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Code Issues Releases Activity

OP-1898 VelocityRoam flight mode

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Replace PositionRoam with VelocityRoam

Make VelocityRoam an explicit flight mode to simplify access

Disable PositionRoam as not supported and not suitable to retain.
This commit is contained in:
abeck70 2015-05-22 17:34:43 +10:00
parent 981005e40c
commit 55b3b52c4f
6 changed files with 23 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/libraries/sanitycheck.c
View File

@ -146,7 +146,7 @@ int32_t configuration_check()
ADDSEVERITY(!gps_assisted);
}
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYROAM:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTAKEOFF:
ADDSEVERITY(!coptercontrol);

4
flight/modules/ManualControl/manualcontrol.c
View File

@ -411,7 +411,7 @@ static void manualControlTask(void)
// set in stabi settings. Once if we decide to always have this on, it can
// can be directly set here...i.e. set the flight mode assist as required.
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
case FLIGHTSTATUS_FLIGHTMODE_LAND:
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
@ -531,7 +531,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
thrustMode = modeSettings->Stabilization6Settings.Thrust;
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
// we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
// is a more appropriate throttle mode. "GPSAssist" adds braking
// and a better throttle management to the standard Position Hold.

16
flight/modules/ManualControl/pathfollowerhandler.c
View File

@ -80,12 +80,8 @@ void pathFollowerHandler(bool newinit)
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
plan_setup_CourseLock();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
plan_setup_PositionRoam();
} else {
plan_setup_VelocityRoam();
}
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
plan_setup_VelocityRoam();
break;
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
plan_setup_HomeLeash();
@ -130,12 +126,8 @@ void pathFollowerHandler(bool newinit)
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
plan_run_CourseLock();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
plan_run_PositionRoam();
} else {
plan_run_VelocityRoam();
}
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
plan_run_VelocityRoam();
break;
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
plan_run_HomeLeash();

3
flight/modules/Notify/inc/sequences.h
View File

@ -176,13 +176,14 @@ const LedSequence_t *flightModeMap[] = {
[FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_COURSELOCK] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_HOMELEASH] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_RTH],
[FLIGHTSTATUS_FLIGHTMODE_LAND] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
[FLIGHTSTATUS_FLIGHTMODE_POI] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_LAND],
};
// List of alarms to show with attached sequences for each status

26
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -78,31 +78,31 @@
units=""
type="enum"
elements="6"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
limits="\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;"/>
<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>

2
shared/uavobjectdefinition/flightstatus.xml
View File

@ -4,7 +4,7 @@
<field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
<!-- Note these enumerated values should be the same as ManualControlSettings -->
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"/>
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"/>
<!-- the options for FlightModeAssist needs to match the StablizationSettings' assist options -->
<field name="FlightModeAssist" units="" type="enum" elements="1" options="None,GPSAssist_PrimaryThrust,GPSAssist"/>
<field name="AssistedControlState" units="" type="enum" elements="1" options="Primary,Brake,Hold" defaultvalue="Primary"/>