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Code Issues Releases Activity

Merge branch 'next' into MikeL

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/airframe.ui
	ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
	ground/openpilotgcs/src/plugins/config/configoutputwidget.h
	ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
	ground/openpilotgcs/src/plugins/config/configvehicletypewidget.h
This commit is contained in:
James Cotton 2012-06-06 11:58:06 -05:00
commit 5e01617cbd
72 changed files with 7742 additions and 3057 deletions
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14
HISTORY.txt
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@ -1,5 +1,19 @@
Short summary of changes. For a complete list see the git log. Short summary of changes. For a complete list see the git log.
2012-06-04
AeroSimRC support merged into next
2012-05-26
VirtualFlybar which allows a more aggressive flight mode than rate mode
support. Also PiroCompensation added.
2012-05-26
Revert some UI changes that didn't work consistently between OSX and Windows.
2012-05-24
Merged the updated firmware for the PipXtreme, thanks to Brian for a lot of
work on this.
2012-05-04 2012-05-04
Support for CC3D. This involved changes to various things such as the sensors Support for CC3D. This involved changes to various things such as the sensors
being split from AttitudeRaw to Accels,Gyros,Magnetometer. A single firmware being split from AttitudeRaw to Accels,Gyros,Magnetometer. A single firmware

2
Makefile
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@ -630,7 +630,7 @@ all_$(1)_clean: $$(addsuffix _clean, $$(filter bu_$(1), $$(BU_TARGETS)))
all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS))) all_$(1)_clean: $$(addsuffix _clean, $$(filter ef_$(1), $$(EF_TARGETS)))
endef endef
ALL_BOARDS := coptercontrol pipxtreme revolution simposix ALL_BOARDS := coptercontrol pipxtreme
# Friendly names of each board (used to find source tree) # Friendly names of each board (used to find source tree)
coptercontrol_friendly := CopterControl coptercontrol_friendly := CopterControl

2
flight/CopterControl/System/pios_board.c
View File

@ -122,6 +122,7 @@ static const struct flashfs_cfg flashfs_w25x_cfg = {
.obj_table_start = 0x00000010, .obj_table_start = 0x00000010,
.obj_table_end = 0x00001000, .obj_table_end = 0x00001000,
.sector_size = 0x00001000, .sector_size = 0x00001000,
.chip_size = 0x00080000,
}; };
static const struct pios_flash_jedec_cfg flash_w25x_cfg = { static const struct pios_flash_jedec_cfg flash_w25x_cfg = {
@ -135,6 +136,7 @@ static const struct flashfs_cfg flashfs_m25p_cfg = {
.obj_table_start = 0x00000010, .obj_table_start = 0x00000010,
.obj_table_end = 0x00010000, .obj_table_end = 0x00010000,
.sector_size = 0x00010000, .sector_size = 0x00010000,
.chip_size = 0x00200000,
}; };
static const struct pios_flash_jedec_cfg flash_m25p_cfg = { static const struct pios_flash_jedec_cfg flash_m25p_cfg = {

16
flight/Modules/Attitude/attitude.c
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@ -234,17 +234,21 @@ static void AttitudeTask(void *parameters)
AccelsData accels; AccelsData accels;
GyrosData gyros; GyrosData gyros;
int32_t retval; int32_t retval = 0;
if(cc3d)
if (cc3d)
retval = updateSensorsCC3D(&accels, &gyros); retval = updateSensorsCC3D(&accels, &gyros);
else else
retval = updateSensors(&accels, &gyros); retval = updateSensors(&accels, &gyros);
if(retval != 0) // Only update attitude when sensor data is good
if (retval != 0)
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR); AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
else { else {
// Only update attitude when sensor data is good // Do not update attitude data in simulation mode
if (!AttitudeActualReadOnly())
updateAttitude(&accels, &gyros); updateAttitude(&accels, &gyros);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE); AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
} }
} }
@ -268,6 +272,10 @@ static int32_t updateSensors(AccelsData * accels, GyrosData * gyros)
return -1; return -1;
} }
// Do not read raw sensor data in simulation mode
if (GyrosReadOnly() || AccelsReadOnly())
return 0;
// No accel data available // No accel data available
if(PIOS_ADXL345_FifoElements() == 0) if(PIOS_ADXL345_FifoElements() == 0)
return -1; return -1;

3
flight/Modules/ManualControl/manualcontrol.c
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@ -586,6 +586,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(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[STABILIZATIONSETTINGS_MANUALRATE_ROLL] : (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
0; // this is an invalid mode 0; // this is an invalid mode
; ;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch : stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
@ -593,6 +594,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(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[STABILIZATIONSETTINGS_MANUALRATE_PITCH] : (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
0; // this is an invalid mode 0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw : stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
@ -600,6 +602,7 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(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[STABILIZATIONSETTINGS_MANUALRATE_YAW] : (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
0; // this is an invalid mode 0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle; stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;

