rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-01 09:24:10 +01:00
Code Issues Releases Activity

Merge remote-tracking branch 'op-public/next' into revo-next

Browse Source 
Conflicts:
	flight/Modules/Telemetry/telemetry.c
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
This commit is contained in:
Stacey Sheldon 2012-10-30 00:41:35 -04:00
commit 5aa3777078
29 changed files with 589 additions and 354 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
MILESTONES.txt
View File

@ -163,6 +163,16 @@ C: Eric Price (Corvus Corax)
D: December 2011
V: http://www.youtube.com/watch?v=nWNWuUiUTNg
M: First CopterControl over 5km FixedWing navigation flight
C: Kavin Gustafson (k_g)
D: October 2012
V: http://www.youtube.com/watch?v=MGO68TqIwKk
M: First CopterControl over 10km FixedWing navigation flight
C:
D:
V:
M: First successful flight using the GCS only and no RC TX
C:
D:
@ -211,9 +221,9 @@ D:
V:
M: First Revo 5km Navigated flight on a FixedWing
C:
D:
V:
C: Eric Price (Corvus Corax)
D: March 2012
V:
M: First Revo 1km Navigated flight on a Heli
C:
@ -230,13 +240,8 @@ C:
D:
V:
M: First Auto landing on a fixed Wing using CC
C:
D:
V:
M: First Auto landing on a fixed Wing using Revo
C:
C:
D:
V:

1
flight/CopterControl/Makefile
View File

@ -213,7 +213,6 @@ SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/gpsposition.c
SRC += $(OPUAVSYNTHDIR)/gpsvelocity.c
SRC += $(OPUAVSYNTHDIR)/gpssettings.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c

16
flight/Modules/GPS/GPS.c
View File

@ -38,7 +38,7 @@
#include "gpstime.h"
#include "gpssatellites.h"
#include "gpsvelocity.h"
#include "gpssettings.h"
#include "systemsettings.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
#include "hwsettings.h"
@ -165,13 +165,13 @@ int32_t GPSInitialize(void)
#endif
if (gpsPort && gpsEnabled) {
GPSSettingsInitialize();
GPSSettingsDataProtocolGet(&gpsProtocol);
SystemSettingsInitialize();
SystemSettingsGPSDataProtocolGet(&gpsProtocol);
switch (gpsProtocol) {
case GPSSETTINGS_DATAPROTOCOL_NMEA:
case SYSTEMSETTINGS_GPSDATAPROTOCOL_NMEA:
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
break;
case GPSSETTINGS_DATAPROTOCOL_UBX:
case SYSTEMSETTINGS_GPSDATAPROTOCOL_UBX:
gps_rx_buffer = pvPortMalloc(sizeof(struct UBXPacket));
break;
default:
@ -200,7 +200,7 @@ static void gpsTask(void *parameters)
GPSPositionData gpsposition;
uint8_t gpsProtocol;
GPSSettingsDataProtocolGet(&gpsProtocol);
SystemSettingsGPSDataProtocolGet(&gpsProtocol);
timeOfLastUpdateMs = timeNowMs;
timeOfLastCommandMs = timeNowMs;
@ -217,12 +217,12 @@ static void gpsTask(void *parameters)
int res;
switch (gpsProtocol) {
#if defined(PIOS_INCLUDE_GPS_NMEA_PARSER)
case GPSSETTINGS_DATAPROTOCOL_NMEA:
case SYSTEMSETTINGS_GPSDATAPROTOCOL_NMEA:
res = parse_nmea_stream (c,gps_rx_buffer, &gpsposition, &gpsRxStats);
break;
#endif
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER)
case GPSSETTINGS_DATAPROTOCOL_UBX:
case SYSTEMSETTINGS_GPSDATAPROTOCOL_UBX:
res = parse_ubx_stream (c,gps_rx_buffer, &gpsposition, &gpsRxStats);
break;
#endif

65
flight/Modules/Telemetry/telemetry.c
View File

@ -252,48 +252,47 @@ static void processObjEvent(UAVObjEvent * ev)
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
// Get object metadata
UAVObjGetMetadata(ev->obj, &metadata);
updateMode = UAVObjGetTelemetryUpdateMode(&metadata);
if (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED || ev->obj == FlightTelemetryStatsHandle()) {
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
// Act on event
retries = 0;
success = -1;
if (ev->event == EV_UPDATED || ev->event == EV_UPDATED_MANUAL || ((ev->event == EV_UPDATED_PERIODIC) && (updateMode != UPDATEMODE_THROTTLED))) {
#ifdef PIOS_PACKET_HANDLER
// Don't send PipXStatus objects over the radio link.
if (PIOS_PACKET_HANDLER && (ev->obj == PipXStatusHandle()) && (getComPort() == 0))
return;
// Don't send PipXStatus objects over the radio link.
if (PIOS_PACKET_HANDLER && (ev->obj == PipXStatusHandle()) && (getComPort() == 0))
return;
#endif
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
} else if (ev->event == EV_UPDATE_REQ) {
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest(uavTalkCon, ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
// Send update to GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(uavTalkCon, ev->obj, ev->instId, UAVObjGetTelemetryAcked(&metadata), REQ_TIMEOUT_MS); // call blocks until ack is received or timeout
++retries;
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
} else if (ev->event == EV_UPDATE_REQ) {
// Request object update from GCS (with retries)
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObjectRequest(uavTalkCon, ev->obj, ev->instId, REQ_TIMEOUT_MS); // call blocks until update is received or timeout
++retries;
}
// Update stats
txRetries += (retries - 1);
if (success == -1) {
++txErrors;
}
}
// If this is a metaobject then make necessary telemetry updates
if (UAVObjIsMetaobject(ev->obj)) {
updateObject(UAVObjGetLinkedObj(ev->obj), EV_NONE); // linked object will be the actual object the metadata are for
}
if((updateMode == UPDATEMODE_THROTTLED) && !UAVObjIsMetaobject(ev->obj)) {
// If this is UPDATEMODE_THROTTLED, the event mask changes on every event.
updateObject(ev->obj, ev->event);

2
flight/PiOS/Common/pios_flash_jedec.c
View File

@ -251,7 +251,7 @@ int32_t PIOS_Flash_Jedec_ReadStatus()
*/
int32_t PIOS_Flash_Jedec_ReadID()
{
uint8_t out[] = {JEDEC_DEVICE_ID};
uint8_t out[] = {JEDEC_DEVICE_ID, 0, 0, 0};
uint8_t in[4];
if (PIOS_Flash_Jedec_ClaimBus() < 0)
return -1;

1
flight/Revolution/UAVObjects.inc
View File

@ -50,7 +50,6 @@ UAVOBJSRCFILENAMES += gcstelemetrystats
UAVOBJSRCFILENAMES += gcsreceiver
UAVOBJSRCFILENAMES += gpsposition
UAVOBJSRCFILENAMES += gpssatellites
UAVOBJSRCFILENAMES += gpssettings
UAVOBJSRCFILENAMES += gpstime
UAVOBJSRCFILENAMES += gpsvelocity
UAVOBJSRCFILENAMES += fixedwingpathfollowersettings

1
flight/SimPosix/UAVObjects.inc
View File

@ -48,7 +48,6 @@ UAVOBJSRCFILENAMES += gcstelemetrystats
UAVOBJSRCFILENAMES += gpsposition
UAVOBJSRCFILENAMES += gpssatellites
UAVOBJSRCFILENAMES += gpstime
UAVOBJSRCFILENAMES += gpssettings
UAVOBJSRCFILENAMES += gpsvelocity
UAVOBJSRCFILENAMES += vtolpathfollowersettings
UAVOBJSRCFILENAMES += fixedwingpathfollowersettings

