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Code Issues Releases Activity

Merge branch 'amorale/OP-1019_simple_altitudehold' into next

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This commit is contained in:
Alessio Morale 2013-06-21 17:16:24 +02:00
commit 57c8cd7872
8 changed files with 2141 additions and 858 deletions
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1
flight/libraries/sanitycheck.c
View File

@ -110,6 +110,7 @@ int32_t configuration_check()
}
break;
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
case MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_ALTITUDEHOLD)) { // Revo supports altitude hold

24
flight/modules/AltitudeHold/altitudehold.c
View File

@ -139,11 +139,15 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
BaroAltitudeConnectQueue(queue);
FlightStatusConnectQueue(queue);
AccelsConnectQueue(queue);
bool altitudeHoldFlightMode = false;
BaroAltitudeAltitudeGet(&smoothed_altitude);
running = false;
enum init_state { WAITING_BARO, WAITIING_INIT, INITED } init = WAITING_BARO;
uint8_t flightMode;
FlightStatusFlightModeGet(&flightMode);
// initialize enable flag
altitudeHoldFlightMode = flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD || flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO;
// Main task loop
bool baro_updated = false;
while (1) {
@ -161,10 +165,9 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
init = (init == WAITING_BARO) ? WAITIING_INIT : init;
} else if (ev.obj == FlightStatusHandle()) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD && !running) {
FlightStatusFlightModeGet(&flightMode);
altitudeHoldFlightMode = flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD || flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO;
if (altitudeHoldFlightMode && !running) {
// Copy the current throttle as a starting point for integral
StabilizationDesiredThrottleGet(&throttleIntegral);
switchThrottle = throttleIntegral;
@ -175,7 +178,7 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
AltHoldSmoothedData altHold;
AltHoldSmoothedGet(&altHold);
starting_altitude = altHold.Altitude;
} else if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) {
} else if (!altitudeHoldFlightMode) {
running = false;
lastAltitudeHoldDesiredUpdate = PIOS_DELAY_GetRaw();
}
@ -348,11 +351,10 @@ static void altitudeHoldTask(__attribute__((unused)) void *parameters)
AltHoldSmoothedGet(&altHold);
// Verify that we are in altitude hold mode
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD ||
flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED) {
// Verify that we are in altitude hold mode
uint8_t armed;
FlightStatusArmedGet(&armed);
if (!altitudeHoldFlightMode || armed != FLIGHTSTATUS_ARMED_ARMED) {
running = false;
}

2
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -41,6 +41,7 @@ typedef enum { FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABI
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : \
(x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) ? FLIGHTMODE_GUIDANCE : \
@ -116,6 +117,7 @@ int32_t ManualControlInitialize();
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) && \
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO) && \
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int)FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \
((int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_PATHPLANNER == (int)FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) && \

19
flight/modules/ManualControl/manualcontrol.c
View File

@ -460,6 +460,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
case FLIGHTMODE_GUIDANCE:
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
altitudeHoldDesired(&cmd, lastFlightMode != flightStatus.FlightMode);
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
@ -820,17 +821,24 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
uint8_t throttleRate;
uint8_t throttleExp;
static uint8_t flightMode;
static portTickType lastSysTimeAH;
static bool zeroed = false;
portTickType thisSysTime;
float dT;
AltitudeHoldDesiredData altitudeHoldDesiredData;
FlightStatusFlightModeGet(&flightMode);
AltitudeHoldDesiredData altitudeHoldDesiredData;
AltitudeHoldDesiredGet(&altitudeHoldDesiredData);
AltitudeHoldSettingsThrottleExpGet(&throttleExp);
AltitudeHoldSettingsThrottleRateGet(&throttleRate);
if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) {
throttleExp = 128;
throttleRate = 0;
} else {
AltitudeHoldSettingsThrottleExpGet(&throttleExp);
AltitudeHoldSettingsThrottleRateGet(&throttleRate);
}
StabilizationSettingsData stabSettings;
StabilizationSettingsGet(&stabSettings);
@ -851,12 +859,13 @@ static void altitudeHoldDesired(ManualControlCommandData *cmd, bool changed)
zeroed = false;
} else if (cmd->Throttle > DEADBAND_HIGH && zeroed) {
// being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
// then apply an "exp" f(x,k) = (k∙x∙x∙x + x∙(256−k)) / 256
// then apply an "exp" f(x,k) = (k*x*x*x + x*(256−k)) / 256
altitudeHoldDesiredData.Altitude += (throttleExp * powf((cmd->Throttle - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (256 - throttleExp)) / 256 * throttleRate * dT;
} else if (cmd->Throttle < DEADBAND_LOW && zeroed) {
altitudeHoldDesiredData.Altitude -= (throttleExp * powf((DEADBAND_LOW - (cmd->Throttle < 0 ? 0 : cmd->Throttle)) / DEADBAND_LOW, 3) + (256 - throttleExp)) / 256 * throttleRate * dT;
} else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH) {
} else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH && (throttleRate != 0)) {
// Require the stick to enter the dead band before they can move height
// Vario is not "engaged" when throttleRate == 0
zeroed = true;
}