137
flight/Modules/Stabilization/stabilization.c
View File

@ -55,7 +55,7 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY+4) #define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define FAILSAFE_TIMEOUT_MS 30 #define FAILSAFE_TIMEOUT_MS 30
enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX}; enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_VBAR_ROLL, PID_VBAR_PITCH, PID_VBAR_YAW, PID_MAX};
enum {ROLL,PITCH,YAW,MAX_AXES}; enum {ROLL,PITCH,YAW,MAX_AXES};
@ -74,21 +74,24 @@ typedef struct {
static xTaskHandle taskHandle; static xTaskHandle taskHandle;
static StabilizationSettingsData settings; static StabilizationSettingsData settings;
static xQueueHandle queue; static xQueueHandle queue;
float dT = 1;
float gyro_alpha = 0; float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0}; float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0}; float axis_lock_accum[3] = {0,0,0};
float vbar_sensitivity[3] = {1, 1, 1};
uint8_t max_axis_lock = 0; uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0; uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0; float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0; uint8_t weak_leveling_max = 0;
bool lowThrottleZeroIntegral; bool lowThrottleZeroIntegral;
float vbar_integral[3] = {0, 0, 0};
float vbar_decay = 0.991f;
pid_type pids[PID_MAX]; pid_type pids[PID_MAX];
int8_t vbar_gyros_suppress;
bool vbar_piro_comp = false;
// Private functions // Private functions
static void stabilizationTask(void* parameters); static void stabilizationTask(void* parameters);
static float ApplyPid(pid_type * pid, const float err); static float ApplyPid(pid_type * pid, const float err, float dT);
static float bound(float val); static float bound(float val);
static void ZeroPids(void); static void ZeroPids(void);
static void SettingsUpdatedCb(UAVObjEvent * ev); static void SettingsUpdatedCb(UAVObjEvent * ev);
@ -154,6 +157,8 @@ static void stabilizationTask(void* parameters)
// Main task loop // Main task loop
ZeroPids(); ZeroPids();
while(1) { while(1) {
float dT;
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION); PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe // Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
@ -227,6 +232,7 @@ static void stabilizationTask(void* parameters)
switch(stabDesired.StabilizationMode[i]) switch(stabDesired.StabilizationMode[i])
{ {
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
rateDesiredAxis[i] = attitudeDesiredAxis[i]; rateDesiredAxis[i] = attitudeDesiredAxis[i];
// Zero attitude and axis lock accumulators // Zero attitude and axis lock accumulators
@ -251,7 +257,7 @@ static void stabilizationTask(void* parameters)
break; break;
} }
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]); rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i], dT);
if(rateDesiredAxis[i] > settings.MaximumRate[i]) if(rateDesiredAxis[i] > settings.MaximumRate[i])
rateDesiredAxis[i] = settings.MaximumRate[i]; rateDesiredAxis[i] = settings.MaximumRate[i];
@ -275,7 +281,7 @@ static void stabilizationTask(void* parameters)
else if(axis_lock_accum[i] < -max_axis_lock) else if(axis_lock_accum[i] < -max_axis_lock)
axis_lock_accum[i] = -max_axis_lock; axis_lock_accum[i] = -max_axis_lock;
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]); rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
} }
if(rateDesiredAxis[i] > settings.MaximumRate[i]) if(rateDesiredAxis[i] > settings.MaximumRate[i])
@ -287,42 +293,78 @@ static void stabilizationTask(void* parameters)
} }
} }
// Piro compensation rotates the virtual flybar by yaw step to keep it
// rotated to external world
if (vbar_piro_comp) {
const float F_PI = 3.14159f;
float cy = cosf(gyro_filtered[2] / 180.0f * F_PI * dT);
float sy = sinf(gyro_filtered[2] / 180.0f * F_PI * dT);
float vbar_pitch = cy * vbar_integral[1] - sy * vbar_integral[0];
float vbar_roll = sy * vbar_integral[1] + cy * vbar_integral[0];
vbar_integral[1] = vbar_pitch;
vbar_integral[0] = vbar_roll;
}
uint8_t shouldUpdate = 1; uint8_t shouldUpdate = 1;
#if defined(DIAGNOSTICS) #if defined(DIAGNOSTICS)
RateDesiredSet(&rateDesired); RateDesiredSet(&rateDesired);
#endif #endif
ActuatorDesiredGet(&actuatorDesired); ActuatorDesiredGet(&actuatorDesired);
//Calculate desired command //Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++) for(uint32_t i = 0; i < MAX_AXES; i++)
{ {
switch(stabDesired.StabilizationMode[ct]) switch(stabDesired.StabilizationMode[i])
{ {
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE: case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE: case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK: case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING: case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{ {
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]); float command = ApplyPid(&pids[PID_RATE_ROLL + i], rateDesiredAxis[i] - gyro_filtered[i], dT);
actuatorDesiredAxis[ct] = bound(command); actuatorDesiredAxis[i] = bound(command);
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
{
// Track the angle of the virtual flybar which includes a slow decay
vbar_integral[i] = vbar_integral[i] * vbar_decay + gyro_filtered[i] * dT;
if (vbar_integral[i] > settings.VbarMaxAngle)
vbar_integral[i] = settings.VbarMaxAngle;
if (-vbar_integral[i] < -settings.VbarMaxAngle)
vbar_integral[i] = -settings.VbarMaxAngle;
// Command signal is composed of stick input added to the gyro and virtual flybar
float gyro_gain = 1.0f;
if (vbar_gyros_suppress > 0) {
gyro_gain = (1.0f - fabs(rateDesiredAxis[i]) * vbar_gyros_suppress / 100.0f);
gyro_gain = (gyro_gain < 0) ? 0 : gyro_gain;