11
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.cpp
View File

@ -34,7 +34,7 @@ namespace mapcontrol
pic=pic.scaled(30,30,Qt::IgnoreAspectRatio);
this->setFlag(QGraphicsItem::ItemIgnoresTransformations,true);
this->setFlag(QGraphicsItem::ItemIsMovable,false);
this->setFlag(QGraphicsItem::ItemIsSelectable,false);
this->setFlag(QGraphicsItem::ItemIsSelectable,true);
localposition=map->FromLatLngToLocal(mapwidget->CurrentPosition());
this->setPos(localposition.X(),localposition.Y());
this->setZValue(4);
@ -142,5 +142,14 @@ namespace mapcontrol
}
QGraphicsItem::mouseMoveEvent(event);
}
//Set clickable area as smaller than the bounding rect.
QPainterPath HomeItem::shape() const
{
QPainterPath path;
path.addEllipse(QRectF(-12, -25, 24, 50));
return path;
}
}

1
ground/openpilotgcs/src/libs/opmapcontrol/src/mapwidget/homeitem.h
View File

@ -76,6 +76,7 @@ namespace mapcontrol
void mousePressEvent ( QGraphicsSceneMouseEvent * event );
void mouseReleaseEvent ( QGraphicsSceneMouseEvent * event );
void mouseDoubleClickEvent(QGraphicsSceneMouseEvent *event);
QPainterPath shape() const;
public slots:
void RefreshPos();
void setOpacitySlot(qreal opacity);

