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Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1848r-altvario

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Conflicts:
	flight/modules/Stabilization/outerloop.c
This commit is contained in:
abeck70 2015-05-05 21:47:19 +10:00
commit 5bffc73b17
7 changed files with 108 additions and 38 deletions
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8
flight/libraries/plans.c
View File

@ -294,6 +294,14 @@ void plan_run_AutoTakeoff()
break; break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT: case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (!flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD: case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
// nothing to do. land has been requested. stay here for forever until mode change. // nothing to do. land has been requested. stay here for forever until mode change.
default: default:

3
flight/modules/ManualControl/stabilizedhandler.c
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@ -123,6 +123,7 @@ void stabilizedHandler(bool newinit)
stabilization.Roll = stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.RollMax : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Roll * stabSettings.ManualRate.Roll : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Roll * stabSettings.ManualRate.Roll :
@ -134,6 +135,7 @@ void stabilizedHandler(bool newinit)
stabilization.Pitch = stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.PitchMax : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Pitch * stabSettings.ManualRate.Pitch : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
@ -155,6 +157,7 @@ void stabilizedHandler(bool newinit)
stabilization.Yaw = stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.YawMax : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Yaw * stabSettings.ManualRate.Yaw : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Yaw * stabSettings.ManualRate.Yaw :

89
flight/modules/Stabilization/outerloop.c
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@ -138,6 +138,7 @@ static void stabilizationOuterloopTask()
case STABILIZATIONSTATUS_OUTERLOOP_WEAKLEVELING: case STABILIZATIONSTATUS_OUTERLOOP_WEAKLEVELING:
rpy_desired[t] = stabilizationDesiredAxis[t]; rpy_desired[t] = stabilizationDesiredAxis[t];
break; break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT: case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default: default:
rpy_desired[t] = ((float *)&attitudeState.Roll)[t]; rpy_desired[t] = ((float *)&attitudeState.Roll)[t];
@ -262,27 +263,81 @@ static void stabilizationOuterloopTask()
default: default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t]; rateDesiredAxis[t] = stabilizationDesiredAxis[t];
break; break;
} case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
} rateDesiredAxis[t] = stabilizationDesiredAxis[t]; // default for all axes
// now test limits for pitch and/or roll
RateDesiredSet(&rateDesired); if (t == 1) { // pitch
{ if (attitudeState.Pitch < -stabSettings.stabBank.PitchMax) {
FlightStatusArmedOptions armed; // attitude exceeds pitch max.
FlightStatusArmedGet(&armed); // zero rate desired if also -ve
float throttleDesired; if (rateDesiredAxis[t] < 0.0f) {
ManualControlCommandThrottleGet(&throttleDesired); rateDesiredAxis[t] = 0.0f;
if (armed != FLIGHTSTATUS_ARMED_ARMED || }
((stabSettings.settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE) && throttleDesired < 0)) { } else if (attitudeState.Pitch > stabSettings.stabBank.PitchMax) {
// Force all axes to reinitialize when engaged // attitude exceeds pitch max
for (t = 0; t < AXES; t++) { // zero rate desired if also +ve
previous_mode[t] = 255; if (rateDesiredAxis[t] > 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
}
} else if (t == 0) { // roll
if (attitudeState.Roll < -stabSettings.stabBank.RollMax) {
// attitude exceeds roll max.
// zero rate desired if also -ve
if (rateDesiredAxis[t] < 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
} else if (attitudeState.Roll > stabSettings.stabBank.RollMax) {
// attitude exceeds roll max
// zero rate desired if also +ve
if (rateDesiredAxis[t] > 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
}
} }
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t];
break;
}
} else {
switch (StabilizationStatusOuterLoopToArray(enabled)[t]) {
#ifdef REVOLUTION
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit);
break;
#endif /* REVOLUTION */
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t];
break;
} }
} }
}
// update cruisecontrol based on attitude RateDesiredSet(&rateDesired);
cruisecontrol_compute_factor(&attitudeState, rateDesired.Thrust); {
stabSettings.monitor.rateupdates = 0; FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);
if (armed != FLIGHTSTATUS_ARMED_ARMED ||
((stabSettings.settings.LowThrottleZeroIntegral == STABILIZATIONSETTINGS_LOWTHROTTLEZEROINTEGRAL_TRUE) && throttleDesired < 0)) {
// Force all axes to reinitialize when engaged
for (t = 0; t < AXES; t++) {
previous_mode[t] = 255;
}
}
}
// update cruisecontrol based on attitude
cruisecontrol_compute_factor(&attitudeState, rateDesired.Thrust);
stabSettings.monitor.rateupdates = 0;
} }

4
flight/modules/Stabilization/stabilization.c
View File

@ -137,6 +137,10 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT; StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE; StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;
break; break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE; StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE; StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;

38
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -7,69 +7,69 @@
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode --> <!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum" <field name="Stabilization1Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,Manual" defaultvalue="Attitude,Attitude,AxisLock,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \ limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \ %NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\ %NE:Rate::RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\ %0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;" %0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/> />
<field name="Stabilization2Settings" units="" type="enum" <field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,Manual" defaultvalue="Attitude,Attitude,Rate,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \ limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \ %NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\ %0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;" %0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/> />
<field name="Stabilization3Settings" units="" type="enum" <field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual" defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \ limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \ %NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\ %0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;" %0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/> />
<field name="Stabilization4Settings" units="" type="enum" <field name="Stabilization4Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl" defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \ limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \ %NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\ %0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;" %0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/> />
<field name="Stabilization5Settings" units="" type="enum" <field name="Stabilization5Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Attitude,Attitude,Rate,CruiseControl" defaultvalue="Attitude,Attitude,Rate,CruiseControl"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \ limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \ %NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\ %0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;" %0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/> />
<field name="Stabilization6Settings" units="" type="enum" <field name="Stabilization6Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw,Thrust" elementnames="Roll,Pitch,Yaw,Thrust"
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"
defaultvalue="Rate,Rate,Rate,Manual" defaultvalue="Rate,Rate,Rate,Manual"
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \ limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \ %NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \ %NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\ %NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\ %0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;" %0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/> />
<!-- Note these options values should be identical to those defined in FlightMode --> <!-- Note these options values should be identical to those defined in FlightMode -->

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/> <field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Thrust" units="%" type="float" elements="1"/> <field name="Thrust" units="%" type="float" elements="1"/>
<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings --> <!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"/> <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,AltitudeHold,AltitudeVario,CruiseControl"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="1000"/>

2
shared/uavobjectdefinition/stabilizationstatus.xml
View File

@ -3,7 +3,7 @@
<description>Contains status information to control submodules for stabilization.</description> <description>Contains status information to control submodules for stabilization.</description>
<field name="OuterLoop" units="" type="enum" options="Direct,Attitude,Rattitude,Weakleveling,Altitude,AltitudeVario"> <field name="OuterLoop" units="" type="enum" options="Direct,DirectWithLimits,Attitude,Rattitude,Weakleveling,Altitude,AltitudeVario">
<elementnames> <elementnames>
<elementname>Roll</elementname> <elementname>Roll</elementname>
<elementname>Pitch</elementname> <elementname>Pitch</elementname>