}
float command = rateDesiredAxis[i] * vbar_sensitivity[i] - gyro_gain * (
vbar_integral[i] * pids[PID_VBAR_ROLL + i].i +
gyro_filtered[i] * pids[PID_VBAR_ROLL + i].p);
actuatorDesiredAxis[i] = bound(command);
break; break;
} }
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE: case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
switch (ct) switch (i)
{ {
case ROLL: case ROLL:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
shouldUpdate = 1; shouldUpdate = 1;
pids[PID_RATE_ROLL].iAccumulator = 0; pids[PID_RATE_ROLL].iAccumulator = 0;
pids[PID_ROLL].iAccumulator = 0; pids[PID_ROLL].iAccumulator = 0;
break; break;
case PITCH: case PITCH:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
shouldUpdate = 1; shouldUpdate = 1;
pids[PID_RATE_PITCH].iAccumulator = 0; pids[PID_RATE_PITCH].iAccumulator = 0;
pids[PID_PITCH].iAccumulator = 0; pids[PID_PITCH].iAccumulator = 0;
break; break;
case YAW: case YAW:
actuatorDesiredAxis[ct] = bound(attitudeDesiredAxis[ct]); actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i]);
shouldUpdate = 1; shouldUpdate = 1;
pids[PID_RATE_YAW].iAccumulator = 0; pids[PID_RATE_YAW].iAccumulator = 0;
pids[PID_YAW].iAccumulator = 0; pids[PID_YAW].iAccumulator = 0;
@ -360,7 +402,7 @@ static void stabilizationTask(void* parameters)
} }
} }
float ApplyPid(pid_type * pid, const float err) float ApplyPid(pid_type * pid, const float err, float dT)
{ {
float diff = (err - pid->lastErr); float diff = (err - pid->lastErr);
pid->lastErr = err; pid->lastErr = err;
@ -400,44 +442,60 @@ static float bound(float val)
return val; return val;
} }
static void SettingsUpdatedCb(UAVObjEvent * ev) static void SettingsUpdatedCb(UAVObjEvent * ev)
{ {
memset(pids,0,sizeof (pid_type) * PID_MAX); memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings); StabilizationSettingsGet(&settings);
// Set the roll rate PID constants // Set the roll rate PID constants
pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP]; pids[PID_RATE_ROLL].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI]; pids[PID_RATE_ROLL].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD]; pids[PID_RATE_ROLL].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT]; pids[PID_RATE_ROLL].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
// Set the pitch rate PID constants // Set the pitch rate PID constants
pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP]; pids[PID_RATE_PITCH].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI]; pids[PID_RATE_PITCH].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD]; pids[PID_RATE_PITCH].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT]; pids[PID_RATE_PITCH].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
// Set the yaw rate PID constants // Set the yaw rate PID constants
pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP]; pids[PID_RATE_YAW].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI]; pids[PID_RATE_YAW].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD]; pids[PID_RATE_YAW].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT]; pids[PID_RATE_YAW].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
// Set the roll attitude PI constants // Set the roll attitude PI constants
pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP]; pids[PID_ROLL].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI]; pids[PID_ROLL].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT]; pids[PID_ROLL].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
// Set the pitch attitude PI constants // Set the pitch attitude PI constants
pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP]; pids[PID_PITCH].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI]; pids[PID_PITCH].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT]; pids[PID_PITCH].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
// Set the yaw attitude PI constants // Set the yaw attitude PI constants
pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP]; pids[PID_YAW].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI]; pids[PID_YAW].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT]; pids[PID_YAW].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
// Set the roll attitude PI constants
pids[PID_VBAR_ROLL].p = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KP];
pids[PID_VBAR_ROLL].i = settings.VbarRollPI[STABILIZATIONSETTINGS_VBARROLLPI_KI];
// Set the pitch attitude PI constants
pids[PID_VBAR_PITCH].p = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KP];
pids[PID_VBAR_PITCH].i = settings.VbarPitchPI[STABILIZATIONSETTINGS_VBARPITCHPI_KI];
// Set the yaw attitude PI constants
pids[PID_VBAR_YAW].p = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KP];
pids[PID_VBAR_YAW].i = settings.VbarYawPI[STABILIZATIONSETTINGS_VBARYAWPI_KI];
// Need to store the vbar sensitivity
vbar_sensitivity[0] = settings.VbarSensitivity[0];
vbar_sensitivity[1] = settings.VbarSensitivity[1];
vbar_sensitivity[2] = settings.VbarSensitivity[2];
// Maximum deviation to accumulate for axis lock // Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock; max_axis_lock = settings.MaxAxisLock;
@ -460,6 +518,11 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
gyro_alpha = 0; // not trusting this to resolve to 0 gyro_alpha = 0; // not trusting this to resolve to 0
else else
gyro_alpha = expf(-fakeDt / settings.GyroTau); gyro_alpha = expf(-fakeDt / settings.GyroTau);
// Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau);
vbar_gyros_suppress = settings.VbarGyroSuppress;
vbar_piro_comp = settings.VbarPiroComp == STABILIZATIONSETTINGS_VBARPIROCOMP_TRUE;
} }

