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Merged in alessiomorale/librepilot/lp-446_battery_failsafe (pull request #355)

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LP-446 Battery failsafe

Approved-by: Lalanne Laurent
Approved-by: Philippe Renon
Approved-by: Harold Hankins
Approved-by: Alessio Morale
This commit is contained in:
Alessio Morale 2017-02-20 20:39:51 +00:00 committed by Philippe Renon
commit 556c2e9e99
7 changed files with 295 additions and 94 deletions
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9
flight/modules/Battery/battery.c
View File

@ -8,7 +8,8 @@
* @{
*
* @file battery.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Module to read the battery Voltage and Current periodically and set alarms appropriately.
*
* @see The GNU Public License (GPL) Version 3
@ -204,7 +205,7 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * flightBatteryData.NbCells) {
if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Critical * flightBatteryData.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * flightBatteryData.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
@ -255,6 +256,10 @@ static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, Fligh
voltageMin = 3.6f;
voltageMax = 4.2f;
break;
case FLIGHTBATTERYSETTINGS_TYPE_LIHV:
voltageMin = 3.6f;
voltageMax = 4.35f;
break;
case FLIGHTBATTERYSETTINGS_TYPE_A123:
voltageMin = 2.01f;
voltageMax = 3.59f;

91
flight/modules/ManualControl/manualcontrol.c
View File

@ -46,6 +46,7 @@
#include <stabilizationdesired.h>
#include <callbackinfo.h>
#include <stabilizationsettings.h>
#include <systemalarms.h>
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
#include <vtolpathfollowersettings.h>
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
@ -119,9 +120,9 @@ static void commandUpdatedCb(UAVObjEvent *ev);
static void manualControlTask(void);
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, FlightModeSettingsData *modeSettings);
static void HandleBatteryFailsafe(uint8_t *position, FlightModeSettingsData *modeSettings);
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
static void SettingsUpdatedCb(UAVObjEvent *ev);
#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions7 && assumptions_flightmode)
/**
@ -172,6 +173,7 @@ int32_t ManualControlInitialize()
StabilizationSettingsInitialize();
AccessoryDesiredInitialize();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
SystemAlarmsInitialize();
VtolSelfTuningStatsInitialize();
VtolPathFollowerSettingsInitialize();
VtolPathFollowerSettingsConnectCallback(&SettingsUpdatedCb);
@ -239,6 +241,11 @@ static void manualControlTask(void)
uint8_t newFlightModeAssist = flightStatus.FlightModeAssist;
uint8_t newAssistedControlState = flightStatus.AssistedControlState;
uint8_t newAssistedThrottleState = flightStatus.AssistedThrottleState;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
HandleBatteryFailsafe(&position, &modeSettings);
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
if (position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
newMode = modeSettings.FlightModePosition[position];
}
@ -249,7 +256,6 @@ static void manualControlTask(void)
newMode = flightStatus.FlightMode;
position = lastPosition;
}
// if a mode change occurs we default the assist mode and states here
// to avoid having to add it to all of the below modes that are
// otherwise unrelated
@ -526,6 +532,87 @@ static void manualControlTask(void)
}
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
void HandleBatteryFailsafe(uint8_t *position, FlightModeSettingsData *modeSettings)
{
// static uint8_t lastInputPosition = -1;
typedef enum { BATTERYFAILSAFE_NONE = 0, BATTERYFAILSAFE_WARNING = 1, BATTERYFAILSAFE_CRITICAL = 2 } batteryfailsafemode_t;
static batteryfailsafemode_t lastFailsafeStatus = BATTERYFAILSAFE_NONE;
static bool failsafeOverridden;
static uint8_t lastFlightPosition;
static uint32_t changeTimestamp;
SystemAlarmsAlarmData alarms;
batteryfailsafemode_t failsafeStatus;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
// reset the status and do not change anything when not armed
if (armed != FLIGHTSTATUS_ARMED_ARMED) {
lastFailsafeStatus = BATTERYFAILSAFE_NONE;
failsafeOverridden = false;
changeTimestamp = PIOS_DELAY_GetRaw();
lastFlightPosition = *position;
return;
}
SystemAlarmsAlarmGet(&alarms);
switch (alarms.Battery) {
case SYSTEMALARMS_ALARM_WARNING:
failsafeStatus = BATTERYFAILSAFE_WARNING;
break;
case SYSTEMALARMS_ALARM_CRITICAL:
failsafeStatus = BATTERYFAILSAFE_CRITICAL;
break;
default:
failsafeStatus = BATTERYFAILSAFE_NONE;
break;
}
uint32_t debounceTimerms = PIOS_DELAY_DiffuS(changeTimestamp) / 1000;
if (failsafeStatus == lastFailsafeStatus) {
changeTimestamp = PIOS_DELAY_GetRaw();
} else if ((debounceTimerms < modeSettings->BatteryFailsafeDebounceTimer) || failsafeStatus < lastFailsafeStatus) {
// do not change within the "grace" period and do not "downgrade" the failsafe mode
failsafeStatus = lastFailsafeStatus;
} else {
// a higher failsafe status was met and grace period elapsed. Trigger the new state
lastFailsafeStatus = failsafeStatus;
lastFlightPosition = *position;
failsafeOverridden = false;
}
if ((failsafeStatus == BATTERYFAILSAFE_NONE) || failsafeOverridden) {
return;
}
// failsafe has been triggered. Check for override
if (lastFlightPosition != *position) {
// flag the override and reset the grace period
failsafeOverridden = true;
changeTimestamp = PIOS_DELAY_GetRaw();
return;
}
switch (failsafeStatus) {
case BATTERYFAILSAFE_CRITICAL:
// if critical is not set, jump to the other case to use the warning setting.
if (modeSettings->BatteryFailsafeSwitchPositions.Critical != -1) {
*position = modeSettings->BatteryFailsafeSwitchPositions.Critical;
break;
}
case BATTERYFAILSAFE_WARNING:
if (modeSettings->BatteryFailsafeSwitchPositions.Warning != -1) {
*position = modeSettings->BatteryFailsafeSwitchPositions.Warning;
}
break;
default:
break;
}
}
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
/**
* Called whenever a critical configuration component changes
*/

