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Code Issues Releases Activity

OP-1309 UAVObject changes, GCS changes and Makefile changes needed for Stabi refactoring

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This commit is contained in:
Corvus Corax 2014-04-26 15:14:40 +02:00
parent 000ba5e8f3
commit 599661ba18
18 changed files with 245 additions and 604 deletions
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54
flight/libraries/sanitycheck.c
View File

@ -46,7 +46,7 @@
****************************/
// ! Check a stabilization mode switch position for safety
static int32_t check_stabilization_settings(int index, bool multirotor);
static int32_t check_stabilization_settings(int index, bool multirotor, bool coptercontrol);
/**
* Run a preflight check over the hardware configuration
@ -98,34 +98,19 @@ int32_t configuration_check()
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor) : severity;
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(1, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor) : severity;
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(2, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor) : severity;
severity = (severity == SYSTEMALARMS_ALARM_OK) ? check_stabilization_settings(3, multirotor, coptercontrol) : severity;
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE)) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
}
// TODO: put check equivalent to TASK_MONITOR_IsRunning
// here as soon as available for delayed callbacks
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
} else if (!PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER)) { // Revo supports altitude hold
severity = SYSTEMALARMS_ALARM_ERROR;
}
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
if (coptercontrol) {
severity = SYSTEMALARMS_ALARM_ERROR;
@ -199,7 +184,7 @@ int32_t configuration_check()
* @param[in] index Which stabilization mode to check
* @returns SYSTEMALARMS_ALARM_OK or SYSTEMALARMS_ALARM_ERROR
*/
static int32_t check_stabilization_settings(int index, bool multirotor)
static int32_t check_stabilization_settings(int index, bool multirotor, bool coptercontrol)
{
// Make sure the modes have identical sizes
if (FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM != FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NUMELEM ||
@ -224,15 +209,40 @@ static int32_t check_stabilization_settings(int index, bool multirotor)
return SYSTEMALARMS_ALARM_ERROR;
}
// For multirotors verify that nothing is set to "none"
// For multirotors verify that roll/pitch/yaw are not set to "none"
// (why not? might be fun to test ones reactions ;) if you dare, set your frame to "custom"!
if (multirotor) {
for (uint32_t i = 0; i < NELEMENTS(modes); i++) {
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
}
// coptercontrol cannot do altitude holding
if (coptercontrol) {
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
// check that thrust modes are only set to thrust axis
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
) {
return SYSTEMALARMS_ALARM_ERROR;
}
}
if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDE
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
)) {
return SYSTEMALARMS_ALARM_ERROR;
}
// Warning: This assumes that certain conditions in the XML file are met. That
// FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE has the same numeric value for each channel
// and is the same for STABILIZATIONDESIRED_STABILIZATIONMODE_NONE

10
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -61,13 +61,6 @@ void manualHandler(bool newinit);
*/
void stabilizedHandler(bool newinit);
/**
* @brief Handler to control deprecated flight modes controlled by AltitudeHold module
* @input: ManualControlCommand
* @output: AltitudeHoldDesired
*/
void altitudeHandler(bool newinit);
/**
* @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
@ -119,9 +112,6 @@ void pathPlannerHandler(bool newinit);
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_ALTITUDEHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_ALTITUDEVARIO == (int)FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int)FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER == (int)FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE == (int)FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) && \

15
flight/modules/ManualControl/manualcontrol.c
View File

@ -85,16 +85,6 @@ static const controlHandler handler_AUTOTUNE = {
};
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// TODO: move the altitude handling into stabi
static const controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static const controlHandler handler_PATHFOLLOWER = {
.controlChain = {
.Stabilization = true,
@ -206,7 +196,6 @@ static void manualControlTask(void)
handler = &handler_STABILIZED;
break;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
case FLIGHTSTATUS_FLIGHTMODE_LAND:
@ -216,10 +205,6 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
handler = &handler_PATHPLANNER;
break;
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
handler = &handler_ALTITUDE;
break;
#endif
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
handler = &handler_AUTOTUNE;