19
flight/Modules/System/systemmod.c
View File

@ -215,7 +215,7 @@ static void objectUpdatedCb(UAVObjEvent * ev)
// Get object data // Get object data
ObjectPersistenceGet(&objper); ObjectPersistenceGet(&objper);
int retval = -1; int retval = 1;
// Execute action // Execute action
if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) { if (objper.Operation == OBJECTPERSISTENCE_OPERATION_LOAD) {
if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) { if (objper.Selection == OBJECTPERSISTENCE_SELECTION_SINGLEOBJECT) {
@ -242,6 +242,13 @@ static void objectUpdatedCb(UAVObjEvent * ev)
} }
// Save selected instance // Save selected instance
retval = UAVObjSave(obj, objper.InstanceID); retval = UAVObjSave(obj, objper.InstanceID);
// Not sure why this is needed
vTaskDelay(10);
// Verify saving worked
if (retval == 0)
retval = UAVObjLoad(obj, objper.InstanceID);
} else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS } else if (objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLSETTINGS
|| objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) { || objper.Selection == OBJECTPERSISTENCE_SELECTION_ALLOBJECTS) {
retval = UAVObjSaveSettings(); retval = UAVObjSaveSettings();
@ -271,9 +278,17 @@ static void objectUpdatedCb(UAVObjEvent * ev)
retval = PIOS_FLASHFS_Format(); retval = PIOS_FLASHFS_Format();
#endif #endif
} }
if(retval == 0) { switch(retval) {
case 0:
objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED; objper.Operation = OBJECTPERSISTENCE_OPERATION_COMPLETED;
ObjectPersistenceSet(&objper); ObjectPersistenceSet(&objper);
break;
case -1:
objper.Operation = OBJECTPERSISTENCE_OPERATION_ERROR;
ObjectPersistenceSet(&objper);
break;
default:
break;
} }
} }
} }

3
flight/Modules/TxPID/txpid.c
View File

@ -275,6 +275,9 @@ static void updatePIDs(UAVObjEvent* ev)
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT: case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value); needsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break; break;
case TXPIDSETTINGS_PIDS_GYROTAU:
needsUpdate |= update(&stab.GyroTau, value);
break;
default: default:
PIOS_Assert(0); PIOS_Assert(0);
} }

5
flight/PiOS/Common/pios_flashfs_objlist.c
View File

@ -186,6 +186,7 @@ static int32_t PIOS_FLASHFS_GetObjAddress(uint32_t objId, uint16_t instId)
* @retval -2 No room in object table * @retval -2 No room in object table
* @retval -3 Unable to write entry into object table * @retval -3 Unable to write entry into object table
* @retval -4 FS not initialized * @retval -4 FS not initialized
* @retval -5
*/ */
int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId) int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
{ {
@ -206,6 +207,10 @@ int32_t PIOS_FLASHFS_GetNewAddress(uint32_t objId, uint16_t instId)
if((addr + sizeof(header)) > cfg->obj_table_end) if((addr + sizeof(header)) > cfg->obj_table_end)
return -2; return -2;
// Verify the address is within the chip
if((addr + cfg->sector_size) > cfg->chip_size)
return -5;
if(PIOS_Flash_Jedec_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0) if(PIOS_Flash_Jedec_WriteData(addr, (uint8_t *) &header, sizeof(header)) != 0)
return -3; return -3;