169
ground/gcs/src/plugins/config/configinputwidget.cpp
View File

@ -100,7 +100,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
rssiDesiredObj4 = AccessoryDesired::GetInstance(getObjectManager(), 4);
actuatorSettingsObj = ActuatorSettings::GetInstance(getObjectManager());
systemSettingsObj = SystemSettings::GetInstance(getObjectManager());
hwSettingsObj = HwSettings::GetInstance(getObjectManager());
// Only instance 0 is present if the board is not connected.
// The other instances are populated lazily.
Q_ASSERT(accessoryDesiredObj0);
@ -177,6 +177,9 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
addWidgetBinding("ManualControlSettings", "FailsafeFlightModeSwitchPosition", ui->failsafeFlightMode, 0, 1, true, new QList<int>(failsafeReloadGroup));
addWidgetBinding("FlightModeSettings", "BatteryFailsafeSwitchPositions", ui->failsafeBatteryWarningFlightMode, 0, 1, true, new QList<int>(failsafeReloadGroup));
addWidgetBinding("FlightModeSettings", "BatteryFailsafeSwitchPositions", ui->failsafeBatteryCriticalFlightMode, 1, 1, true, new QList<int>(failsafeReloadGroup));
// Generate the rows for the failsafe channel form GUI
index = 0;
foreach(QString name, manualSettingsObj->getField("FailsafeChannel")->getElementNames()) {
@ -252,9 +255,18 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
connect(ui->failsafeFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(failsafeFlightModeChanged(int)));
connect(ui->failsafeFlightModeCb, SIGNAL(toggled(bool)), this, SLOT(failsafeFlightModeCbToggled(bool)));
connect(ui->failsafeBatteryWarningFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(failsafeBatteryWarningFlightModeChanged(int)));
connect(ui->failsafeBatteryWarningFlightModeCb, SIGNAL(toggled(bool)), this, SLOT(failsafeBatteryWarningFlightModeCbToggled(bool)));
connect(ui->failsafeBatteryCriticalFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(failsafeBatteryCriticalFlightModeChanged(int)));
connect(ui->failsafeBatteryCriticalFlightModeCb, SIGNAL(toggled(bool)), this, SLOT(failsafeBatteryCriticalFlightModeCbToggled(bool)));
addWidget(ui->configurationWizard);
addWidget(ui->runCalibration);
addWidget(ui->failsafeFlightModeCb);
addWidget(ui->failsafeBatteryWarningFlightModeCb);
addWidget(ui->failsafeBatteryCriticalFlightModeCb);
// Wizard
wizardUi = new Ui_InputWizardWidget();
@ -448,9 +460,9 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
void ConfigInputWidget::buildOptionComboBox(QComboBox *combo, UAVObjectField *field, int index, bool applyLimits)
{
if (combo == ui->failsafeFlightMode) {
if (combo == ui->failsafeFlightMode || combo == ui->failsafeBatteryCriticalFlightMode || combo == ui->failsafeBatteryWarningFlightMode) {
for (quint32 i = 0; i < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM; i++) {
ui->failsafeFlightMode->addItem(QString("Position %1").arg(i + 1), QVariant(i));
combo->addItem(QString("Position %1").arg(i + 1), QVariant(i));
}
} else {
ConfigTaskWidget::buildOptionComboBox(combo, field, index, applyLimits);
