Merge branch 'next' into thread/OP-39

flight/CopterControl/System/inc/pios_config_posix.h

@@ -33,7 +33,6 @@
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_DELAY
 #define PIOS_INCLUDE_LED
-#define PIOS_INCLUDE_SDCARD
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_UDP

flight/Modules/System/systemmod.c

@@ -463,15 +463,6 @@ static void updateSystemAlarms()
 		AlarmsClear(SYSTEMALARMS_ALARM_STACKOVERFLOW);
 	}
 
-#if defined(PIOS_INCLUDE_SDCARD)
-	// Check for SD card
-	if (PIOS_SDCARD_IsMounted() == 0) {
-		AlarmsSet(SYSTEMALARMS_ALARM_SDCARD, SYSTEMALARMS_ALARM_ERROR);
-	} else {
-		AlarmsClear(SYSTEMALARMS_ALARM_SDCARD);
-	}
-#endif
-
 	// Check for event errors
 	UAVObjGetStats(&objStats);
 	EventGetStats(&evStats);

flight/PipXtreme/System/inc/pios_config_posix.h

@@ -33,7 +33,6 @@
 #define PIOS_INCLUDE_SYS
 #define PIOS_INCLUDE_DELAY
 #define PIOS_INCLUDE_LED
-#define PIOS_INCLUDE_SDCARD
 #define PIOS_INCLUDE_FREERTOS
 #define PIOS_INCLUDE_COM
 #define PIOS_INCLUDE_UDP

flight/UAVObjects/inc/uavobjectmanager.h

@@ -46,13 +46,6 @@
 #define UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT 6
 #define UAVOBJ_UPDATE_MODE_MASK 0x3
 
-
-// FIXME: All this typedef for SDCARD needs to be abstracted away
-#if !defined(PIOS_INCLUDE_SDCARD)
-typedef struct {} FILEINFO;
-#endif
-
-
 typedef void* UAVObjHandle;
 
 /**
@@ -164,8 +157,10 @@ int32_t UAVObjPack(UAVObjHandle obj_handle, uint16_t instId, uint8_t* dataOut);
 int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId);
 int32_t UAVObjLoad(UAVObjHandle obj_handle, uint16_t instId);
 int32_t UAVObjDelete(UAVObjHandle obj_handle, uint16_t instId);
+#if defined(PIOS_INCLUDE_SDCARD)
 int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId, FILEINFO* file);
 UAVObjHandle UAVObjLoadFromFile(FILEINFO* file);
+#endif
 int32_t UAVObjSaveSettings();
 int32_t UAVObjLoadSettings();
 int32_t UAVObjDeleteSettings();

flight/UAVObjects/uavobjectmanager.c

@@ -668,6 +668,7 @@ unlock_exit:
 	return rc;
 }
 
+#if defined(PIOS_INCLUDE_SDCARD)
 /**
  * Save the data of the specified object instance to the file system (SD card).
  * The object will be appended and the file will not be closed.
@@ -682,7 +683,6 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
 {
 	PIOS_Assert(obj_handle);
 
-#if defined(PIOS_INCLUDE_SDCARD)
 	uint32_t bytesWritten;
 	// Check for file system availability
 	if (PIOS_SDCARD_IsMounted() == 0) {
@@ -741,9 +741,9 @@ int32_t UAVObjSaveToFile(UAVObjHandle obj_handle, uint16_t instId,
 	}
 	// Done
 	xSemaphoreGiveRecursive(mutex);
-#endif /* PIOS_INCLUDE_SDCARD */
 	return 0;
 }
+#endif /* PIOS_INCLUDE_SDCARD */
 
 /**
  * Save the data of the specified object to the file system (SD card).
@@ -811,6 +811,7 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
 	return 0;
 }
 
+#if defined(PIOS_INCLUDE_SDCARD)
 /**
  * Load an object from the file system (SD card).
  * @param[in] file File to read from
@@ -818,7 +819,6 @@ int32_t UAVObjSave(UAVObjHandle obj_handle, uint16_t instId)
  */
 UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
 {
-#if defined(PIOS_INCLUDE_SDCARD)
 	uint32_t bytesRead;
 	struct UAVOBase *objEntry;
 	InstanceHandle instEntry;
@@ -898,10 +898,8 @@ UAVObjHandle UAVObjLoadFromFile(FILEINFO * file)
 	// Unlock
 	xSemaphoreGiveRecursive(mutex);
 	return obj_handle;
-#else /* PIOS_INCLUDE_SDCARD */
-	return NULL;
-#endif
 }
+#endif /* PIOS_INCLUDE_SDCARD */
 
 /**
  * Load an object from the file system (SD card).

ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg

@@ -1385,26 +1385,6 @@
        id="Telemetry-Critical"
        style="fill:#cf0e0e;fill-opacity:1;stroke:#ffffff;stroke-width:0.29055119;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none;display:inline" />
   </g>
-  <g
-     style="display:inline"
-     inkscape:label="SDCard-OK"
-     id="layer1"
-     inkscape:groupmode="layer" />
-  <g
-     style="display:inline"
-     inkscape:label="SDCard-Warning"
-     id="layer6"
-     inkscape:groupmode="layer" />
-  <g
-     style="display:inline"
-     inkscape:label="SDCard-Error"
-     id="layer11"
-     inkscape:groupmode="layer" />
-  <g
-     style="display:inline"
-     inkscape:label="SDCard-Critical"
-     id="layer20"
-     inkscape:groupmode="layer" />
   <g
      style="display:none"
      inkscape:label="Memory-OK"

ground/openpilotgcs/src/plugins/config/configinputwidget.cpp

@@ -82,12 +82,12 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
     connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
 
     m_config->stackedWidget->setCurrentIndex(0);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true);
-    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
+    addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
     addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
 
     addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp

@@ -112,13 +112,27 @@ void UAVObjectField::limitsInitialize(const QString &limits)
     QStringList stringPerElement=limits.split(",");
     quint32 index=0;
     foreach (QString str, stringPerElement) {
-        QString _str=str.trimmed();
+        QStringList ruleList=str.split(";");
+        QList<LimitStruct> limitList;
+        foreach(QString rule,ruleList)
+        {
+            QString _str=rule.trimmed();
+            if(_str.isEmpty())
+                continue;
             QStringList valuesPerElement=_str.split(":");
             LimitStruct lstruc;
             bool b1=valuesPerElement.at(0).startsWith("%");
             bool b2=(int)(index)<(int)numElements;
-        if(b1 && b2)
+            bool b3=valuesPerElement.at(0).size()==3;
+            bool auxb;
+            valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
+            bool b4=((valuesPerElement.at(0).size())==7 && auxb);
+            if(b1 && b2 && (b3 || b4))
             {
+                if(b4)
+                    lstruc.board=valuesPerElement.at(0).mid(1,4).toInt(&auxb,16);
+                else
+                    lstruc.board=0;
                 if(valuesPerElement.at(0).right(2)=="EQ")
                     lstruc.type=EQUAL;
                 else if(valuesPerElement.at(0).right(2)=="NE")
@@ -161,8 +175,7 @@ void UAVObjectField::limitsInitialize(const QString &limits)
                         lstruc.values.append(QVariant());
                     }
                 }
-            elementLimits.insert(index,lstruc);
+                limitList.append(lstruc);
-            ++index;
             }
             else
             {
@@ -170,14 +183,35 @@ void UAVObjectField::limitsInitialize(const QString &limits)
                     qDebug()<<"limits parsing failed (property doesn't start with %) on UAVObjectField"<<name;
                 else if(!b2)
                     qDebug()<<"limits parsing failed (index>numelements) on UAVObjectField"<<name<<"index"<<index<<"numElements"<<numElements;
+                else if(!b3 || !b4 )
+                    qDebug()<<"limits parsing failed limit not starting with %XX or %YYYYXX where XX is the limit type and YYYY is the board type on UAVObjectField"<<name;
+            }
+        }
+        elementLimits.insert(index,limitList);
+        ++index;
+
+    }
+    foreach(QList<LimitStruct> limitList,elementLimits)
+    {
+        foreach(LimitStruct limit,limitList)
+        {
+            qDebug()<<"Limit type"<<limit.type<<"for board"<<limit.board<<"for field"<<getName();
+            foreach(QVariant var,limit.values)
+            {
+                qDebug()<<"value"<<var;
             }
         }
     }
-bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
+}
+bool UAVObjectField::isWithinLimits(QVariant var,quint32 index, int board)
 {
     if(!elementLimits.keys().contains(index))
         return true;
-    LimitStruct struc=elementLimits.value(index);
+
+    foreach(LimitStruct struc,elementLimits.value(index))
+    {
+        if((struc.board!=board) && board!=0 && struc.board!=0)
+            continue;
         switch(struc.type)
         {
         case EQUAL:
@@ -381,14 +415,18 @@ bool UAVObjectField::isWithinLimits(QVariant var,quint32 index)
                 return true;
             }
         }
+    }
     return true;
 }
 