1
flight/PiOS/inc/pios_flashfs_objlist.h
View File

@ -37,6 +37,7 @@ struct flashfs_cfg {
uint32_t obj_table_start; uint32_t obj_table_start;
uint32_t obj_table_end; uint32_t obj_table_end;
uint32_t sector_size; uint32_t sector_size;
uint32_t chip_size;
}; };
int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * cfg); int32_t PIOS_FLASHFS_Init(const struct flashfs_cfg * cfg);

1
flight/Revolution/System/pios_board.c
View File

@ -234,6 +234,7 @@ static const struct flashfs_cfg flashfs_m25p_cfg = {
.obj_table_start = 0x00000010, .obj_table_start = 0x00000010,
.obj_table_end = 0x00010000, .obj_table_end = 0x00010000,
.sector_size = 0x00010000, .sector_size = 0x00010000,
.chip_size = 0x00200000,
}; };
static const struct pios_flash_jedec_cfg flash_m25p_cfg = { static const struct pios_flash_jedec_cfg flash_m25p_cfg = {

4
flight/UAVObjects/inc/uavobjectmanager.h
View File

@ -74,8 +74,8 @@ typedef enum {
* *
* Bit(s) Name Meaning * Bit(s) Name Meaning
* ------ ---- ------- * ------ ---- -------
* 0 access Defines the access level for the local transactions (readonly=0 and readwrite=1) * 0 access Defines the access level for the local transactions (readonly=1 and readwrite=0)
* 1 gcsAccess Defines the access level for the local GCS transactions (readonly=0 and readwrite=1), not used in the flight s/w * 1 gcsAccess Defines the access level for the local GCS transactions (readonly=1 and readwrite=0), not used in the flight s/w
* 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) * 2 telemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked) * 3 gcsTelemetryAcked Defines if an ack is required for the transactions of this object (1:acked, 0:not acked)
* 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode) * 4-5 telemetryUpdateMode Update mode used by the telemetry module (UAVObjUpdateMode)

5
flight/UAVObjects/uavobjectmanager.c
View File

@ -721,10 +721,11 @@ int32_t UAVObjLoad(UAVObjHandle obj, uint16_t instId)
return -1; return -1;
// Fire event on success // Fire event on success
if (PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data) == 0) int32_t retval;
if ((retval = PIOS_FLASHFS_ObjLoad(obj, instId, instEntry->data)) == 0)
sendEvent(objEntry, instId, EV_UNPACKED); sendEvent(objEntry, instId, EV_UNPACKED);
else else
return -1; return retval;
#endif #endif
#if defined(PIOS_INCLUDE_SDCARD) #if defined(PIOS_INCLUDE_SDCARD)