374
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -49,7 +49,15 @@
#define STICK_MIN_MOVE -8
#define STICK_MAX_MOVE 8
ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent),wizardStep(wizardNone),transmitterType(heli),loop(NULL),skipflag(false)
ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
ConfigTaskWidget(parent),
wizardStep(wizardNone),
// not currently stored in the settings UAVO
transmitterMode(mode2),
transmitterType(acro),
//
loop(NULL),
skipflag(false)
{
manualCommandObj = ManualControlCommand::GetInstance(getObjectManager());
manualSettingsObj = ManualControlSettings::GetInstance(getObjectManager());
@ -295,7 +303,7 @@ void ConfigInputWidget::openHelp()
void ConfigInputWidget::goToWizard()
{
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setText(tr("Arming Settings are now set to 'Always Disarmed' for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually "
"when the wizard is finished. After the last step of the "
"wizard you will be taken to the Arming Settings screen."));
@ -307,16 +315,28 @@ void ConfigInputWidget::goToWizard()
if(m_config->tabWidget->currentIndex() != 0) {
m_config->tabWidget->setCurrentIndex(0);
}
// Stash current manual settings data in case the wizard is
// cancelled or the user proceeds far enough into the wizard such
// that the UAVO is changed, but then backs out to the start and
// chooses a different TX type (which could otherwise result in
// unexpected TX channels being enabled)
manualSettingsData=manualSettingsObj->getData();
previousManualSettingsData = manualSettingsData;
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
manualSettingsObj->setData(manualSettingsData);
// start the wizard
wizardSetUpStep(wizardWelcome);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio);
}
void ConfigInputWidget::disableWizardButton(int value)
{
if(value!=0)
m_config->configurationWizard->setVisible(false);
m_config->groupBox_3->setVisible(false);
else
m_config->configurationWizard->setVisible(true);
m_config->groupBox_3->setVisible(true);
}
void ConfigInputWidget::wzCancel()
@ -345,12 +365,12 @@ void ConfigInputWidget::wzNext()
// State transitions for next button
switch(wizardStep) {
case wizardWelcome:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
break;
case wizardChooseMode:
wizardSetUpStep(wizardIdentifySticks);
break;
case wizardIdentifySticks:
@ -371,6 +391,25 @@ void ConfigInputWidget::wzNext()
break;
case wizardFinish:
wizardStep=wizardNone;
// Leave setting the throttle neutral until the final Next press,
// else the throttle scaling causes the graphical stick movement to not
// match the tx stick
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE] -
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE] -
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
// move to Arming Settings tab
m_config->stackedWidget->setCurrentIndex(0);
m_config->tabWidget->setCurrentIndex(2);
break;
@ -387,17 +426,17 @@ void ConfigInputWidget::wzBack()
// State transitions for next button
switch(wizardStep) {
case wizardChooseMode:
case wizardChooseType:
wizardSetUpStep(wizardWelcome);
break;
case wizardChooseType:
wizardSetUpStep(wizardChooseMode);
case wizardChooseMode:
wizardSetUpStep(wizardChooseType);
break;
case wizardIdentifySticks:
prevChannel();
if(currentChannelNum == -1) {
wizardTearDownStep(wizardIdentifySticks);
wizardSetUpStep(wizardChooseType);
wizardSetUpStep(wizardChooseMode);
}
break;
case wizardIdentifyCenter:
@ -419,6 +458,8 @@ void ConfigInputWidget::wzBack()
void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
{
m_config->wzText2->clear();
switch(step) {
case wizardWelcome:
foreach(QPointer<QWidget> wd,extraWidgets)
@ -429,53 +470,70 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
extraWidgets.clear();
m_config->graphicsView->setVisible(false);
setTxMovement(nothing);
manualSettingsData=manualSettingsObj->getData();
manualSettingsData.Arming=ManualControlSettings::ARMING_ALWAYSDISARMED;
previousManualSettingsData = manualSettingsData;
manualSettingsObj->setData(manualSettingsData);
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n"
m_config->wzText->setText(tr("Welcome to the inputs configuration wizard.\n\n"
"Please follow the instructions on the screen and only move your controls when asked to.\n"
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n"
"You can press 'back' at any time to return to the previous screeen or press 'Cancel' to quit the wizard.\n"));
"Make sure you already configured your hardware settings on the proper tab and restarted your board.\n\n"
"You can press 'back' at any time to return to the previous screen or press 'Cancel' to quit the wizard.\n"));
m_config->stackedWidget->setCurrentIndex(1);
m_config->wzBack->setEnabled(false);
break;
case wizardChooseMode:
{
m_config->graphicsView->setVisible(true);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio );
setTxMovement(nothing);
m_config->wzText->setText(tr("Please choose your transmitter type.\n"
"Mode 1 means your throttle stick is on the right.\n"
"Mode 2 means your throttle stick is on the left.\n"));
m_config->wzBack->setEnabled(true);
QRadioButton * mode1=new QRadioButton(tr("Mode 1"),this);
QRadioButton * mode2=new QRadioButton(tr("Mode 2"),this);
mode2->setChecked(true);
extraWidgets.clear();
extraWidgets.append(mode1);
extraWidgets.append(mode2);
m_config->checkBoxesLayout->layout()->addWidget(mode1);
m_config->checkBoxesLayout->layout()->addWidget(mode2);
}
break;
case wizardChooseType:
{
m_config->wzText->setText(tr("Please choose your transmitter mode.\n"
"Acro means normal transmitter.\n"
"Heli means there is a collective pitch and throttle input.\n"
"If you are using a heli transmitter please engage throttle hold now.\n"));
m_config->graphicsView->setVisible(true);
m_config->graphicsView->fitInView(m_txBackground, Qt::KeepAspectRatio);
setTxMovement(nothing);
m_config->wzText->setText(tr("Please choose your transmitter type:"));
m_config->wzBack->setEnabled(true);
QRadioButton * typeAcro=new QRadioButton(tr("Acro"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Heli"),this);
typeAcro->setChecked(true);
typeHeli->setChecked(false);
QRadioButton * typeAcro=new QRadioButton(tr("Acro: normal transmitter for fixed-wing or quad"),this);
QRadioButton * typeHeli=new QRadioButton(tr("Helicopter: has collective pitch and throttle input"),this);
if (transmitterType == heli) {
typeHeli->setChecked(true);
}
else {
typeAcro->setChecked(true);
}
m_config->wzText2->setText(tr("If selecting the Helicopter option, please engage throttle hold now."));
extraWidgets.clear();
extraWidgets.append(typeAcro);
extraWidgets.append(typeHeli);
m_config->checkBoxesLayout->layout()->addWidget(typeAcro);
m_config->checkBoxesLayout->layout()->addWidget(typeHeli);
wizardStep=wizardChooseType;
m_config->radioButtonsLayout->layout()->addWidget(typeAcro);
m_config->radioButtonsLayout->layout()->addWidget(typeHeli);
}
break;
case wizardChooseMode:
{
m_config->wzBack->setEnabled(true);
extraWidgets.clear();
m_config->wzText->setText(tr("Please choose your transmitter mode:"));
for (int i = 0; i <= mode4; ++i) {
QString label;
txMode mode = static_cast<txMode>(i);
if (transmitterType == heli) {
switch (mode) {
case mode1: label = tr("Mode 1: Fore/Aft Cyclic and Yaw on the left, Throttle/Collective and Left/Right Cyclic on the right"); break;
case mode2: label = tr("Mode 2: Throttle/Collective and Yaw on the left, Cyclic on the right"); break;
case mode3: label = tr("Mode 3: Cyclic on the left, Throttle/Collective and Yaw on the right"); break;
case mode4: label = tr("Mode 4: Throttle/Collective and Left/Right Cyclic on the left, Fore/Aft Cyclic and Yaw on the right"); break;
default: Q_ASSERT(0); break;
} }
else {
switch (mode) {
case mode1: label = tr("Mode 1: Elevator and Rudder on the left, Throttle and Ailerons on the right"); break;
case mode2: label = tr("Mode 2: Throttle and Rudder on the left, Elevator and Ailerons on the right"); break;
case mode3: label = tr("Mode 3: Elevator and Ailerons on the left, Throttle and Rudder on the right"); break;
case mode4: label = tr("Mode 4: Throttle and Ailerons on the left, Elevator and Rudder on the right"); break;
default: Q_ASSERT(0); break;
}
m_config->wzText2->setText(tr("For a Quad: Elevator is Pitch, Ailerons are Roll, and Rudder is Yaw."));
}
QRadioButton * modeButton = new QRadioButton(label, this);
if (transmitterMode == mode) {
modeButton->setChecked(true);
}
extraWidgets.append(modeButton);
m_config->radioButtonsLayout->layout()->addWidget(modeButton);
}
}
break;
case wizardIdentifySticks:
@ -488,7 +546,8 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
break;
case wizardIdentifyCenter:
setTxMovement(centerAll);
m_config->wzText->setText(QString(tr("Please center all controls and press next when ready (if your FlightMode switch has only two positions, leave it in either position).")));
m_config->wzText->setText(QString(tr("Please center all controls and trims and press Next when ready.\n\n"
"If your FlightMode switch has only two positions, leave it in either position.")));
break;
case wizardIdentifyLimits:
{
@ -496,7 +555,7 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
accessoryDesiredObj1 = AccessoryDesired::GetInstance(getObjectManager(),1);
accessoryDesiredObj2 = AccessoryDesired::GetInstance(getObjectManager(),2);
setTxMovement(nothing);
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions and press next when ready.")));
m_config->wzText->setText(QString(tr("Please move all controls to their maximum extents on both directions.\n\nPress Next when ready.")));
fastMdata();
manualSettingsData=manualSettingsObj->getData();
for(uint i=0;i<ManualControlSettings::CHANNELMAX_NUMELEM;++i)
@ -521,24 +580,22 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
dimOtherControls(true);
setTxMovement(nothing);
extraWidgets.clear();
for (int index = 0; index < manualSettingsObj->getField("ChannelMax")->getElementNames().length(); index++)
{
QString name = manualSettingsObj->getField("ChannelMax")->getElementNames().at(index);
if(!name.contains("Access") && !name.contains("Flight"))
if(!name.contains("Access") && !name.contains("Flight") &&
(!name.contains("Collective") || transmitterType == heli))
{
QCheckBox * cb=new QCheckBox(name,this);
// Make sure checked status matches current one
cb->setChecked(manualSettingsData.ChannelMax[index] < manualSettingsData.ChannelMin[index]);
dynamic_cast<QGridLayout*>(m_config->checkBoxesLayout->layout())->addWidget(cb, extraWidgets.size()/4, extraWidgets.size()%4);
extraWidgets.append(cb);
m_config->checkBoxesLayout->layout()->addWidget(cb);
connect(cb,SIGNAL(toggled(bool)),this,SLOT(invertControls()));
}
}
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement, press next when ready.")));
m_config->wzText->setText(QString(tr("Please check the picture below and correct all the sticks which show an inverted movement. Press Next when ready.")));
fastMdata();
break;
case wizardFinish:
@ -546,22 +603,10 @@ void ConfigInputWidget::wizardSetUpStep(enum wizardSteps step)
connect(manualCommandObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(flightStatusObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
connect(accessoryDesiredObj0, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(moveSticks()));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n"
"These new settings aren't saved to the board yet, after pressing next you will go to the Arming Settings "
"screen where you can set your desired arming sequence and save the configuration.")));
m_config->wzText->setText(QString(tr("You have completed this wizard, please check below if the picture mimics your sticks movement.\n\n"
"IMPORTANT: These new settings have not been saved to the board yet. After pressing Next you will go to the Arming Settings "
"tab where you can set your desired arming sequence and save the configuration.")));
fastMdata();
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_THROTTLE]=
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE]+
((manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_THROTTLE]-
manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_THROTTLE])*0.02);
if((abs(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100) ||
(abs(manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]-manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE])<100))
{
manualSettingsData.ChannelNeutral[ManualControlSettings::CHANNELNEUTRAL_FLIGHTMODE]=manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE]+
(manualSettingsData.ChannelMax[ManualControlSettings::CHANNELMAX_FLIGHTMODE]-manualSettingsData.ChannelMin[ManualControlSettings::CHANNELMIN_FLIGHTMODE])/2;
}
manualSettingsObj->setData(manualSettingsData);
break;
default:
Q_ASSERT(0);
@ -576,17 +621,7 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
switch(step) {
case wizardWelcome:
break;
case wizardChooseMode:
mode=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(mode->isChecked())
transmitterMode=mode1;
else
transmitterMode=mode2;
delete extraWidgets.at(0);
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseType:
case wizardChooseType:
type=qobject_cast<QRadioButton *>(extraWidgets.at(0));
if(type->isChecked())
transmitterType=acro;
@ -596,6 +631,16 @@ void ConfigInputWidget::wizardTearDownStep(enum wizardSteps step)
delete extraWidgets.at(1);
extraWidgets.clear();
break;
case wizardChooseMode:
for (int i = mode1; i <= mode4; ++i) {
mode=qobject_cast<QRadioButton *>(extraWidgets.first());
if(mode->isChecked()) {
transmitterMode=static_cast<txMode>(i);
}
delete mode;
extraWidgets.removeFirst();
}
break;
case wizardIdentifySticks:
disconnect(receiverActivityObj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(identifyControls()));
m_config->wzNext->setEnabled(true);
@ -674,19 +719,19 @@ void ConfigInputWidget::restoreMdata()
void ConfigInputWidget::setChannel(int newChan)
{
if(newChan == ManualControlSettings::CHANNELGROUPS_COLLECTIVE)
m_config->wzText->setText(QString(tr("Please enable the throttle hold mode and move the collective pitch stick.")));
m_config->wzText->setText(QString(tr("Please enable throttle hold mode.\n\nMove the Collective Pitch stick.")));
else if (newChan == ManualControlSettings::CHANNELGROUPS_FLIGHTMODE)
m_config->wzText->setText(QString(tr("Please toggle the flight mode switch. For switches you may have to repeat this rapidly.")));
m_config->wzText->setText(QString(tr("Please toggle the Flight Mode switch.\n\nFor switches you may have to repeat this rapidly.")));
else if((transmitterType == heli) && (newChan == ManualControlSettings::CHANNELGROUPS_THROTTLE))
m_config->wzText->setText(QString(tr("Please disable throttle hold mode and move the throttle stick.")));
m_config->wzText->setText(QString(tr("Please disable throttle hold mode.\n\nMove the Throttle stick.")));
else
m_config->wzText->setText(QString(tr("Please move each control once at a time according to the instructions and picture below.\n\n"
"Move the %1 stick")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
m_config->wzText->setText(QString(tr("Please move each control one at a time according to the instructions and picture below.\n\n"
"Move the %1 stick.")).arg(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan)));
if(manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("Accessory") ||
manualSettingsObj->getField("ChannelGroups")->getElementNames().at(newChan).contains("FlightMode")) {
m_config->wzNext->setEnabled(true);
m_config->wzText->setText(m_config->wzText->text() + tr(" or click next to skip this channel."));
m_config->wzText->setText(m_config->wzText->text() + tr(" Alternatively, click Next to skip this channel."));
} else
m_config->wzNext->setEnabled(false);
@ -731,8 +776,11 @@ void ConfigInputWidget::prevChannel()
for (int i = 1; i < order.length(); i++) {
if(order[i] == currentChannelNum) {
if (!usedChannels.isEmpty() &&
usedChannels.back().channelIndex == currentChannelNum) {
usedChannels.removeLast();
}
setChannel(order[i-1]);
usedChannels.removeLast();
return;
}
}
@ -757,6 +805,7 @@ void ConfigInputWidget::identifyControls()
++debounce;
lastChannel.group= currentChannel.group;
lastChannel.number=currentChannel.number;
lastChannel.channelIndex = currentChannelNum;
if(!usedChannels.contains(lastChannel) && debounce>1)
{
channelDetected = true;
@ -771,7 +820,7 @@ void ConfigInputWidget::identifyControls()
return;
}
m_config->wzText->clear();
//m_config->wzText->clear();
setTxMovement(nothing);
QTimer::singleShot(2500, this, SLOT(wzNext()));
@ -800,53 +849,56 @@ void ConfigInputWidget::identifyLimits()
}
void ConfigInputWidget::setMoveFromCommand(int command)
{
//CHANNELNUMBER_ROLL=0, CHANNELNUMBER_PITCH=1, CHANNELNUMBER_YAW=2, CHANNELNUMBER_THROTTLE=3, CHANNELNUMBER_FLIGHTMODE=4, CHANNELNUMBER_ACCESSORY0=5, CHANNELNUMBER_ACCESSORY1=6, CHANNELNUMBER_ACCESSORY2=7 } ChannelNumberElem;
if(command==ManualControlSettings::CHANNELNUMBER_ROLL)
{
setTxMovement(moveRightHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_PITCH)
{
if(transmitterMode==mode2)
setTxMovement(moveRightVerticalStick);
else
setTxMovement(moveLeftVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_YAW)
{
setTxMovement(moveLeftHorizontalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_THROTTLE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_COLLECTIVE)
{
if(transmitterMode==mode2)
setTxMovement(moveLeftVerticalStick);
else
setTxMovement(moveRightVerticalStick);
}
else if(command==ManualControlSettings::CHANNELNUMBER_FLIGHTMODE)
{
setTxMovement(moveFlightMode);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY0)
{
setTxMovement(moveAccess0);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY1)
{
setTxMovement(moveAccess1);
}
else if(command==ManualControlSettings::CHANNELNUMBER_ACCESSORY2)
{
setTxMovement(moveAccess2);
}
// ManualControlSettings::ChannelNumberElem:
// CHANNELNUMBER_ROLL=0,
// CHANNELNUMBER_PITCH=1,
// CHANNELNUMBER_YAW=2,
// CHANNELNUMBER_THROTTLE=3,
// CHANNELNUMBER_FLIGHTMODE=4,
// CHANNELNUMBER_ACCESSORY0=5,
// CHANNELNUMBER_ACCESSORY1=6,
// CHANNELNUMBER_ACCESSORY2=7
txMovements movement;
switch (command) {
case ManualControlSettings::CHANNELNUMBER_ROLL:
movement = ((transmitterMode == mode3 || transmitterMode == mode4) ?
moveLeftHorizontalStick: moveRightHorizontalStick);
break;
case ManualControlSettings::CHANNELNUMBER_PITCH:
movement = (transmitterMode == mode1 || transmitterMode == mode3) ?
moveLeftVerticalStick: moveRightVerticalStick;
break;
case ManualControlSettings::CHANNELNUMBER_YAW:
movement = ((transmitterMode == mode1 || transmitterMode == mode2) ?
moveLeftHorizontalStick: moveRightHorizontalStick);
break;
case ManualControlSettings::CHANNELNUMBER_THROTTLE:
movement = (transmitterMode == mode2 || transmitterMode == mode4) ?
moveLeftVerticalStick: moveRightVerticalStick;
break;
case ManualControlSettings::CHANNELNUMBER_COLLECTIVE:
movement = (transmitterMode == mode2 || transmitterMode == mode4) ?
moveLeftVerticalStick: moveRightVerticalStick;
break;
case ManualControlSettings::CHANNELNUMBER_FLIGHTMODE:
movement = moveFlightMode;
break;
case ManualControlSettings::CHANNELNUMBER_ACCESSORY0:
movement = moveAccess0;
break;
case ManualControlSettings::CHANNELNUMBER_ACCESSORY1:
movement = moveAccess1;
break;
case ManualControlSettings::CHANNELNUMBER_ACCESSORY2:
movement = moveAccess2;
break;
default:
Q_ASSERT(0);
break;
}
setTxMovement(movement);
}
void ConfigInputWidget::setTxMovement(txMovements movement)
@ -918,6 +970,7 @@ void ConfigInputWidget::setTxMovement(txMovements movement)
animate->stop();
break;
default:
Q_ASSERT(0);
break;
}
}
@ -1111,19 +1164,34 @@ void ConfigInputWidget::moveSticks()
accessoryDesiredData1=accessoryDesiredObj1->getData();
accessoryDesiredData2=accessoryDesiredObj2->getData();
if(transmitterMode==mode2)
{
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
}
else
{
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
switch (transmitterMode) {
case mode1:
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
break;
case mode2:
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
break;
case mode3:
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
break;
case mode4:
trans=m_txLeftStickOrig;
m_txLeftStick->setTransform(trans.translate(manualCommandData.Roll*STICK_MAX_MOVE*10,-manualCommandData.Throttle*STICK_MAX_MOVE*10),false);
trans=m_txRightStickOrig;
m_txRightStick->setTransform(trans.translate(manualCommandData.Yaw*STICK_MAX_MOVE*10,manualCommandData.Pitch*STICK_MAX_MOVE*10),false);
break;
default:
Q_ASSERT(0);
break;
}
if(flightStatusData.FlightMode==manualSettingsData.FlightModePosition[0])
{
@ -1307,7 +1375,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
m_config->configurationWizard->setEnabled(false);
QMessageBox msgBox;
msgBox.setText(tr("Arming Settings are now set to Always Disarmed for your safety."));
msgBox.setText(tr("Arming Settings are now set to 'Always Disarmed' for your safety."));
msgBox.setDetailedText(tr("You will have to reconfigure the arming settings manually when the wizard is finished."));
msgBox.setStandardButtons(QMessageBox::Ok);
msgBox.setDefaultButton(QMessageBox::Ok);
@ -1337,7 +1405,7 @@ void ConfigInputWidget::simpleCalibration(bool enable)
restoreMdata();
for (int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
for (unsigned int i = 0; i < ManualControlCommand::CHANNEL_NUMELEM; i++)
manualSettingsData.ChannelNeutral[i] = manualCommandData.Channel[i];
// Force flight mode neutral to middle