@ -1787,88 +1799,40 @@ void ConfigInputWidget::updatePositionSlider()
{
ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
switch (manualSettingsDataPriv.FlightModeNumber) {
default:
case 6:
ui->fmsModePos6->setEnabled(true);
ui->pidBankSs1_5->setEnabled(true);
ui->assistControlPos6->setEnabled(true);
setComboBoxItemEnabled(ui->failsafeFlightMode, 5);
// pass through
case 5:
ui->fmsModePos5->setEnabled(true);
ui->pidBankSs1_4->setEnabled(true);
ui->assistControlPos5->setEnabled(true);
setComboBoxItemEnabled(ui->failsafeFlightMode, 4);
// pass through
case 4:
ui->fmsModePos4->setEnabled(true);
ui->pidBankSs1_3->setEnabled(true);
ui->assistControlPos4->setEnabled(true);
setComboBoxItemEnabled(ui->failsafeFlightMode, 3);
// pass through
case 3:
ui->fmsModePos3->setEnabled(true);
ui->pidBankSs1_2->setEnabled(true);
ui->assistControlPos3->setEnabled(true);
setComboBoxItemEnabled(ui->failsafeFlightMode, 2);
// pass through
case 2:
ui->fmsModePos2->setEnabled(true);
ui->pidBankSs1_1->setEnabled(true);
ui->assistControlPos2->setEnabled(true);
setComboBoxItemEnabled(ui->failsafeFlightMode, 1);
// pass through
case 1:
ui->fmsModePos1->setEnabled(true);
ui->pidBankSs1_0->setEnabled(true);
ui->assistControlPos1->setEnabled(true);
setComboBoxItemEnabled(ui->failsafeFlightMode, 0);
// pass through
case 0:
break;
}
QWidget *fmsModes[] = {
ui->fmsModePos1,
ui->fmsModePos2,
ui->fmsModePos3,
ui->fmsModePos4,
ui->fmsModePos5,
ui->fmsModePos6
};
QWidget *pidBanks[] = {
ui->pidBankSs1_0,
ui->pidBankSs1_1,
ui->pidBankSs1_2,
ui->pidBankSs1_3,
ui->pidBankSs1_4,
ui->pidBankSs1_5
};
QWidget *assistControls[] = {
ui->assistControlPos1,
ui->assistControlPos2,
ui->assistControlPos3,
ui->assistControlPos4,
ui->assistControlPos5,
ui->assistControlPos6
};
switch (manualSettingsDataPriv.FlightModeNumber) {
case 0:
ui->fmsModePos1->setEnabled(false);
ui->pidBankSs1_0->setEnabled(false);
ui->assistControlPos1->setEnabled(false);
setComboBoxItemEnabled(ui->failsafeFlightMode, 0, false);
// pass through
case 1:
ui->fmsModePos2->setEnabled(false);
ui->pidBankSs1_1->setEnabled(false);
ui->assistControlPos2->setEnabled(false);
setComboBoxItemEnabled(ui->failsafeFlightMode, 1, false);
// pass through
case 2:
ui->fmsModePos3->setEnabled(false);
ui->pidBankSs1_2->setEnabled(false);
ui->assistControlPos3->setEnabled(false);
setComboBoxItemEnabled(ui->failsafeFlightMode, 2, false);
// pass through
case 3:
ui->fmsModePos4->setEnabled(false);
ui->pidBankSs1_3->setEnabled(false);
ui->assistControlPos4->setEnabled(false);
setComboBoxItemEnabled(ui->failsafeFlightMode, 3, false);
// pass through
case 4:
ui->fmsModePos5->setEnabled(false);
ui->pidBankSs1_4->setEnabled(false);
ui->assistControlPos5->setEnabled(false);
setComboBoxItemEnabled(ui->failsafeFlightMode, 4, false);
// pass through
case 5:
ui->fmsModePos6->setEnabled(false);
ui->pidBankSs1_5->setEnabled(false);
ui->assistControlPos6->setEnabled(false);
setComboBoxItemEnabled(ui->failsafeFlightMode, 5, false);
// pass through