139
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>720</width> <width>720</width>
<height>567</height> <height>739</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -16,23 +16,6 @@
<layout class="QVBoxLayout" name="verticalLayout_3"> <layout class="QVBoxLayout" name="verticalLayout_3">
<item> <item>
<widget class="QScrollArea" name="scrollArea"> <widget class="QScrollArea" name="scrollArea">
<property name="styleSheet">
<string notr="true">#groupBox_5,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="frameShape"> <property name="frameShape">
<enum>QFrame::NoFrame</enum> <enum>QFrame::NoFrame</enum>
</property> </property>
@ -44,8 +27,8 @@ QGroupBox::title {
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>702</width> <width>696</width>
<height>484</height> <height>635</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_2"> <layout class="QVBoxLayout" name="verticalLayout_2">
@ -107,7 +90,7 @@ QGroupBox::title {
<string>Basic Settings (Stabilization)</string> <string>Basic Settings (Stabilization)</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_9"> <layout class="QGridLayout" name="gridLayout_9">
<item row="3" column="3"> <item row="2" column="3">
<widget class="QSpinBox" name="yawOutputRange"> <widget class="QSpinBox" name="yawOutputRange">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -126,7 +109,7 @@ have to define channel output range using Output configuration tab.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="2"> <item row="2" column="2">
<widget class="QSpinBox" name="pitchOutputRange"> <widget class="QSpinBox" name="pitchOutputRange">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -145,7 +128,7 @@ have to define channel output range using Output configuration tab.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="2" column="1">
<widget class="QSpinBox" name="rollOutputRange"> <widget class="QSpinBox" name="rollOutputRange">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -164,7 +147,7 @@ have to define channel output range using Output configuration tab.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="3"> <item row="1" column="3">
<widget class="QComboBox" name="yawChannel"> <widget class="QComboBox" name="yawChannel">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -179,7 +162,7 @@ have to define channel output range using Output configuration tab.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="2"> <item row="1" column="2">
<widget class="QComboBox" name="pitchChannel"> <widget class="QComboBox" name="pitchChannel">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -194,7 +177,7 @@ have to define channel output range using Output configuration tab.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="1" column="1">
<widget class="QComboBox" name="rollChannel"> <widget class="QComboBox" name="rollChannel">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -209,21 +192,21 @@ have to define channel output range using Output configuration tab.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="1" column="0">
<widget class="QLabel" name="label_42"> <widget class="QLabel" name="label_42">
<property name="text"> <property name="text">
<string>Output Channel</string> <string>Output Channel</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="2" column="0">
<widget class="QLabel" name="label_43"> <widget class="QLabel" name="label_43">
<property name="text"> <property name="text">
<string>Output Range</string> <string>Output Range</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="3"> <item row="0" column="3">
<widget class="QLabel" name="label_44"> <widget class="QLabel" name="label_44">
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -240,7 +223,7 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="2"> <item row="0" column="2">
<widget class="QLabel" name="label_45"> <widget class="QLabel" name="label_45">
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -257,7 +240,7 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_46"> <widget class="QLabel" name="label_46">
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -274,38 +257,9 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Preferred</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item> <item>
<widget class="QGroupBox" name="groupBox"> <widget class="QGroupBox" name="groupBox">
<property name="sizePolicy"> <property name="sizePolicy">
@ -324,7 +278,7 @@ margin:1px;</string>
<string>Advanced Settings (Control)</string> <string>Advanced Settings (Control)</string>
</property> </property>
<layout class="QGridLayout" name="gridLayout_8"> <layout class="QGridLayout" name="gridLayout_8">
<item row="1" column="3"> <item row="0" column="3">
<widget class="QLabel" name="label_32"> <widget class="QLabel" name="label_32">
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -341,7 +295,7 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="2"> <item row="0" column="2">
<widget class="QLabel" name="label_33"> <widget class="QLabel" name="label_33">
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -358,7 +312,7 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="1" column="1"> <item row="0" column="1">
<widget class="QLabel" name="label_34"> <widget class="QLabel" name="label_34">
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255)); <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
@ -375,7 +329,7 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="3"> <item row="1" column="3">
<widget class="QComboBox" name="yawInputChannel"> <widget class="QComboBox" name="yawInputChannel">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -392,7 +346,7 @@ Don't forget to map this channel using Input configuration tab.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="2"> <item row="1" column="2">
<widget class="QComboBox" name="pitchInputChannel"> <widget class="QComboBox" name="pitchInputChannel">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -409,7 +363,7 @@ Don't forget to map this channel using Input configuration tab.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="1"> <item row="1" column="1">