2
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -199,5 +199,5 @@ void ConfigStabilizationWidget::onBoardConnected()
Q_ASSERT(utilMngr);
// If Revolution board enable misc tab, otherwise disable it
ui->Miscellaneous->setEnabled((utilMngr->getBoardModel() & 0xff00) == 0x0900);
ui->AltitudeHold->setEnabled((utilMngr->getBoardModel() & 0xff00) == 0x0900);
}

2923
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

@ -456,8 +456,17 @@
<property name="spacing">
<number>6</number>
</property>
<property name="margin">
<number>12</number>
<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>
<item>
<widget class="QTabWidget" name="tabWidget">
@ -511,7 +520,16 @@
<string>Basic</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -609,8 +627,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>790</width>
<height>653</height>
<width>778</width>
<height>659</height>
</rect>
</property>
<property name="sizePolicy">
@ -647,8 +665,17 @@
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_7" rowstretch="0,0">
<property name="margin">
<number>12</number>
<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>
<item row="0" column="4">
<widget class="QPushButton" name="pushButton">
@ -2687,8 +2714,17 @@ border-radius: 5;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_19">
<property name="margin">
<number>12</number>
<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>
@ -6063,8 +6099,17 @@ border-radius: 5;</string>
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout_20">
<property name="margin">
<number>12</number>
<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>
@ -8613,8 +8658,17 @@ border-radius: 5;</string>
<string>Integral</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_11">
<property name="margin">
<number>12</number>
<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>
<item>
<widget class="QCheckBox" name="lowThrottleZeroIntegral_8">
@ -8722,7 +8776,16 @@ border-radius: 5;</string>
<string>Advanced</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -8804,9 +8867,9 @@ border-radius: 5;</string>
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>773</width>
<height>702</height>
<y>-117</y>
<width>778</width>
<height>762</height>
</rect>
</property>
<property name="autoFillBackground">
@ -9360,8 +9423,17 @@ border-radius: 5;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_18">
<property name="margin">
<number>12</number>
<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>
@ -12709,8 +12781,17 @@ border-radius: 5;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_16">
<property name="margin">
<number>12</number>
<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>
@ -16035,12 +16116,21 @@ border-radius: 5;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_17">
<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>4</number>
</property>
<property name="margin">
<number>12</number>
</property>
<item row="0" column="0">
<widget class="QCheckBox" name="checkBox_2">
<property name="toolTip">
@ -18722,7 +18812,16 @@ border-radius: 5;</string>
<string>Expert</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -18808,15 +18907,24 @@ border-radius: 5;</string>
<rect>
<x>0</x>
<y>0</y>
<width>790</width>
<height>653</height>
<width>792</width>
<height>645</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<property name="spacing">
<number>9</number>
</property>
<property name="margin">
<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>
<item>
@ -18840,8 +18948,17 @@ border-radius: 5;</string>
<string>Weak Leveling / Axis Lock</string>
</property>
<layout class="QGridLayout" name="gridLayout_5">
<property name="margin">
<number>12</number>
<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>
<item row="0" column="0">
<spacer name="horizontalSpacer_13">
@ -21454,8 +21571,17 @@ border-radius: 5;</string>
<string>Integral Limits</string>
</property>
<layout class="QGridLayout" name="gridLayout_9">
<property name="margin">
<number>12</number>
<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>
@ -24406,8 +24532,17 @@ border-radius: 5;</string>
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="margin">
<number>12</number>
<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>
<item row="0" column="0">
<spacer name="horizontalSpacer_40">
@ -26855,12 +26990,21 @@ border-radius: 5;</string>
</item>
</layout>
</widget>
<widget class="QWidget" name="Miscellaneous">
<widget class="QWidget" name="AltitudeHold">
<attribute name="title">
<string>Miscellaneous</string>
<string>Altitude Hold</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -26876,12 +27020,12 @@ border-radius: 5;</string>
<rect>
<x>0</x>
<y>0</y>
<width>790</width>
<height>653</height>
<width>792</width>
<height>645</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<layout class="QGridLayout" name="gridLayout_23">
<item row="0" column="0">
<widget class="QGroupBox" name="RateStabilizationGroup_11">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -27416,7 +27560,7 @@ border-radius: 5;</string>
</palette>
</property>
<property name="title">
<string>Altitude Hold Stabilization</string>
<string>Tuning</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
@ -27425,12 +27569,72 @@ border-radius: 5;</string>
<bool>false</bool>
</property>
<layout class="QGridLayout" name="gridLayout_21">
<property name="margin">
<number>12</number>
<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="0" column="1">
<spacer name="horizontalSpacer_49">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>497</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_7">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="toolTip">
<string>Reset all values to GCS defaults</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:AltitudeHoldSettings</string>
<string>button:default</string>
<string>buttongroup:99</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_12">
<property name="sizePolicy">
@ -27872,7 +28076,7 @@ border-radius: 5;</string>
<property name="flat">
<bool>true</bool>
</property>
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0,0,0,0,0">
<layout class="QGridLayout" name="gridLayout_13" columnstretch="0,0,0,0">
<property name="leftMargin">
<number>0</number>
</property>
@ -27957,81 +28161,6 @@ border-radius: 5;</string>