3
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -56,7 +56,7 @@ public:
ConfigInputWidget(QWidget *parent = 0);
~ConfigInputWidget();
enum wizardSteps{wizardWelcome,wizardChooseMode,wizardChooseType,wizardIdentifySticks,wizardIdentifyCenter,wizardIdentifyLimits,wizardIdentifyInverted,wizardFinish,wizardNone};
enum txMode{mode1,mode2};
enum txMode{mode1,mode2,mode3,mode4};
enum txMovements{moveLeftVerticalStick,moveRightVerticalStick,moveLeftHorizontalStick,moveRightHorizontalStick,moveAccess0,moveAccess1,moveAccess2,moveFlightMode,centerAll,moveAll,nothing};
enum txMovementType{vertical,horizontal,jump,mix};
enum txType {acro, heli};
@ -81,6 +81,7 @@ private:
}
int group;
int number;
int channelIndex;
}lastChannel;
channelsStruct currentChannel;
QList<channelsStruct> usedChannels;

37
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -249,36 +249,39 @@
<number>12</number>
</property>
<item>
<widget class="QLabel" name="wzText">
<widget class="QLabel" name="wzText">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>90</height>
</size>
<property name="wordWrap">
<bool>true</bool>
</property>
<property name="text">
<string>TextLabel</string>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="radioButtonsLayout"/>
</item>
<item>
<layout class="QGridLayout" name="checkBoxesLayout"/>
</item>
<item>
<widget class="QLabel" name="wzText2">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QGraphicsView" name="graphicsView"/>
</item>
<item>
<layout class="QVBoxLayout" name="checkBoxesLayout"/>
</item>
</layout>
<widget class="QGraphicsView" name="graphicsView"/>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">