case 6:
default:
break;
for (quint32 i = 0; i < FlightModeSettings::FLIGHTMODEPOSITION_NUMELEM; i++) {
bool enabled = i < manualSettingsDataPriv.FlightModeNumber;
fmsModes[i]->setEnabled(enabled);
pidBanks[i]->setEnabled(enabled);
assistControls[i]->setEnabled(enabled);
setComboBoxItemEnabled(ui->failsafeFlightMode, i, enabled);
setComboBoxItemEnabled(ui->failsafeBatteryCriticalFlightMode, i, enabled);
setComboBoxItemEnabled(ui->failsafeBatteryWarningFlightMode, i, enabled);
}
QString fmNumber = QString().setNum(manualSettingsDataPriv.FlightModeNumber);
@ -2175,6 +2139,24 @@ void ConfigInputWidget::updateReceiverActivityStatus()
}
}
void ConfigInputWidget::failsafeBatteryWarningFlightModeChanged(int index)
{
HwSettings::DataFields hwSettingsData = hwSettingsObj->getData();
bool batteryModuleEnabled = (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_BATTERY] == HwSettings::OPTIONALMODULES_ENABLED);
ui->failsafeBatteryWarningFlightMode->setEnabled(batteryModuleEnabled && index != -1);
ui->failsafeBatteryWarningFlightModeCb->setChecked(index != -1);
}
void ConfigInputWidget::failsafeBatteryCriticalFlightModeChanged(int index)
{
HwSettings::DataFields hwSettingsData = hwSettingsObj->getData();
bool batteryModuleEnabled = (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_BATTERY] == HwSettings::OPTIONALMODULES_ENABLED);
ui->failsafeBatteryCriticalFlightMode->setEnabled(batteryModuleEnabled && index != -1);
ui->failsafeBatteryCriticalFlightModeCb->setChecked(index != -1);
}
void ConfigInputWidget::failsafeFlightModeChanged(int index)
{
ui->failsafeFlightMode->setEnabled(index != -1);
@ -2186,7 +2168,24 @@ void ConfigInputWidget::failsafeFlightModeCbToggled(bool checked)
ui->failsafeFlightMode->setCurrentIndex(checked ? 0 : -1);
}
void ConfigInputWidget::failsafeBatteryWarningFlightModeCbToggled(bool checked)
{
ui->failsafeBatteryWarningFlightMode->setCurrentIndex(checked ? 0 : -1);
}
void ConfigInputWidget::failsafeBatteryCriticalFlightModeCbToggled(bool checked)
{
ui->failsafeBatteryCriticalFlightMode->setCurrentIndex(checked ? 0 : -1);
}
void ConfigInputWidget::enableControlsChanged(bool enabled)
{
ui->failsafeFlightMode->setEnabled(enabled && (ui->failsafeFlightMode->currentIndex() != -1));
ui->failsafeFlightMode->setEnabled(enabled && ui->failsafeFlightMode->currentIndex() != -1);
HwSettings::DataFields hwSettingsData = hwSettingsObj->getData();
bool batteryModuleEnabled = (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_BATTERY] == HwSettings::OPTIONALMODULES_ENABLED);
ui->failsafeBatteryWarningFlightMode->setEnabled(batteryModuleEnabled && enabled && ui->failsafeBatteryWarningFlightMode->currentIndex() != -1);
ui->failsafeBatteryCriticalFlightMode->setEnabled(batteryModuleEnabled && enabled && ui->failsafeBatteryCriticalFlightMode->currentIndex() != -1);
ui->failsafeBatteryWarningFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
ui->failsafeBatteryCriticalFlightModeCb->setEnabled(enabled && batteryModuleEnabled);
}