<widget class="QComboBox" name="rollInputChannel"> <widget class="QComboBox" name="rollInputChannel">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -426,14 +380,14 @@ Don't forget to map this channel using Input configuration tab.</string>
</item> </item>
</widget> </widget>
</item> </item>
<item row="2" column="0"> <item row="1" column="0">
<widget class="QLabel" name="label_35"> <widget class="QLabel" name="label_35">
<property name="text"> <property name="text">
<string>Input Channel</string> <string>Input Channel</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="3"> <item row="2" column="3">
<widget class="QComboBox" name="yawStabilizationMode"> <widget class="QComboBox" name="yawStabilizationMode">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -451,7 +405,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</item> </item>
</widget> </widget>
</item> </item>
<item row="4" column="3"> <item row="3" column="3">
<widget class="QSpinBox" name="yawInputRange"> <widget class="QSpinBox" name="yawInputRange">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -467,7 +421,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="3"> <item row="4" column="3">
<widget class="QSpinBox" name="yawInputRate"> <widget class="QSpinBox" name="yawInputRate">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -483,7 +437,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="3"> <item row="5" column="3">
<widget class="QSpinBox" name="yawResponseTime"> <widget class="QSpinBox" name="yawResponseTime">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -501,7 +455,7 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="2"> <item row="2" column="2">
<widget class="QComboBox" name="pitchStabilizationMode"> <widget class="QComboBox" name="pitchStabilizationMode">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -519,7 +473,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</item> </item>
</widget> </widget>
</item> </item>
<item row="4" column="2"> <item row="3" column="2">
<widget class="QSpinBox" name="pitchInputRange"> <widget class="QSpinBox" name="pitchInputRange">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -535,7 +489,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="2"> <item row="4" column="2">
<widget class="QSpinBox" name="pitchInputRate"> <widget class="QSpinBox" name="pitchInputRate">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -551,7 +505,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="2"> <item row="5" column="2">
<widget class="QSpinBox" name="pitchResponseTime"> <widget class="QSpinBox" name="pitchResponseTime">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -569,7 +523,7 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="1"> <item row="2" column="1">
<widget class="QComboBox" name="rollStabilizationMode"> <widget class="QComboBox" name="rollStabilizationMode">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -587,7 +541,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</item> </item>
</widget> </widget>
</item> </item>
<item row="4" column="1"> <item row="3" column="1">
<widget class="QSpinBox" name="rollInputRange"> <widget class="QSpinBox" name="rollInputRange">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -603,7 +557,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="1"> <item row="4" column="1">
<widget class="QSpinBox" name="rollInputRate"> <widget class="QSpinBox" name="rollInputRate">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -619,7 +573,7 @@ AxisLock: camera remembers tracking attitude. Input controls the rate of deflect
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1"> <item row="5" column="1">
<widget class="QSpinBox" name="rollResponseTime"> <widget class="QSpinBox" name="rollResponseTime">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -637,49 +591,49 @@ This option smoothes the stick input. Zero value disables LPF.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="0"> <item row="6" column="0">
<widget class="QLabel" name="label_36"> <widget class="QLabel" name="label_36">
<property name="text"> <property name="text">
<string>MaxAxisLockRate</string> <string>MaxAxisLockRate</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="0"> <item row="5" column="0">
<widget class="QLabel" name="label_37"> <widget class="QLabel" name="label_37">
<property name="text"> <property name="text">
<string>Response Time</string> <string>Response Time</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="5" column="0"> <item row="4" column="0">
<widget class="QLabel" name="label_38"> <widget class="QLabel" name="label_38">
<property name="text"> <property name="text">
<string>Input Rate</string> <string>Input Rate</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="4" column="0"> <item row="3" column="0">
<widget class="QLabel" name="label_39"> <widget class="QLabel" name="label_39">
<property name="text"> <property name="text">
<string>Input Range</string> <string>Input Range</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="3" column="0"> <item row="2" column="0">
<widget class="QLabel" name="label_40"> <widget class="QLabel" name="label_40">
<property name="text"> <property name="text">
<string>Stabilization Mode</string> <string>Stabilization Mode</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="2" colspan="2"> <item row="6" column="2" colspan="2">
<widget class="QLabel" name="label_41"> <widget class="QLabel" name="label_41">
<property name="text"> <property name="text">
<string>(the same value for Roll, Pitch, Yaw)</string> <string>(the same value for Roll, Pitch, Yaw)</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="7" column="1"> <item row="6" column="1">
<widget class="QDoubleSpinBox" name="MaxAxisLockRate"> <widget class="QDoubleSpinBox" name="MaxAxisLockRate">
<property name="focusPolicy"> <property name="focusPolicy">
<enum>Qt::StrongFocus</enum> <enum>Qt::StrongFocus</enum>
@ -705,19 +659,6 @@ value.</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="2">
<spacer name="verticalSpacer_5">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout> </layout>
</widget> </widget>
</item> </item>