0
flight/modules/ManualControl/altitudehandler.c → flight/modules/Stabilization/altitudeloop.c.old
View File

8
flight/modules/Stabilization/stabilization.c
View File

@ -838,10 +838,10 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
cruise_control_inverted_power_switch = settings.CruiseControlInvertedPowerSwitch;
cruise_control_neutral_thrust = (float)settings.CruiseControlNeutralThrust / 100.0f;
memcpy(
cruise_control_flight_mode_switch_pos_enable,
settings.CruiseControlFlightModeSwitchPosEnable,
sizeof(cruise_control_flight_mode_switch_pos_enable));
// memcpy( // disabled because removed from uavobject for refactoring (CRITICAL! doesnt fly, just to make it compile!!!)
// cruise_control_flight_mode_switch_pos_enable,
// settings.CruiseControlFlightModeSwitchPosEnable,
// sizeof(cruise_control_flight_mode_switch_pos_enable));
}
/**

4
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -169,10 +169,10 @@
#endif
#define PIOS_TELEM_RX_STACK_SIZE 410
#define PIOS_TELEM_TX_STACK_SIZE 560
#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
/* This can't be too high to stop eventdispatcher thread overflowing */
#define PIOS_EVENTDISAPTCHER_QUEUE 10
#define PIOS_EVENTDISAPTCHER_QUEUE 10
/* Revolution series */
/* #define REVOLUTION */

2
flight/targets/boards/revolution/firmware/Makefile
View File

@ -33,7 +33,7 @@ MODULES += Sensors
MODULES += StateEstimation # use instead of Attitude
MODULES += Altitude/revolution
MODULES += Airspeed
MODULES += AltitudeHold
#MODULES += AltitudeHold # now integrated in Stabilization
MODULES += Stabilization
MODULES += VtolPathFollower
MODULES += ManualControl

2
flight/targets/boards/revoproto/firmware/Makefile
View File

@ -33,7 +33,7 @@ MODULES += Sensors
MODULES += StateEstimation # use instead of Attitude
MODULES += Altitude/revolution
MODULES += Airspeed
MODULES += AltitudeHold
#MODULES += AltitudeHold # now integrated in Stabilization
MODULES += Stabilization
MODULES += VtolPathFollower
MODULES += ManualControl

2
flight/targets/boards/simposix/firmware/Makefile
View File

@ -42,7 +42,7 @@ MODULES += FirmwareIAP
MODULES += StateEstimation
#MODULES += Sensors/simulated/Sensors
MODULES += Airspeed
MODULES += AltitudeHold
#MODULES += AltitudeHold # now integrated in Stabilization
#MODULES += OveroSync
# Paths