-QVariant UAVObjectField::getMaxLimit(quint32 index)
+QVariant UAVObjectField::getMaxLimit(quint32 index,int board)
 {
     if(!elementLimits.keys().contains(index))
         return QVariant();
-    LimitStruct struc=elementLimits.value(index);
+    foreach(LimitStruct struc,elementLimits.value(index))
+    {
+        if((struc.board!=board) && board!=0 && struc.board!=0)
+            continue;
         switch(struc.type)
         {
         case EQUAL:
@@ -407,13 +445,17 @@ QVariant UAVObjectField::getMaxLimit(quint32 index)
             return QVariant();
             break;
         }
+    }
     return QVariant();
 }
-QVariant UAVObjectField::getMinLimit(quint32 index)
+QVariant UAVObjectField::getMinLimit(quint32 index, int board)
 {
     if(!elementLimits.keys().contains(index))
         return QVariant();
-    LimitStruct struc=elementLimits.value(index);
+    foreach(LimitStruct struc,elementLimits.value(index))
+    {
+        if((struc.board!=board) && board!=0 && struc.board!=0)
+            return QVariant();
         switch(struc.type)
         {
         case EQUAL:
@@ -432,6 +474,7 @@ QVariant UAVObjectField::getMinLimit(quint32 index)
             return QVariant();
             break;
         }
+    }
     return QVariant();
 }
 void UAVObjectField::initialize(quint8* data, quint32 dataOffset, UAVObject* obj)

ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.h

@@ -48,6 +48,7 @@ public:
     {
         LimitType type;
         QList<QVariant> values;
+        int board;
     } LimitStruct;
 
     UAVObjectField(const QString& name, const QString& units, FieldType type, quint32 numElements, const QStringList& options,const QString& limits=QString());
@@ -74,9 +75,9 @@ public:
     bool isText();
     QString toString();
 
-    bool isWithinLimits(QVariant var, quint32 index);
+    bool isWithinLimits(QVariant var, quint32 index, int board=0);
-    QVariant getMaxLimit(quint32 index);
+    QVariant getMaxLimit(quint32 index, int board=0);
-    QVariant getMinLimit(quint32 index);
+    QVariant getMinLimit(quint32 index, int board=0);
 signals:
     void fieldUpdated(UAVObjectField* field);
 
@@ -91,7 +92,7 @@ protected:
     quint32 offset;
     quint8* data;
     UAVObject* obj;
-    QMap<quint32,LimitStruct> elementLimits;
+    QMap<quint32, QList<LimitStruct> > elementLimits;
     void clear();
     void constructorInitialize(const QString& name, const QString& units, FieldType type, const QStringList& elementNames, const QStringList& options, const QString &limits);
     void limitsInitialize(const QString &limits);

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp

@@ -37,6 +37,7 @@ ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnecte
     pm = ExtensionSystem::PluginManager::instance();
     objManager = pm->getObject<UAVObjectManager>();
     TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
+    utilMngr = pm->getObject<UAVObjectUtilManager>();
     connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
     connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
     connect(telMngr, SIGNAL(connected()), this, SIGNAL(autoPilotConnected()));
@@ -226,9 +227,15 @@ void ConfigTaskWidget::onAutopilotDisconnect()
 