1
ground/openpilotgcs/src/plugins/hitl/aerosimrcsimulator.cpp
View File

@ -202,6 +202,7 @@ void AeroSimRCSimulator::processUpdate(const QByteArray &data)
/**********************************************************************************************/
out.altitude = posZ;
out.agl = posZ;
out.heading = yaw * RAD2DEG;
out.latitude = lat * 10e6;
out.longitude = lon * 10e6;

9
ground/openpilotgcs/src/plugins/hitl/fgsimulator.cpp
View File

@ -268,9 +268,9 @@ void FGSimulator::processUpdate(const QByteArray& inp)
// Get heading (deg)
float heading = fields[14].toFloat();
// Get altitude (m)
float altitude = fields[15].toFloat() * FT2M;
float altitude_msl = fields[15].toFloat() * FT2M;
// Get altitudeAGL (m)
float altitudeAGL = fields[16].toFloat() * FT2M;
float altitude_agl = fields[16].toFloat() * FT2M;
// Get groundspeed (m/s)
float groundspeed = fields[17].toFloat() * KT2MPS;
// Get airspeed (m/s)
@ -299,7 +299,7 @@ void FGSimulator::processUpdate(const QByteArray& inp)
float NED[3];
// convert from cm back to meters
double LLA[3] = {latitude, longitude, altitude};
double LLA[3] = {latitude, longitude, altitude_msl};
double ECEF[3];
double RNE[9];
Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
@ -310,7 +310,8 @@ void FGSimulator::processUpdate(const QByteArray& inp)
// Update GPS Position objects
out.latitude = latitude * 1e7;
out.longitude = longitude * 1e7;
out.altitude = altitude;
out.altitude = altitude_msl;
out.agl = altitude_agl;
out.groundspeed = groundspeed;
out.calibratedAirspeed = airspeed;

55
ground/openpilotgcs/src/plugins/hitl/il2simulator.cpp
View File

@ -42,7 +42,7 @@
* can be found shipped with IL2 in the file DeviceLink.txt
*
* id's used in this file:
* 30: IAS in km/h (float)
* 30: CAS in km/h (float)
* 32: vario in m/s (float)
* 38: angular speed °/s (float) (which direction? azimuth?)
* 40: barometric alt in m (float)
@ -68,25 +68,20 @@
#include <math.h>
#include <qxtlogger.h>
const float IL2Simulator::FT2M = 0.3048;
const float IL2Simulator::FT2M = 12*.254;
const float IL2Simulator::KT2MPS = 0.514444444;
const float IL2Simulator::MPS2KMH = 3.6;
const float IL2Simulator::KMH2MPS = (1.0/3.6);
const float IL2Simulator::INHG2KPA = 3.386;
const float IL2Simulator::RAD2DEG = (180.0/M_PI);
const float IL2Simulator::DEG2RAD = (M_PI/180.0);
const float IL2Simulator::M2DEG = 60.*1852.; // 60 miles per degree times 1852 meters per mile
const float IL2Simulator::DEG2M = (1.0/(60.*1852.));
const float IL2Simulator::AIR_CONST = 287.058; // J/(kg*K)
const float IL2Simulator::GROUNDDENSITY = 1.225; // kg/m³ ;)
const float IL2Simulator::TEMP_GROUND = (15.0 + 273.0); // 15°C in Kelvin
const float IL2Simulator::TEMP_LAPSE_RATE = -0.0065; //degrees per meter
const float IL2Simulator::AIR_CONST_FACTOR = -0.0341631947363104; //several nature constants calculated into one
const float IL2Simulator::NM2DEG = 60.*1852.; // 60 miles per degree times 1852 meters per mile
const float IL2Simulator::DEG2NM = (1.0/(60.*1852.));
IL2Simulator::IL2Simulator(const SimulatorSettings& params) :
Simulator(params)
{
airParameters=getAirParameters();
}
@ -125,31 +120,6 @@ void IL2Simulator::transmitUpdate()
}
/**
* calculate air density from altitude
*/
float IL2Simulator::DENSITY(float alt) {
return (GROUNDDENSITY * pow(
((TEMP_GROUND+(TEMP_LAPSE_RATE*alt))/TEMP_GROUND),
((AIR_CONST_FACTOR/TEMP_LAPSE_RATE)-1) )
);
}
/**
* calculate air pressure from altitude
*/
float IL2Simulator::PRESSURE(float alt) {
return DENSITY(alt)*(TEMP_GROUND+(alt*TEMP_LAPSE_RATE))*AIR_CONST;
}
/**
* calculate TAS from IAS and altitude
*/
float IL2Simulator::TAS(float IAS, float alt) {
return (IAS*sqrt(GROUNDDENSITY/DENSITY(alt)));
}
/**
* process data string from flight simulator
*/
@ -171,7 +141,7 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
float value = values[1].toFloat();
switch (id) {
case 30:
current.ias=value * KMH2MPS;
current.cas=value * KMH2MPS;
break;
case 32:
current.dZ=value;
@ -206,8 +176,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
old.ddX=0;
}
// calculate TAS from alt and IAS
current.tas = TAS(current.ias,current.Z);
// calculate TAS from alt and CAS
float gravity =9.805;
current.tas = cas2tas(current.cas, current.Z, airParameters, gravity);
// assume the plane actually flies straight and no wind
// groundspeed is horizontal vector of TAS
@ -269,7 +240,8 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
out.longitude = LLA[1] * 1e7;
out.groundspeed = current.groundspeed;
out.calibratedAirspeed = current.ias;
out.calibratedAirspeed = current.cas;
out.trueAirspeed=cas2tas(current.cas, current.Z, airParameters, gravity);
out.dstN=current.Y;
out.dstE=current.X;
@ -277,8 +249,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
// Update BaroAltitude object
out.altitude = current.Z;
out.temperature = TEMP_GROUND + (current.Z * TEMP_LAPSE_RATE) - 273.0;
out.pressure = PRESSURE(current.Z)/1000.0; // kpa
out.agl = current.Z;
out.temperature = airParameters.groundTemp + (current.Z * airParameters.tempLapseRate) - 273.0;
out.pressure = airPressureFromAltitude(current.Z, airParameters, gravity) ; // kpa
// Update attActual object

29
ground/openpilotgcs/src/plugins/hitl/il2simulator.h
View File

@ -44,29 +44,20 @@ private slots:
void transmitUpdate();
private:
static const float FT2M;
static const float KT2MPS;
static const float MPS2KMH;
static const float KMH2MPS;
static const float INHG2KPA;
static const float RAD2DEG;
static const float DEG2RAD;
static const float M2DEG;
static const float DEG2M;
static const float AIR_CONST;
static const float GROUNDDENSITY;
static const float TEMP_GROUND;
static const float TEMP_LAPSE_RATE;
static const float AIR_CONST_FACTOR;
float DENSITY(float pressure);
float PRESSURE(float alt);
float TAS(float ias,float alt);
static const float FT2M;
static const float KT2MPS;
static const float MPS2KMH;
static const float KMH2MPS;
static const float INHG2KPA;
static const float RAD2DEG;
static const float DEG2RAD;
static const float NM2DEG;
static const float DEG2NM;
void processUpdate(const QByteArray& data);
float angleDifference(float a,float b);
AirParameters airParameters;
};
class IL2SimulatorCreator : public SimulatorCreator