8
ground/gcs/src/plugins/config/configinputwidget.h
View File

@ -41,7 +41,7 @@
#include "flightstatus.h"
#include "accessorydesired.h"
#include "systemsettings.h"
#include "hwsettings.h"
#include <QPointer>
#include <QWidget>
#include <QList>
@ -145,6 +145,8 @@ private:
SystemSettings *systemSettingsObj;
SystemSettings::DataFields systemSettingsData;
HwSettings *hwSettingsObj;
typedef struct {
ManualControlSettings::DataFields manualSettingsData;
ActuatorSettings::DataFields actuatorSettingsData;
@ -232,6 +234,10 @@ private slots:
void failsafeFlightModeChanged(int index);
void failsafeFlightModeCbToggled(bool checked);
void failsafeBatteryWarningFlightModeChanged(int index);
void failsafeBatteryWarningFlightModeCbToggled(bool checked);
void failsafeBatteryCriticalFlightModeChanged(int index);
void failsafeBatteryCriticalFlightModeCbToggled(bool checked);
void enableControlsChanged(bool enabled);
protected:

104
ground/gcs/src/plugins/config/input.ui
View File

@ -2336,6 +2336,106 @@ font:bold;</string>
<property name="bottomMargin">
<number>12</number>
</property>
<item>
<widget class="QGroupBox" name="groupBox_b8">
<property name="title">
<string>Battery Failsafe Settings</string>
</property>
<layout class="QGridLayout" name="gridLayout_b12">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<number>9</number>
</property>
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="1" column="0">
<layout class="QGridLayout" name="horizontalLayout_b2">
<item row="1" column="0">
<widget class="QCheckBox" name="failsafeBatteryWarningFlightModeCb">
<property name="text">
<string>On battery warning alarm change flight mode to:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="failsafeBatteryWarningFlightMode">
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>When triggering battery Warning alarm switch to this flight mode.</string>
</property>
</widget>
</item>
<item row="1" column="2">
<spacer name="horizontalSpacer_B28">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<widget class="QCheckBox" name="failsafeBatteryCriticalFlightModeCb">
<property name="text">
<string>On battery critical alarm change flight mode to:</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="failsafeBatteryCriticalFlightMode">
<property name="minimumSize">
<size>
<width>200</width>
<height>0</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>When triggering battery Critical alarm switch to this flight mode.</string>
</property>
</widget>
</item>
<item row="2" column="2">
<spacer name="horizontalSpacer_B18">
<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>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_8">
<property name="title">
@ -2468,7 +2568,9 @@ font:bold;</string>
</property>
<property name="plainText">
<string>Failsafe is a function that is triggered when the connection between the transmitter and receiver is lost. Failsafe gives the user a chance to configure some basic behaviour and specify what input the flight controller should get even if no control signals from the transmitter is present.
The failsafe is triggered differently for different receivers. Failsafe should always be tested before every flight.</string>
The failsafe is triggered differently for different receivers. Failsafe should always be tested before every flight.
Battery Failsafe triggers the selected flight modes as soon as the related alarm is raised. It needs Battery module enabled and configured. It is not available on CC3D.</string>
</property>
<property name="backgroundVisible">
<bool>false</bool>

6
shared/uavobjectdefinition/flightbatterysettings.xml
View File

@ -2,10 +2,10 @@
<object name="FlightBatterySettings" singleinstance="true" settings="true" category="Sensors">
<description>Flight Battery configuration.</description>
<field name="Type" units="" type="enum" elements="1" options="LiPo,A123,LiCo,LiFeSO4,None" defaultvalue="LiPo"/>
<field name="Type" units="" type="enum" elements="1" options="LiPo,LiHV,A123,LiCo,LiFeSO4,None" defaultvalue="LiPo"/>
<field name="NbCells" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="Capacity" units="mAh" type="uint32" elements="1" defaultvalue="2200"/>
<field name="CellVoltageThresholds" units="V" type="float" elementnames="Warning, Alarm" defaultvalue="3.4,3.1"/>
<field name="Capacity" units="mAh" type="uint32" elements="1" defaultvalue="0"/>
<field name="CellVoltageThresholds" units="V" type="float" elementnames="Warning, Critical" defaultvalue="3.4,3.1"/>
<field name="SensorCalibrations" units="" type="float" elementnames="VoltageFactor, CurrentFactor, VoltageZero, CurrentZero" defaultvalue="1.0, 1.0, 0.0, 0.0"/>
<field name="ResetConsumedEnergy" units="bool" type="enum" elements="1" options="False,True" defaultvalue="False"/>
<access gcs="readwrite" flight="readwrite"/>

2
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -95,6 +95,8 @@
<field name="AutoTakeOffHeight" units="m" type="float" elements="1" defaultvalue="2.5" description="height in meters above arming altitude to climb to during autotakeoff"/>
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="30,15" description="stick sensitivity for position roam modes"/>
<field name="VarioControlLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.98" description="stick low pass filter for position roam modes"/>
<field name="BatteryFailsafeSwitchPositions" units="" type="int8" elementnames="Warning,Critical" defaultvalue="-1" />
<field name="BatteryFailsafeDebounceTimer" units="ms" type="uint16" elements="1" defaultvalue="5000" />
<field name="FlightModeChangeRestartsPathPlan" units="bool" type="enum" elements="1" options="False,True" defaultvalue="True" description="wether a path plan should continue when interrupted by flight mode change (False), or restart from waypoint 0 (True)"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>