15
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -152,6 +152,9 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
addWidgetBinding("FlightModeSettings", "Stabilization1Settings", ui->fmsSsPos1Yaw, "Yaw", 1, true);
addWidgetBinding("FlightModeSettings", "Stabilization2Settings", ui->fmsSsPos2Yaw, "Yaw", 1, true);
addWidgetBinding("FlightModeSettings", "Stabilization3Settings", ui->fmsSsPos3Yaw, "Yaw", 1, true);
addWidgetBinding("FlightModeSettings", "Stabilization1Settings", ui->fmsSsPos1Thrust, "Thrust", 1, true);
addWidgetBinding("FlightModeSettings", "Stabilization2Settings", ui->fmsSsPos2Thrust, "Thrust", 1, true);
addWidgetBinding("FlightModeSettings", "Stabilization3Settings", ui->fmsSsPos3Thrust, "Thrust", 1, true);
addWidgetBinding("FlightModeSettings", "Arming", ui->armControl);
addWidgetBinding("FlightModeSettings", "ArmedTimeout", ui->armTimeout, 0, 1000);
@ -1324,32 +1327,26 @@ void ConfigInputWidget::updatePositionSlider()
default:
case 6:
ui->fmsModePos6->setEnabled(true);
ui->cc_box_5->setEnabled(true);
ui->pidBankSs1_5->setEnabled(true);
// pass through
case 5:
ui->fmsModePos5->setEnabled(true);
ui->cc_box_4->setEnabled(true);
ui->pidBankSs1_4->setEnabled(true);
// pass through
case 4:
ui->fmsModePos4->setEnabled(true);
ui->cc_box_3->setEnabled(true);
ui->pidBankSs1_3->setEnabled(true);
// pass through
case 3:
ui->fmsModePos3->setEnabled(true);
ui->cc_box_2->setEnabled(true);
ui->pidBankSs1_2->setEnabled(true);
// pass through
case 2:
ui->fmsModePos2->setEnabled(true);
ui->cc_box_1->setEnabled(true);
ui->pidBankSs1_1->setEnabled(true);
// pass through
case 1:
ui->fmsModePos1->setEnabled(true);
ui->cc_box_0->setEnabled(true);
ui->pidBankSs1_0->setEnabled(true);
// pass through
case 0:
@ -1359,32 +1356,26 @@ void ConfigInputWidget::updatePositionSlider()
switch (manualSettingsDataPriv.FlightModeNumber) {
case 0:
ui->fmsModePos1->setEnabled(false);
ui->cc_box_0->setEnabled(false);
ui->pidBankSs1_0->setEnabled(false);
// pass through
case 1:
ui->fmsModePos2->setEnabled(false);
ui->cc_box_1->setEnabled(false);
ui->pidBankSs1_1->setEnabled(false);
// pass through
case 2:
ui->fmsModePos3->setEnabled(false);
ui->cc_box_2->setEnabled(false);
ui->pidBankSs1_2->setEnabled(false);
// pass through
case 3:
ui->fmsModePos4->setEnabled(false);
ui->cc_box_3->setEnabled(false);
ui->pidBankSs1_3->setEnabled(false);
// pass through
case 4:
ui->fmsModePos5->setEnabled(false);
ui->cc_box_4->setEnabled(false);
ui->pidBankSs1_4->setEnabled(false);
// pass through
case 5:
ui->fmsModePos6->setEnabled(false);
ui->cc_box_5->setEnabled(false);
ui->pidBankSs1_5->setEnabled(false);
// pass through
case 6:

