
myDevice->lblBuildDateL->setText(QString("Firmware date: ") + LoadedDescrition.buildDate);
myDevice->lblGitTagL->setText(LoadedDescrition.gitTag);
myDevice->lblBuildDateL->setText( LoadedDescrition.buildDate);
if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description);
myDevice->lblDescritpionL->setText(LoadedDescrition.description);
myDevice->description->setText(LoadedDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
@ -224,7 +224,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
}
else
{
myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description+QString(" (beta or custom build)"));
myDevice->lblDescritpionL->setText(LoadedDescrition.description);
myDevice->description->setText(LoadedDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
@ -303,8 +303,8 @@ void deviceWidget::loadFirmware()
myDevice->youdont->setChecked(false);
QByteArray desc = loadedFW.right(100);
QPixmap px;
myDevice->lblCRCL->setText(QString("FW CRC: ") + QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
//myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
if (populateLoadedStructuredDescription(desc))
{
myDevice->youdont->setChecked(true);
@ -312,7 +312,7 @@ void deviceWidget::loadFirmware()
myDevice->groupCustom->setVisible(false);
if(myDevice->lblCRC->text()==myDevice->lblCRCL->text())
{
myDevice->statusLabel->setText(tr("The loaded firmware maches the firmware on the board. You shouldn't upload it"));
myDevice->statusLabel->setText(tr("The loaded firmware the same as on the board. You should not upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text())
@ -322,7 +322,7 @@ void deviceWidget::loadFirmware()
}
else if(QDateTime::fromString(onBoardDescrition.buildDate)>QDateTime::fromString(LoadedDescrition.buildDate))
{
myDevice->statusLabel->setText(tr("The loaded firmware is older then the firmware on the board. You shouldn't upload it"));
myDevice->statusLabel->setText(tr("The loaded firmware is older than the firmware on the board. You should not upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(!LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
@ -332,13 +332,13 @@ void deviceWidget::loadFirmware()
}
else
{
myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'upload'"));
myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'Flash'"));
px.load(QString(":/uploader/images/gtk-info.svg"));
}
}
else
{
myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with a compatible format. You shouldn't' upload it, if you know what you are doing and still want to upload it confirm it by checking the checkbox bellow"));
myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with the OpenPilot format. You should not upload it unless you know what you are doing."));
px.load(QString(":/uploader/images/warning.svg"));
myDevice->youdont->setChecked(false);
myDevice->youdont->setVisible(true);

481
ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>516</width>
<height>582</height>
<width>576</width>
<height>500</height>
</rect>
</property>
<property name="windowTitle">
@ -33,86 +33,114 @@
<property name="styleSheet">
<string notr="true">background: transparent</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<widget class="QLabel" name="lblDevName">
<property name="text">
<string>lblDevName</string>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QLabel" name="lblDevName">
<property name="text">
<string>lblDevName</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lbldevID">
<property name="text">
<string>DeviceID</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblHWRev">
<property name="text">
<string>lblHWRev</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblAccess">
<property name="text">
<string>RW</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBLVer">
<property name="text">
<string>BL Version</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblMaxCode">
<property name="text">
<string>MaxCodeSize</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QPushButton" name="pbLoad">
<property name="toolTip">
<string>Loads the firmware</string>
</property>
<property name="text">
<string>Load...</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="youdont">
<property name="text">
<string>I know what I'm doing</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="updateButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Update the firmware on this board.</string>
</property>
<property name="text">
<string>Flash</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="retrieveButton">
<property name="toolTip">
<string>Download the current board firmware to your computer</string>
</property>
<property name="text">
<string>Retrieve...</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lbldevID">
<property name="text">
<string>DeviceID</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblHWRev">
<property name="text">
<string>lblHWRev</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblAccess">
<property name="text">
<string>RW</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBLVer">
<property name="text">
<string>BL Version</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblMaxCode">
<property name="text">
<string>MaxCodeSize</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QPushButton" name="pbLoad">
<property name="toolTip">
<string>Loads the firmware</string>
</property>
<property name="text">
<string>Open</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="updateButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Update the firmware on this board.</string>
</property>
<property name="text">
<string>Flash</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="retrieveButton">
<property name="toolTip">
<string>Download the current board firmware to your computer</string>
</property>
<property name="text">
<string>Retrieve...</string>
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>0</number>
</property>
</widget>
</item>
@ -120,13 +148,6 @@
</item>
</layout>
</item>
<item>
<widget class="QProgressBar" name="progressBar">
<property name="value">
<number>0</number>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
@ -160,149 +181,211 @@
</item>
</layout>
</item>
<item>
<widget class="QCheckBox" name="youdont">
<property name="text">
<string>I know what I'm doing</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="verticalGroupBox_3">
<property name="title">
<string>Firmware currently on the device</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Firmware:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<layout class="QVBoxLayout" name="verticalLayout_8">
<widget class="QLabel" name="label_2">
<property name="text">
<string>Board name:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Description:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Build date:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>GIT Tag:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>CRC:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="verticalGroupBox_3">
<property name="title">
<string>On Device</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QLabel" name="lblBrdName">
<property name="text">
<string>lblBrdName</string>
</property>
</widget>
<layout class="QVBoxLayout" name="verticalLayout_8">
<item>
<widget class="QLabel" name="lblBrdName">
<property name="text">
<string>lblBrdName</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblDescription">
<property name="text">
<string>lblDescription</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBuildDate">
<property name="text">
<string>lblBuildDate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitTag">
<property name="text">
<string>lblGitTag</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRC">
<property name="text">
<string>lblCRC</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblDescription">
<widget class="QLabel" name="lblCertified">
<property name="text">
<string>lblDescription</string>
<string>lblCertified</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBuildDate">
<property name="text">
<string>lblBuildDate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitTag">
<property name="text">
<string>lblGitTag</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRC">
<property name="text">
<string>lblCRC</string>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblCertified">
<property name="text">
<string>lblCertified</string>
</property>
<property name="scaledContents">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="verticalGroupBox_loaded">
<property name="enabled">
<bool>true</bool>
</property>
<property name="title">
<string>Loaded Firmware</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
</widget>
</item>
<item>
<widget class="QGroupBox" name="verticalGroupBox_loaded">
<property name="enabled">
<bool>true</bool>
</property>
<property name="title">
<string>Loaded</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QVBoxLayout" name="verticalLayout_3">
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="lblBrdNameL">
<property name="text">
<string>lblBrdName</string>
</property>
</widget>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<widget class="QLabel" name="lblBrdNameL">
<property name="text">
<string>lblBrdName</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblDescritpionL">
<property name="text">
<string>lblDescritpionL</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBuildDateL">
<property name="text">
<string>lblBuildDate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitTagL">
<property name="text">
<string>lblGitTag</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRCL">
<property name="text">
<string>lblCRC</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblDescritpionL">
<widget class="QLabel" name="lblCertifiedL">
<property name="text">
<string>lblDescritpionL</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblBuildDateL">
<property name="text">
<string>lblBuildDate</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblGitTagL">
<property name="text">
<string>lblGitTag</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblCRCL">
<property name="text">
<string>lblCRC</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblFirmwareSizeL">
<property name="text">
<string>lblFirmwareSizeL</string>
<string>lblCertifiedL</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="lblCertifiedL">
<property name="text">
<string>lblCertifiedL</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<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>
<widget class="QGroupBox" name="groupCustom">