</property>
</widget>
</item>
<item row="2" column="6">
<widget class="QSlider" name="AltThrRateSlider">
<property name="maximum">
<number>10</number>
</property>
<property name="singleStep">
<number>1</number>
</property>
<property name="pageStep">
<number>1</number>
</property>
<property name="value">
<number>5</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="tickPosition">
<enum>QSlider::TicksBelow</enum>
</property>
<property name="tickInterval">
<number>0</number>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:AltitudeHoldSettings</string>
<string>fieldname:ThrottleRate</string>
<string>haslimits:no</string>
<string>scale:0.5</string>
<string>buttongroup:99</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="5">
<spacer name="horizontalSpacer_56">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="4">
<widget class="QLabel" name="label_60">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>69</width>
<height>16</height>
</size>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Exponential</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QSlider" name="AltKpSlider">
<property name="maximum">
@ -28082,80 +28211,6 @@ border-radius: 5;</string>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QDoubleSpinBox" name="AltThrExp">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
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<string>Max Vertical Velocity</string>
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<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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</widget>
</item>
<item row="2" column="3">
<widget class="QDoubleSpinBox" name="AltThrRate_2">
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<verstretch>0</verstretch>
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<property name="minimumSize">
<size>
<width>50</width>
<height>22</height>
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</property>
<property name="maximumSize">
<size>
<width>50</width>
<height>22</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Maximum allowed vertical velocity in m/s.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
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<property name="styleSheet">
<string notr="true"/>
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<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
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<property name="decimals">
<number>1</number>
</property>
<property name="maximum">
<double>5.000000000000000</double>
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<property name="singleStep">
<double>0.100000000000000</double>
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<property name="value">
<double>2.500000000000000</double>
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<string>scale:1</string>
<string>buttongroup:99</string>
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</item>
<item row="1" column="2">
<widget class="QSlider" name="AltThrExpSlider_2">
<property name="maximum">
<number>256</number>
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<property name="value">
<number>128</number>
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<property name="orientation">
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<property name="tickPosition">
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<widget class="QLabel" name="label_64">
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<size>
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<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
color: rgb(255, 255, 255);
border-radius: 5;</string>
</property>
<property name="text">
<string>Throttle Stick Response</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="0" column="1">
<spacer name="horizontalSpacer_49">
<spacer name="horizontalSpacer_52">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
@ -29532,7 +30752,7 @@ border-radius: 5;</string>
</spacer>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_7">
<widget class="QPushButton" name="pushButton_8">
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<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
@ -29572,11 +30792,60 @@ border-radius: 5;</string>
</layout>
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<item>
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<widget class="QGroupBox" name="groupBox_8">
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</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>60</height>
</size>
</property>
<property name="title">
<string>Instant Update</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<item>
<widget class="QCheckBox" name="realTimeUpdates_7">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
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</property>
<property name="minimumSize">
<size>
<width>136</width>
<height>20</height>
</size>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this feature mean that any changes made to the sliders will be instantly sent and used by the Flight Controller, useful for two person tuning where one normally flies and ones changes the GCS.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Update flight controller in real time</string>
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</widget>
</item>
</layout>
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</item>
<item row="3" column="0">
<spacer name="verticalSpacer_4">
<property name="orientation">
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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,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

26
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -43,31 +43,31 @@
units=""
type="enum"
elements="6"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold,Manual"
limits="\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
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\
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\
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\
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%0401NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:AltitudeVario:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>