613
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -17,7 +17,7 @@
<item>
<widget class="QTabWidget" name="tabWidget">
<property name="currentIndex">
<number>0</number>
<number>1</number>
</property>
<widget class="QWidget" name="RCInput">
<attribute name="title">
@ -27,16 +27,7 @@
<property name="spacing">
<number>0</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@ -117,20 +108,11 @@
<x>0</x>
<y>0</y>
<width>774</width>
<height>748</height>
<height>753</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<property name="verticalSpacing">
@ -161,16 +143,7 @@
</property>
<widget class="QWidget" name="advancedPage">
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>
@ -269,16 +242,7 @@
</widget>
<widget class="QWidget" name="wizard">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>
@ -457,16 +421,7 @@
<string>Flight Mode Switch Settings</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_8">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@ -546,21 +501,12 @@
<rect>
<x>0</x>
<y>0</y>
<width>768</width>
<height>742</height>
<width>774</width>
<height>753</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_7" rowstretch="1,0,0,0">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item row="3" column="0">
@ -587,7 +533,7 @@
<property name="title">
<string>Stabilization Modes Configuration</string>
</property>
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0,0,0,0,0,0,0,0">
<layout class="QGridLayout" name="gridLayout_2" columnstretch="0,0,0,0,0,0,0,0,0,0,0,0,0">
<property name="leftMargin">
<number>9</number>
</property>
@ -626,6 +572,51 @@
</property>
</spacer>
</item>
<item row="1" column="10">
<spacer name="horizontalSpacer_15">
<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>20</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="11">
<widget class="QLabel" name="label_11">
<property name="minimumSize">
<size>
<width>120</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</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;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Thrust</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="9">
<widget class="QLabel" name="label_10">
<property name="minimumSize">
@ -684,7 +675,7 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="1" column="10">
<item row="1" column="12">
<spacer name="horizontalSpacer_11">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -792,16 +783,7 @@ margin:1px;</string>
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_10">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>1</number>
</property>
<item>
@ -843,16 +825,7 @@ margin:1px;</string>
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_14">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>1</number>
</property>
<item>
@ -894,16 +867,7 @@ margin:1px;</string>
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_15">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>1</number>
</property>
<item>
@ -936,6 +900,48 @@ margin:1px;</string>
</layout>
</widget>
</item>
<item row="1" column="11">
<widget class="QFrame" name="frame_7">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_16">
<property name="margin">
<number>1</number>
</property>
<item>
<widget class="QComboBox" name="fmsSsPos1Thrust">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="fmsSsPos2Thrust">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="fmsSsPos3Thrust">
<property name="focusPolicy">
<enum>Qt::StrongFocus</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="2">
<spacer name="horizontalSpacer_14">
<property name="orientation">
@ -973,23 +979,14 @@ margin:1px;</string>
<string>Flight Mode Switch Positions</string>
</property>
<layout class="QGridLayout" name="gridLayout_4">
<property name="leftMargin">
<number>9</number>
</property>
<property name="topMargin">
<number>9</number>
</property>
<property name="rightMargin">
<number>9</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>9</number>
</property>
<property name="horizontalSpacing">
<number>6</number>
</property>
<item row="0" column="6">
<widget class="QLabel" name="label_11">
<widget class="QLabel" name="label_111">
<property name="minimumSize">
<size>
<width>80</width>
@ -1078,7 +1075,7 @@ channel value for each flight mode.</string>
<item row="2" column="10">
<widget class="QLabel" name="label_15">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<sizepolicy hsizetype="Ignored" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
@ -1090,7 +1087,7 @@ channel value for each flight mode.</string>
</font>
</property>
<property name="text">
<string>Avoid &quot;Manual&quot; for multirotors!</string>
<string>Avoid &quot;Manual&quot; for multirotors! Never select &quot;Altitude&quot;, &quot;VelocityControl&quot; or &quot;CruiseControl&quot; on a fixed wing!</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@ -1116,22 +1113,6 @@ channel value for each flight mode.</string>
</property>
</spacer>
</item>
<item row="1" column="5">
<spacer name="horizontalSpacer_15">
<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>20</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="7">
<spacer name="horizontalSpacer_16">
<property name="orientation">
@ -1164,35 +1145,6 @@ channel value for each flight mode.</string>
</property>
</spacer>
</item>
<item row="0" column="4">
<widget class="QLabel" name="label_12">
<property name="minimumSize">
<size>
<width>105</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</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;