 void ConfigTaskWidget::onAutopilotConnect()
 {
+    if (utilMngr)
+        currentBoard = utilMngr->getBoardModel();//TODO REMEMBER TO ADD THIS TO FORCE CONNECTED FUNC ON CC3D_RELEASE
     invalidateObjects();
     dirty=false;
     isConnected=true;
+    foreach(objectToWidget * ow,objOfInterest)
+    {
+        loadWidgetLimits(ow->widget,ow->field,ow->index,ow->isLimited,ow->scale);
+    }
     enableControls(true);
     refreshWidgetsValues();
 }
@@ -1057,7 +1064,7 @@ void ConfigTaskWidget::checkWidgetsLimits(QWidget * widget,UAVObjectField * fiel
 {
     if(!hasLimits)
         return;
-    if(!field->isWithinLimits(value,index))
+    if(!field->isWithinLimits(value,index,currentBoard))
     {
         if(!widget->property("styleBackup").isValid())
             widget->setProperty("styleBackup",widget->styleSheet());
@@ -1131,7 +1138,7 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
         {
             foreach(QString str,option)
             {
-                if(field->isWithinLimits(str,index))
+                if(field->isWithinLimits(str,index,currentBoard))
                     cb->addItem(str);
             }
         }
@@ -1144,33 +1151,33 @@ void ConfigTaskWidget::loadWidgetLimits(QWidget * widget,UAVObjectField * field,
     {
         if(field->getMaxLimit(index).isValid())
         {
-            cb->setMaximum((double)(field->getMaxLimit(index).toDouble()/scale));
+            cb->setMaximum((double)(field->getMaxLimit(index,currentBoard).toDouble()/scale));
         }
-        if(field->getMinLimit(index).isValid())
+        if(field->getMinLimit(index,currentBoard).isValid())
         {
-            cb->setMinimum((double)(field->getMinLimit(index).toDouble()/scale));
+            cb->setMinimum((double)(field->getMinLimit(index,currentBoard).toDouble()/scale));
         }
     }
     else if(QSpinBox * cb=qobject_cast<QSpinBox *>(widget))
     {
-        if(field->getMaxLimit(index).isValid())
+        if(field->getMaxLimit(index,currentBoard).isValid())
         {
-            cb->setMaximum((int)qRound(field->getMaxLimit(index).toDouble()/scale));
+            cb->setMaximum((int)qRound(field->getMaxLimit(index,currentBoard).toDouble()/scale));
         }
-        if(field->getMinLimit(index).isValid())
+        if(field->getMinLimit(index,currentBoard).isValid())
         {
-            cb->setMinimum((int)qRound(field->getMinLimit(index).toDouble()/scale));
+            cb->setMinimum((int)qRound(field->getMinLimit(index,currentBoard).toDouble()/scale));
         }
     }
     else if(QSlider * cb=qobject_cast<QSlider *>(widget))
     {
-        if(field->getMaxLimit(index).isValid())
+        if(field->getMaxLimit(index,currentBoard).isValid())
         {
-            cb->setMaximum((int)qRound(field->getMaxLimit(index).toDouble()/scale));
+            cb->setMaximum((int)qRound(field->getMaxLimit(index,currentBoard).toDouble()/scale));
         }
-        if(field->getMinLimit(index).isValid())
+        if(field->getMinLimit(index,currentBoard).isValid())
         {
-            cb->setMinimum((int)(field->getMinLimit(index).toDouble()/scale));
+            cb->setMinimum((int)(field->getMinLimit(index,currentBoard).toDouble()/scale));
         }
     }
 }

ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h

@@ -144,12 +144,14 @@ private slots:
     void defaultButtonClicked();
     void reloadButtonClicked();
 private:
+    int currentBoard;
     bool isConnected;
     bool allowWidgetUpdates;
     QStringList objectsList;
     QList <objectToWidget*> objOfInterest;
     ExtensionSystem::PluginManager *pm;
     UAVObjectManager *objManager;
+    UAVObjectUtilManager* utilMngr;
     smartSaveButton *smartsave;
     QMap<UAVObject *,bool> objectUpdates;
     QMap<int,QList<objectToWidget*> *> defaultReloadGroups;

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -24,7 +24,7 @@
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
         <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
-        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"/>
+        <field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized1,Stabilized2" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold,%0401NE:AltitudeHold:VelocityControl:PositionHold;%0402NE:AltitudeHold:VelocityControl:PositionHold"/>
 
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
         <access gcs="readwrite" flight="readwrite"/>

shared/uavobjectdefinition/systemalarms.xml

@@ -2,7 +2,7 @@
     <object name="SystemAlarms" singleinstance="true" settings="false">
         <description>Alarms from OpenPilot to indicate failure conditions or warnings.  Set by various modules.</description>
         <field name="Alarm" units="" type="enum" options="Uninitialised,OK,Warning,Error,Critical"
-        elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,AHRSComms,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/>
+        elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,Telemetry,ManualControl,Actuator,Attitude,Sensors,Stabilization,Guidance,Battery,FlightTime,I2C,GPS,BootFault" defaultvalue="Uninitialised"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
         <telemetryflight acked="true" updatemode="onchange" period="0"/>