135
ground/openpilotgcs/src/plugins/uploader/images/warning.svg
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Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 3.6 KiB

After

Width:  |  Height:  |  Size: 3.2 KiB

10
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -37,8 +37,10 @@ runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
// Initialization of the Device icon display
myDevice->devicePicture->setScene(new QGraphicsScene(this));
/*
QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
myDevice->statusIcon->setPixmap(pix);
*/
}
@ -104,7 +106,7 @@ void runningDeviceWidget::populate()
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
QString serial = utilMngr->getBoardCPUSerial().toHex();
myDevice->lblCPU->setText(QString("CPU serial number: "+serial));
myDevice->CPUSerial->setText(serial);
QByteArray description = utilMngr->getBoardDescription();
deviceDescriptorStruct devDesc;
@ -120,7 +122,7 @@ void runningDeviceWidget::populate()
}
else
{
myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description+QString(" (beta or custom build)"));
myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
@ -138,13 +140,14 @@ void runningDeviceWidget::populate()
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
}
status("Ready...", STATUSICON_INFO);
//status("Ready...", STATUSICON_INFO);
}
/**
Updates status message
*/
/*
void runningDeviceWidget::status(QString str, StatusIcon ic)
{
QPixmap px;
@ -164,3 +167,4 @@ void runningDeviceWidget::status(QString str, StatusIcon ic)
}
myDevice->statusIcon->setPixmap(px);
}
*/

2
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
View File

@ -55,7 +55,7 @@ private:
Ui_runningDeviceWidget *myDevice;
int deviceID;
QGraphicsSvgItem *devicePic;
void status(QString str, StatusIcon ic);
//void status(QString str, StatusIcon ic);
signals:

66
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>516</width>
<height>253</height>
<height>299</height>
</rect>
</property>
<property name="windowTitle">
@ -34,6 +34,15 @@
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
<item>
@ -60,11 +69,22 @@
</widget>
</item>
<item>
<widget class="QLabel" name="lblCPU">
<property name="text">
<string>TextLabel</string>
</property>
</widget>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="lblCPU">
<property name="text">
<string>CPU Serial:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="CPUSerial">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
@ -119,40 +139,6 @@
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="3" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="statusIcon">
<property name="text">
<string>ic</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="statusLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Status</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>

4
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -2,12 +2,14 @@
<object name="AttitudeSettings" singleinstance="true" settings="true">
<description>Settings for the @ref Attitude module used on CopterControl</description>
<field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.03"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

12
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -11,15 +11,15 @@
<field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
<!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
<field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
<field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

16
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -7,13 +7,21 @@
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0035,0.0035,0.3"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="5"/>
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>