128
ground/openpilotgcs/src/plugins/hitl/simulator.cpp
View File

@ -71,6 +71,15 @@ Simulator::Simulator(const SimulatorSettings& params) :
baroAltTime = currentTime;
airspeedActualTime=currentTime;
//Define standard atmospheric constants
airParameters.univGasConstant=8.31447; //[J/(mol·K)]
airParameters.dryAirConstant=287.058; //[J/(kg*K)]
airParameters.groundDensity=1.225; //[kg/m^3]
airParameters.groundTemp=15+273.15; //[K]
airParameters.tempLapseRate=0.0065; //[deg/m]
airParameters.M=0.0289644; //[kg/mol]
airParameters.relativeHumidity=20; //[%]
airParameters.seaLevelPress=101.325; //[kPa]
}
Simulator::~Simulator()
@ -138,7 +147,7 @@ void Simulator::onStart()
actDesired = ActuatorDesired::GetInstance(objManager);
actCommand = ActuatorCommand::GetInstance(objManager);
manCtrlCommand = ManualControlCommand::GetInstance(objManager);
gcsReceiver= GCSReceiver::GetInstance(objManager);
gcsReceiver = GCSReceiver::GetInstance(objManager);
flightStatus = FlightStatus::GetInstance(objManager);
posHome = HomeLocation::GetInstance(objManager);
velActual = VelocityActual::GetInstance(objManager);
@ -152,6 +161,7 @@ void Simulator::onStart()
gpsPos = GPSPosition::GetInstance(objManager);
gpsVel = GPSVelocity::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
groundTruth = GroundTruth::GetInstance(objManager);
// Listen to autopilot connection events
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
@ -392,6 +402,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
memset(&noise, 0, sizeof(Noise));
}
/*******************************/
HomeLocation::DataFields homeData = posHome->getData();
if(!once)
{
@ -401,15 +412,12 @@ void Simulator::updateUAVOs(Output2Hardware out){
// Update homelocation
homeData.Latitude = out.latitude; //Already in *10^7 integer format
homeData.Longitude = out.longitude; //Already in *10^7 integer format
homeData.Altitude = out.altitude;
homeData.Altitude = out.agl;
double LLA[3];
LLA[0]=out.latitude;
LLA[1]=out.longitude;
LLA[2]=out.altitude;
double ECEF[3];
double RNE[9];
Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
homeData.Be[0]=0;
homeData.Be[1]=0;
homeData.Be[2]=0;
@ -424,7 +432,40 @@ void Simulator::updateUAVOs(Output2Hardware out){
once=true;
}
/*******************************/
//Copy everything to the ground truth object. GroundTruth is Noise-free.
GroundTruth::DataFields groundTruthData;
groundTruthData = groundTruth->getData();
groundTruthData.AccelerationXYZ[0]=out.accX;
groundTruthData.AccelerationXYZ[1]=out.accY;
groundTruthData.AccelerationXYZ[2]=out.accZ;
groundTruthData.AngularRates[0]=out.rollRate;
groundTruthData.AngularRates[1]=out.pitchRate;
groundTruthData.AngularRates[2]=out.yawRate;
groundTruthData.CalibratedAirspeed=out.calibratedAirspeed;
groundTruthData.TrueAirspeed=out.trueAirspeed;
groundTruthData.AngleOfAttack=out.angleOfAttack;
groundTruthData.AngleOfSlip=out.angleOfSlip;
groundTruthData.PositionNED[0]=out.dstN-initN;
groundTruthData.PositionNED[1]=out.dstE-initD;
groundTruthData.PositionNED[2]=out.dstD-initD;
groundTruthData.VelocityNED[0]=out.velNorth;
groundTruthData.VelocityNED[1]=out.velEast;
groundTruthData.VelocityNED[2]=out.velDown;
groundTruthData.RPY[0]=out.roll;
groundTruthData.RPY[0]=out.pitch;
groundTruthData.RPY[0]=out.heading;
//Set UAVO
groundTruth->setData(groundTruthData);
/*******************************/
// Update attActual object
AttitudeActual::DataFields attActualData;
attActualData = attActual->getData();
@ -574,6 +615,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
/*****************************************/
}
/*******************************/
if (settings.gcsReceiverEnabled) {
if (gcsRcvrTime.msecsTo(currentTime) >= settings.minOutputPeriod) {
GCSReceiver::DataFields gcsRcvrData;
@ -591,6 +633,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
}
/*******************************/
if (settings.gpsPositionEnabled) {
if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
qDebug()<< " GPS time:" << gpsPosTime << ", currentTime: " << currentTime << ", difference: " << gpsPosTime.msecsTo(currentTime);
@ -623,6 +666,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
}
}
/*******************************/
// Update VelocityActual.{North,East,Down}
if (settings.groundTruthEnabled) {
if (groundTruthTime.msecsTo(currentTime) >= settings.groundTruthRate) {
@ -645,6 +689,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
}
}
// /*******************************/
// if (settings.sonarAltitude) {
// static QTime sonarAltTime = currentTime;
// if (sonarAltTime.msecsTo(currentTime) >= settings.sonarAltRate) {
@ -666,6 +711,7 @@ void Simulator::updateUAVOs(Output2Hardware out){
// }
// }
/*******************************/
// Update BaroAltitude object
if (settings.baroAltitudeEnabled){
if (baroAltTime.msecsTo(currentTime) >= settings.baroAltRate) {
@ -680,18 +726,23 @@ void Simulator::updateUAVOs(Output2Hardware out){
}
}
/*******************************/
// Update AirspeedActual object
if (settings.airspeedActualEnabled){
if (airspeedActualTime.msecsTo(currentTime) >= settings.airspeedActualRate) {
AirspeedActual::DataFields airspeedActualData;
memset(&airspeedActualData, 0, sizeof(AirspeedActual::DataFields));
airspeedActualData.CalibratedAirspeed = out.calibratedAirspeed + noise.airspeedActual.CalibratedAirspeed;
airspeedActualData.TrueAirspeed = out.trueAirspeed + noise.airspeedActual.TrueAirspeed;
airspeedActualData.alpha=out.angleOfAttack;
airspeedActualData.beta=out.angleOfSlip;
airspeedActual->setData(airspeedActualData);
airspeedActualTime=airspeedActualTime.addMSecs(settings.airspeedActualRate);
}
}
/*******************************/
// Update raw attitude sensors
if (settings.attRawEnabled) {
if (attRawTime.msecsTo(currentTime) >= settings.attRawRate) {
@ -715,3 +766,68 @@ void Simulator::updateUAVOs(Output2Hardware out){
}
}
}
/**
* calculate air density from altitude. http://en.wikipedia.org/wiki/Density_of_air
*/
float Simulator::airDensityFromAltitude(float alt, AirParameters air, float gravity) {
float p= airPressureFromAltitude(alt, air, gravity);
float rho=p*air.M/(air.univGasConstant*(air.groundTemp-air.tempLapseRate*alt));
return rho;
}
/**
* @brief Simulator::airPressureFromAltitude Get air pressure from altitude and atmospheric conditions.
* @param alt altitude
* @param air atmospheric conditions
* @param gravity
* @return
*/
float Simulator::airPressureFromAltitude(float alt, AirParameters air, float gravity) {
return air.seaLevelPress* pow(1 - air.tempLapseRate * alt /air.groundTemp, gravity * air.M/(air.univGasConstant*air.tempLapseRate));
}
/**
* @brief Simulator::cas2tas calculate TAS from CAS and altitude. http://en.wikipedia.org/wiki/Airspeed
* @param CAS Calibrated airspeed
* @param alt altitude
* @param air atmospheric conditions
* @param gravity
* @return True airspeed
*/
float Simulator::cas2tas(float CAS, float alt, AirParameters air, float gravity) {
float rho=airDensityFromAltitude(alt, air, gravity);
return (CAS * sqrt(air.groundDensity/rho));
}
/**
* @brief Simulator::tas2cas calculate CAS from TAS and altitude. http://en.wikipedia.org/wiki/Airspeed
* @param TAS True airspeed
* @param alt altitude
* @param air atmospheric conditions
* @param gravity
* @return Calibrated airspeed
*/
float Simulator::tas2cas(float TAS, float alt, AirParameters air, float gravity) {
float rho=airDensityFromAltitude(alt, air, gravity);
return (TAS / sqrt(air.groundDensity/rho));
}
/**
* @brief Simulator::getAirParameters get air parameters
* @return airParameters
*/
AirParameters Simulator::getAirParameters(){
return airParameters;
}
/**
* @brief Simulator::setAirParameters set air parameters
* @param airParameters
*/
void Simulator::setAirParameters(AirParameters airParameters){
this->airParameters=airParameters;
}