font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Cruise Control</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="0" column="8" rowspan="3">
<widget class="Line" name="line">
<property name="orientation">
@ -1229,294 +1181,6 @@ margin:1px;</string>
</property>
</widget>
</item>
<item row="1" column="4" rowspan="2">
<widget class="QFrame" name="frame_4">
<property name="minimumSize">
<size>
<width>30</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
<number>6</number>
</property>
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<number>1</number>
</property>
<item alignment="Qt::AlignHCenter">
<widget class="QCheckBox" name="cc_box_0">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this checkbox will enable Cruise Control for Flight Mode Switch position #1.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string/>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlFlightModeSwitchPosEnable</string>
<string>index:0</string>
<string>haslimits:no</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
<item alignment="Qt::AlignHCenter">
<widget class="QCheckBox" name="cc_box_1">
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this checkbox will enable Cruise Control for Flight Mode Switch position #2.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string/>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlFlightModeSwitchPosEnable</string>
<string>index:1</string>
<string>haslimits:no</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
<item alignment="Qt::AlignHCenter">
<widget class="QCheckBox" name="cc_box_2">
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this checkbox will enable Cruise Control for Flight Mode Switch position #3.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string/>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlFlightModeSwitchPosEnable</string>
<string>index:2</string>
<string>haslimits:no</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
<item alignment="Qt::AlignHCenter">
<widget class="QCheckBox" name="cc_box_3">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this checkbox will enable Cruise Control for Flight Mode Switch position #4.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string/>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlFlightModeSwitchPosEnable</string>
<string>index:3</string>
<string>haslimits:no</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
<item alignment="Qt::AlignHCenter">
<widget class="QCheckBox" name="cc_box_4">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this checkbox will enable Cruise Control for Flight Mode Switch position #5.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string/>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlFlightModeSwitchPosEnable</string>
<string>index:4</string>
<string>haslimits:no</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
<item alignment="Qt::AlignHCenter">
<widget class="QCheckBox" name="cc_box_5">
<property name="enabled">
<bool>false</bool>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>20</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>20</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Enabling this checkbox will enable Cruise Control for Flight Mode Switch position #6.&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="layoutDirection">
<enum>Qt::RightToLeft</enum>
</property>
<property name="text">
<string/>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>fieldname:CruiseControlFlightModeSwitchPosEnable</string>
<string>index:5</string>
<string>haslimits:no</string>
<string>scale:1</string>
</stringlist>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="1" column="0" rowspan="2">
<widget class="QFrame" name="frame">
<property name="minimumSize">
@ -1538,21 +1202,12 @@ margin:1px;</string>
<enum>QFrame::Raised</enum>
</property>
<layout class="QGridLayout" name="gridLayout_8">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<number>1</number>
</property>
<property name="horizontalSpacing">
<number>10</number>
</property>
<property name="margin">
<number>1</number>
</property>
<item row="4" column="1">
<widget class="QLabel" name="label_pos5">
<property name="sizePolicy">
@ -1770,16 +1425,7 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
</size>
</property>
<layout class="QGridLayout" name="gridLayout_6">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>1</number>
</property>
<item row="5" column="1">
@ -1867,7 +1513,7 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
</widget>
</item>
<item row="1" column="6" rowspan="2">
<widget class="QFrame" name="frame_7">
<widget class="QFrame" name="frame_8">
<property name="minimumSize">
<size>
<width>75</width>
@ -1881,16 +1527,7 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
</size>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<property name="leftMargin">
<number>1</number>
</property>
<property name="topMargin">
<number>1</number>
</property>
<property name="rightMargin">
<number>1</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>1</number>
</property>
<item>
@ -2075,16 +1712,7 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
<string>Arming Settings</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_12">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>0</number>
</property>
<item>
@ -2164,21 +1792,12 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
<rect>
<x>0</x>
<y>0</y>
<width>768</width>
<height>742</height>
<width>774</width>
<height>753</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<property name="margin">
<number>12</number>
</property>
<item>