48
ground/openpilotgcs/src/plugins/hitl/simulator.h
View File

@ -41,15 +41,16 @@
#include "accels.h"
#include "actuatorcommand.h"
#include "actuatordesired.h"
#include "airspeedactual.h"
#include "attitudeactual.h"
#include "attitudesettings.h"
#include "airspeedactual.h"
#include "baroaltitude.h"
#include "flightstatus.h"
#include "gcsreceiver.h"
#include "gcstelemetrystats.h"
#include "gpsposition.h"
#include "gpsvelocity.h"
#include "groundtruth.h"
#include "gyros.h"
#include "homelocation.h"
#include "manualcontrolcommand.h"
@ -69,10 +70,9 @@ typedef struct _FLIGHT_PARAM {
float dT;
unsigned int i;
// speed (relative)
float ias;
float cas;
float tas;
// speeds
float cas; //Calibrated airspeed
float tas; //True airspeed
float groundspeed;
// position (absolute)
@ -102,6 +102,18 @@ typedef struct _FLIGHT_PARAM {
} FLIGHT_PARAM;
struct AirParameters
{
float groundDensity;
float groundTemp;
float seaLevelPress;
float tempLapseRate;
float univGasConstant;
float dryAirConstant;
float relativeHumidity; //[%]
float M; //Molar mass
};
typedef struct _CONNECTION
{
QString simulatorId;
@ -150,9 +162,13 @@ struct Output2Hardware{
float latitude;
float longitude;
float altitude;
float agl; //[m]
float heading;
float groundspeed; //[m/s]
float calibratedAirspeed; //[m/s]
float groundspeed; //[m/s]
float calibratedAirspeed; //[m/s]
float trueAirspeed; //[m/s]
float angleOfAttack;
float angleOfSlip;
float roll;
float pitch;
float pressure;
@ -166,10 +182,10 @@ struct Output2Hardware{
float accX; //[m/s^2]
float accY; //[m/s^2]
float accZ; //[m/s^2]
float rollRate; //[deg/s]
float pitchRate; //[deg/s]
float yawRate; //[deg/s]
float delT;
float rollRate; //[deg/s]
float pitchRate; //[deg/s]
float yawRate; //[deg/s]
float delT; //[s]
float rc_channel[GCSReceiver::CHANNEL_NUMELEM]; //Elements in rc_channel are between -1 and 1
@ -208,6 +224,10 @@ public:
QString SimulatorId() const { return simulatorId; }
void setSimulatorId(QString str) { simulatorId = str; }
float airDensityFromAltitude(float alt, AirParameters air, float gravity);
float airPressureFromAltitude(float alt, AirParameters air, float gravity);
float cas2tas(float CAS, float alt, AirParameters air, float gravity);
float tas2cas(float TAS, float alt, AirParameters air, float gravity);
static bool IsStarted() { return isStarted; }
@ -221,6 +241,9 @@ public:
void resetInitialHomePosition();
void updateUAVOs(Output2Hardware out);
AirParameters getAirParameters();
void setAirParameters(AirParameters airParameters);
signals:
void autopilotConnected();
void autopilotDisconnected();
@ -275,6 +298,7 @@ protected:
Gyros* gyros;
GCSTelemetryStats* telStats;
GCSReceiver* gcsReceiver;
GroundTruth* groundTruth;
SimulatorSettings settings;
@ -311,6 +335,8 @@ private:
void setupInputObject(UAVObject* obj, quint32 updatePeriod);
void setupWatchedObject(UAVObject *obj, quint32 updatePeriod);
void setupObjects();
AirParameters airParameters;
};

9
ground/openpilotgcs/src/plugins/hitl/xplanesimulator.cpp
View File

@ -195,7 +195,8 @@ void XplaneSimulator::transmitUpdate()
*/
void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
{
float altitude = 0;
float altitude_msl = 0;
float altitude_agl = 0;
float latitude = 0;
float longitude = 0;
float airspeed_keas = 0;
@ -239,7 +240,8 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
case XplaneSimulator::LatitudeLongitudeAltitude:
latitude = *((float*)(buf.data()+4*1));
longitude = *((float*)(buf.data()+4*2));
altitude = *((float*)(buf.data()+4*3))* FT2M;
altitude_msl = *((float*)(buf.data()+4*3))* FT2M;
altitude_agl = *((float*)(buf.data()+4*4))* FT2M;
break;
case XplaneSimulator::Speed:
@ -302,7 +304,8 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
// Update GPS Position objects
out.latitude = latitude * 1e7;
out.longitude = longitude * 1e7;
out.altitude = altitude;
out.altitude = altitude_msl;
out.agl = altitude_agl;
out.groundspeed = groundspeed_ktgs*1.15*1.6089/3.6; //Convert from [kts] to [m/s]
out.calibratedAirspeed = airspeed_keas*1.15*1.6089/3.6; //Convert from [kts] to [m/s]

51
ground/openpilotgcs/src/plugins/opmap/flightdatamodel.cpp
View File

@ -100,7 +100,7 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const
return true;
break;
case ISRELATIVE:
row->isRelative=value.toDouble();
row->isRelative=value.toBool();
return true;
break;
case ALTITUDE:
@ -116,19 +116,19 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const
return true;
break;
case MODE_PARAMS0:
row->mode_params[0]=value.toInt();
row->mode_params[0]=value.toFloat();
return true;
break;
case MODE_PARAMS1:
row->mode_params[1]=value.toInt();
row->mode_params[1]=value.toFloat();
return true;
break;
case MODE_PARAMS2:
row->mode_params[2]=value.toInt();
row->mode_params[2]=value.toFloat();
return true;
break;
case MODE_PARAMS3:
row->mode_params[3]=value.toInt();
row->mode_params[3]=value.toFloat();
return true;
break;
case CONDITION:
@ -136,19 +136,19 @@ bool flightDataModel::setColumnByIndex(pathPlanData *row,const int index,const
return true;
break;
case CONDITION_PARAMS0:
row->condition_params[0]=value.toInt();
row->condition_params[0]=value.toFloat();
return true;
break;
case CONDITION_PARAMS1:
row->condition_params[1]=value.toInt();
row->condition_params[1]=value.toFloat();
return true;
break;
case CONDITION_PARAMS2:
row->condition_params[2]=value.toInt();
row->condition_params[2]=value.toFloat();
return true;
break;
case CONDITION_PARAMS3:
row->condition_params[3]=value.toInt();
row->condition_params[3]=value.toFloat();
return true;
break;
case COMMAND:
@ -366,15 +366,15 @@ bool flightDataModel::insertRows(int row, int count, const QModelIndex &/*parent
data->disRelative=0;
data->beaRelative=0;
data->altitudeRelative=0;
data->isRelative=0;
data->isRelative=true;
data->altitude=0;
data->velocity=0;
data->mode=0;
data->mode=1;
data->mode_params[0]=0;
data->mode_params[1]=0;
data->mode_params[2]=0;
data->mode_params[3]=0;
data->condition=0;
data->condition=3;
data->condition_params[0]=0;
data->condition_params[1]=0;
data->condition_params[2]=0;
@ -383,6 +383,25 @@ bool flightDataModel::insertRows(int row, int count, const QModelIndex &/*parent
data->jumpdestination=0;
data->errordestination=0;
data->locked=false;
if(rowCount()>0)
{
data->altitude=this->data(this->index(rowCount()-1,ALTITUDE)).toDouble();
data->altitudeRelative=this->data(this->index(rowCount()-1,ALTITUDERELATIVE)).toDouble();
data->isRelative=this->data(this->index(rowCount()-1,ISRELATIVE)).toBool();
data->velocity=this->data(this->index(rowCount()-1,VELOCITY)).toFloat();
data->mode=this->data(this->index(rowCount()-1,MODE)).toInt();
data->mode_params[0]=this->data(this->index(rowCount()-1,MODE_PARAMS0)).toFloat();
data->mode_params[1]=this->data(this->index(rowCount()-1,MODE_PARAMS1)).toFloat();
data->mode_params[2]=this->data(this->index(rowCount()-1,MODE_PARAMS2)).toFloat();
data->mode_params[3]=this->data(this->index(rowCount()-1,MODE_PARAMS3)).toFloat();
data->condition=this->data(this->index(rowCount()-1,CONDITION)).toInt();
data->condition_params[0]=this->data(this->index(rowCount()-1,CONDITION_PARAMS0)).toFloat();
data->condition_params[1]=this->data(this->index(rowCount()-1,CONDITION_PARAMS1)).toFloat();
data->condition_params[2]=this->data(this->index(rowCount()-1,CONDITION_PARAMS2)).toFloat();
data->condition_params[3]=this->data(this->index(rowCount()-1,CONDITION_PARAMS3)).toFloat();
data->command=this->data(this->index(rowCount()-1,COMMAND)).toInt();
data->errordestination=this->data(this->index(rowCount()-1,ERRORDESTINATION)).toInt();
}
dataStorage.insert(row,data);
}
endInsertRows();
@ -601,13 +620,13 @@ void flightDataModel::readFromFile(QString fileName)
else if(field.attribute("name")=="mode")
data->mode=field.attribute("value").toInt();
else if(field.attribute("name")=="mode_param0")
data->mode_params[0]=field.attribute("value").toDouble();
data->mode_params[0]=field.attribute("value").toFloat();
else if(field.attribute("name")=="mode_param1")
data->mode_params[1]=field.attribute("value").toDouble();
data->mode_params[1]=field.attribute("value").toFloat();
else if(field.attribute("name")=="mode_param2")
data->mode_params[2]=field.attribute("value").toDouble();
data->mode_params[2]=field.attribute("value").toFloat();
else if(field.attribute("name")=="mode_param3")
data->mode_params[3]=field.attribute("value").toDouble();
data->mode_params[3]=field.attribute("value").toFloat();
else if(field.attribute("name")=="condition")
data->condition=field.attribute("value").toDouble();
else if(field.attribute("name")=="condition_param0")

7
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.cpp
View File

@ -40,7 +40,6 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent,QAbstract
connect(ui->checkBoxLocked,SIGNAL(toggled(bool)),this,SLOT(enableEditWidgets(bool)));
connect(ui->cbMode,SIGNAL(currentIndexChanged(int)),this,SLOT(setupModeWidgets()));
connect(ui->cbCondition,SIGNAL(currentIndexChanged(int)),this,SLOT(setupConditionWidgets()));
connect(ui->pushButtonApply,SIGNAL(clicked()),this,SLOT(pushButtonApply_clicked()));
connect(ui->pushButtonCancel,SIGNAL(clicked()),this,SLOT(pushButtonCancel_clicked()));
MapDataDelegate::loadComboBox(ui->cbMode,flightDataModel::MODE);
MapDataDelegate::loadComboBox(ui->cbCondition,flightDataModel::CONDITION);
@ -50,7 +49,7 @@ opmap_edit_waypoint_dialog::opmap_edit_waypoint_dialog(QWidget *parent,QAbstract
mapper->setItemDelegate(new MapDataDelegate(this));
connect(mapper,SIGNAL(currentIndexChanged(int)),this,SLOT(currentIndexChanged(int)));
mapper->setModel(model);
mapper->setSubmitPolicy(QDataWidgetMapper::ManualSubmit);
mapper->setSubmitPolicy(QDataWidgetMapper::AutoSubmit);
mapper->addMapping(ui->checkBoxLocked,flightDataModel::LOCKED);
mapper->addMapping(ui->doubleSpinBoxLatitude,flightDataModel::LATPOSITION);
mapper->addMapping(ui->doubleSpinBoxLongitude,flightDataModel::LNGPOSITION);
@ -234,10 +233,6 @@ void opmap_edit_waypoint_dialog::pushButtonCancel_clicked()
mapper->revert();
close();
}
void opmap_edit_waypoint_dialog::pushButtonApply_clicked()
{
mapper->submit();
}
void opmap_edit_waypoint_dialog::editWaypoint(mapcontrol::WayPointItem *waypoint_item)
{
if (!waypoint_item) return;

1
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.h
View File

@ -64,7 +64,6 @@ private slots:
void setupConditionWidgets();
void pushButtonCancel_clicked();
void on_pushButtonOK_clicked();
void pushButtonApply_clicked();
void on_pushButton_clicked();
void on_pushButton_2_clicked();
void enableEditWidgets(bool);

31
ground/openpilotgcs/src/plugins/opmap/opmap_edit_waypoint_dialog.ui
View File

@ -386,6 +386,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
@ -469,6 +472,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
@ -476,6 +482,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
@ -483,6 +492,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
@ -545,6 +557,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="1" column="0">
@ -628,6 +643,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="3" column="1">
@ -635,6 +653,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="4" column="1">
@ -642,6 +663,9 @@
<property name="maximum">
<double>999999999.000000000000000</double>
</property>
<property name="singleStep">
<double>0.010000000000000</double>
</property>
</widget>
</item>
<item row="2" column="2">
@ -798,13 +822,6 @@
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonApply">
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButtonCancel">
<property name="text">

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

@ -72,6 +72,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/mixerstatus.h \
$$UAVOBJECT_SYNTHETICS/velocitydesired.h \
$$UAVOBJECT_SYNTHETICS/velocityactual.h \
$$UAVOBJECT_SYNTHETICS/groundtruth.h \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowersettings.h \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowerstatus.h \
$$UAVOBJECT_SYNTHETICS/vtolpathfollowersettings.h \
@ -152,6 +153,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/mixerstatus.cpp \
$$UAVOBJECT_SYNTHETICS/velocitydesired.cpp \
$$UAVOBJECT_SYNTHETICS/velocityactual.cpp \
$$UAVOBJECT_SYNTHETICS/groundtruth.cpp \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowersettings.cpp \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowerstatus.cpp \
$$UAVOBJECT_SYNTHETICS/vtolpathfollowersettings.cpp \

4
shared/uavobjectdefinition/flighttelemetrystats.xml
View File

@ -8,8 +8,8 @@
<field name="RxFailures" units="count" type="uint32" elements="1"/>
<field name="TxRetries" units="count" type="uint32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="manual" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="5000"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="5000"/>
<logging updatemode="periodic" period="5000"/>
</object>
</xml>

4
shared/uavobjectdefinition/gcstelemetrystats.xml
View File

@ -8,8 +8,8 @@
<field name="RxFailures" units="count" type="uint32" elements="1"/>
<field name="TxRetries" units="count" type="uint32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="periodic" period="5000"/>
<telemetryflight acked="true" updatemode="manual" period="0"/>
<telemetrygcs acked="false" updatemode="periodic" period="5000"/>
<telemetryflight acked="false" updatemode="manual" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

10
shared/uavobjectdefinition/gpssettings.xml
View File

@ -1,10 +0,0 @@
<xml>
<object name="GPSSettings" singleinstance="true" settings="true">
<description>Settings for the GPS</description>
<field name="DataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="UBX"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

18
shared/uavobjectdefinition/groundtruth.xml Normal file
View File

@ -0,0 +1,18 @@
<xml>
<object name="GroundTruth" singleinstance="true" settings="false">
<description>Ground truth data output by a simulator.</description>
<field name="AccelerationXYZ" units="m/s^2" type="float" elements="3"/>
<field name="PositionNED" units="m" type="float" elements="3"/>
<field name="VelocityNED" units="m/s" type="float" elements="3"/>
<field name="RPY" units="deg" type="float" elements="3"/>
<field name="AngularRates" units="deg/s" type="float" elements="3"/>
<field name="TrueAirspeed" units="m/s" type="float" elements="1"/>
<field name="CalibratedAirspeed" units="m/s" type="float" elements="1"/>
<field name="AngleOfAttack" units="deg" type="float" elements="1"/>
<field name="AngleOfSlip" units="deg" type="float" elements="1"/>
<access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="false" updatemode="periodic" period="50"/>
<telemetryflight acked="false" updatemode="manual" period="50000"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

1
shared/uavobjectdefinition/systemsettings.xml
View File

@ -3,6 +3,7 @@
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="GUIConfigData" units="bits" type="uint32" elements="4" defaultvalue="0"/>
<field name="GPSDataProtocol" units="" type="enum" elements="1" options="NMEA,UBX" defaultvalue="UBX"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>