4
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -328,8 +328,8 @@ void VehicleConfigurationHelper::applyFlighModeConfiguration()
data.FlightModePosition[0] = FlightModeSettings::FLIGHTMODEPOSITION_STABILIZED1;
data.FlightModePosition[1] = FlightModeSettings::FLIGHTMODEPOSITION_STABILIZED2;
data.FlightModePosition[2] = FlightModeSettings::FLIGHTMODEPOSITION_STABILIZED3;
data.FlightModePosition[3] = FlightModeSettings::FLIGHTMODEPOSITION_ALTITUDEHOLD;
data.FlightModePosition[4] = FlightModeSettings::FLIGHTMODEPOSITION_POSITIONHOLD;
data.FlightModePosition[3] = FlightModeSettings::FLIGHTMODEPOSITION_MANUAL;
data.FlightModePosition[4] = FlightModeSettings::FLIGHTMODEPOSITION_MANUAL;
data.FlightModePosition[5] = FlightModeSettings::FLIGHTMODEPOSITION_MANUAL;
modeSettings->setData(data);
addModifiedObject(modeSettings, tr("Writing flight mode settings 1/2"));

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -62,6 +62,7 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/overosyncstats.h \
$$UAVOBJECT_SYNTHETICS/overosyncsettings.h \
$$UAVOBJECT_SYNTHETICS/systemsettings.h \
$$UAVOBJECT_SYNTHETICS/stabilizationstatus.h \
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.h \
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.h \
@ -163,6 +164,7 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/overosyncstats.cpp \
$$UAVOBJECT_SYNTHETICS/overosyncsettings.cpp \
$$UAVOBJECT_SYNTHETICS/systemsettings.cpp \
$$UAVOBJECT_SYNTHETICS/stabilizationstatus.cpp \
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank1.cpp \
$$UAVOBJECT_SYNTHETICS/stabilizationsettingsbank2.cpp \

82
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -6,20 +6,38 @@
<!-- 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,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,AxisLock"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
elementnames="Roll,Pitch,Yaw,Thrust"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity;"
/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
elementnames="Roll,Pitch,Yaw,Thrust"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,CruiseControl"
limits="%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity;"
/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
defaultvalue="Rate,Rate,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
elementnames="Roll,Pitch,Yaw,Thrust"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl"
defaultvalue="Rate,Rate,Rate,None"
limits="%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:RelayRate:RelayAttitude:Altitude:VerticalVelocity:CruiseControl; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:Altitude:VerticalVelocity;"
/>
<!-- Note these options values should be identical to those defined in FlightMode -->
<!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
@ -27,32 +45,32 @@
units=""
type="enum"
elements="6"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,AltitudeHold,AltitudeVario,Manual"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,PositionHold,ReturnToBase,Land,PathPlanner,POI"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Manual,Manual,Manual"
limits="\
%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;\
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
\
%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;\
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
\
%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;\
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
\
%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;\
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
\
%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;\
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
\
%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"/>
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>

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,AltitudeVario,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
<field name="ControlChain" units="bool" type="enum" options="false,true">
<elementnames>

5
shared/uavobjectdefinition/stabilizationdesired.xml
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@ -5,9 +5,8 @@
<field name="Pitch" units="degrees" type="float" elements="1"/>
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Thrust" 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,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"/>
<field name="ThrustStabilizationMode" units="" type="enum" elements="1" options="None"/>
<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,Altitude,VerticalVelocity,CruiseControl"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

1
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -37,7 +37,6 @@
<field name="CruiseControlPowerTrim" units="%" type="float" elements="1" defaultvalue="100.0"/>
<field name="CruiseControlInvertedPowerSwitch" units="" type="int8" elements="1" defaultvalue="0"/>
<field name="CruiseControlNeutralThrust" units="%" type="uint8" elements="1" defaultvalue="0"/>
<field name="CruiseControlFlightModeSwitchPosEnable" units="" type="enum" elements="6" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>

28
shared/uavobjectdefinition/stabilizationstatus.xml Normal file
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@ -0,0 +1,28 @@
<xml>
<object name="StabilizationStatus" singleinstance="true" settings="false" category="Control">
<description>Contains status information to control submodules for stabilization.</description>
<field name="OuterLoop" units="" type="enum" options="None,Attitude,Rattitude,Weakleveling,Axislock,Manual,Altitude">
<elementnames>
<elementname>Roll</elementname>
<elementname>Pitch</elementname>
<elementname>Yaw</elementname>
<elementname>Thrust</elementname>
</elementnames>
</field>
<field name="InnerLoop" units="" type="enum" options="VirtualFlyBar,RelayTuning,Rate,CruiseControl,Direct">
<elementnames>
<elementname>Roll</elementname>
<elementname>Pitch</elementname>
<elementname>Yaw</elementname>
<elementname>Thrust</elementname>
</elementnames>
</field>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="5000"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>