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

@ -43,7 +43,7 @@ ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed); addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
enableControls(false); enableControls(false);
populateWidgets(); populateWidgets();
refreshWidgetsValues(); refreshWidgetsValues(NULL);
} }
ConfigProHWWidget::~ConfigProHWWidget() ConfigProHWWidget::~ConfigProHWWidget()

59
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -53,8 +53,6 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
m_config->setupUi(this); m_config->setupUi(this);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
addUAVObject("ActuatorSettings");
UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>(); UAVSettingsImportExportFactory * importexportplugin = pm->getObject<UAVSettingsImportExportFactory>();
connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests())); connect(importexportplugin,SIGNAL(importAboutToBegin()),this,SLOT(stopTests()));
@ -73,25 +71,37 @@ ConfigOutputWidget::ConfigOutputWidget(QWidget *parent) : ConfigTaskWidget(paren
connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool))); connect(m_config->channelOutTest, SIGNAL(toggled(bool)), this, SLOT(runChannelTests(bool)));
refreshWidgetsValues();
firstUpdate = true; firstUpdate = true;
connect(m_config->spinningArmed, SIGNAL(toggled(bool)), this, SLOT(setSpinningArmed(bool))); // Configure the task widget
// Connect the help button // Connect the help button
connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp())); connect(m_config->outputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
// Add custom handling of displaying things
connect(this,SIGNAL(refreshWidgetsValuesRequested()), this, SLOT(refreshOutputWidgetsValues()));
addApplySaveButtons(m_config->saveRCOutputToRAM,m_config->saveRCOutputToSD);
// Track the ActuatorSettings object
addUAVObject("ActuatorSettings");
// Associate the buttons with their UAVO fields
addWidget(m_config->cb_outputRate4); addWidget(m_config->cb_outputRate4);
addWidget(m_config->cb_outputRate3); addWidget(m_config->cb_outputRate3);
addWidget(m_config->cb_outputRate2); addWidget(m_config->cb_outputRate2);
addWidget(m_config->cb_outputRate1); addWidget(m_config->cb_outputRate1);
addWidget(m_config->spinningArmed); addWidget(m_config->spinningArmed);
disconnect(this, SLOT(refreshWidgetsValues(UAVObject*)));
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>(); UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVObject* obj = objManager->getObject(QString("ActuatorCommand")); UAVObject* obj = objManager->getObject(QString("ActuatorCommand"));
if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE) if(UAVObject::GetGcsTelemetryUpdateMode(obj->getMetadata()) == UAVObject::UPDATEMODE_ONCHANGE)
this->setEnabled(false); this->setEnabled(false);
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*))); connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(disableIfNotMe(UAVObject*)));
refreshWidgetsValues();
} }
void ConfigOutputWidget::enableControls(bool enable) void ConfigOutputWidget::enableControls(bool enable)
{ {
@ -196,24 +206,6 @@ void ConfigOutputWidget::assignOutputChannel(UAVDataObject *obj, QString str)
outputChannelForm->setAssignment(str); outputChannelForm->setAssignment(str);
} }
/**
* Set the "Spin motors at neutral when armed" flag in ActuatorSettings
*/
void ConfigOutputWidget::setSpinningArmed(bool val)
{
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings);
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
if(val)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings
actuatorSettings->setData(actuatorSettingsData);
}
/** /**
Sends the channel value to the UAV to move the servo. Sends the channel value to the UAV to move the servo.
Returns immediately if we are not in testing mode Returns immediately if we are not in testing mode
@ -328,7 +320,16 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
} }
} }
setDirty(dirty); // Get Channel ranges:
foreach(OutputChannelForm *outputChannelForm, outputChannelForms)
{
int minValue = actuatorSettingsData.ChannelMin[outputChannelForm->index()];
int maxValue = actuatorSettingsData.ChannelMax[outputChannelForm->index()];
outputChannelForm->minmax(minValue, maxValue);
int neutral = actuatorSettingsData.ChannelNeutral[outputChannelForm->index()];
outputChannelForm->neutral(neutral);
}
} }
/** /**
@ -336,8 +337,11 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject * obj)
*/ */
void ConfigOutputWidget::updateObjectsFromWidgets() void ConfigOutputWidget::updateObjectsFromWidgets()
{ {
emit updateObjectsFromWidgetsRequested();
ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager()); ActuatorSettings *actuatorSettings = ActuatorSettings::GetInstance(getObjectManager());
Q_ASSERT(actuatorSettings); Q_ASSERT(actuatorSettings);
if(actuatorSettings) {
ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData(); ActuatorSettings::DataFields actuatorSettingsData = actuatorSettings->getData();
// Set channel ranges // Set channel ranges
@ -354,8 +358,15 @@ void ConfigOutputWidget::updateObjectsFromWidgets()
actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt(); actuatorSettingsData.ChannelUpdateFreq[1] = m_config->cb_outputRate2->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt(); actuatorSettingsData.ChannelUpdateFreq[2] = m_config->cb_outputRate3->currentText().toUInt();
actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt(); actuatorSettingsData.ChannelUpdateFreq[3] = m_config->cb_outputRate4->currentText().toUInt();
if(m_config->spinningArmed->isChecked() == true)
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_TRUE;
else
actuatorSettingsData.MotorsSpinWhileArmed = ActuatorSettings::MOTORSSPINWHILEARMED_FALSE;
// Apply settings // Apply settings
actuatorSettings->setData(actuatorSettingsData); actuatorSettings->setData(actuatorSettingsData);
}
} }
void ConfigOutputWidget::openHelp() void ConfigOutputWidget::openHelp()

1
ground/openpilotgcs/src/plugins/config/configoutputwidget.h
View File

@ -73,7 +73,6 @@ private slots:
void updateObjectsFromWidgets(); void updateObjectsFromWidgets();
void runChannelTests(bool state); void runChannelTests(bool state);
void sendChannelTest(int index, int value); void sendChannelTest(int index, int value);
void setSpinningArmed(bool val);
void openHelp(); void openHelp();
protected: protected:
void enableControls(bool enable); void enableControls(bool enable);

8
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -89,9 +89,17 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
timeOut = new QTimer(this); timeOut = new QTimer(this);
connect(timeOut, SIGNAL(timeout()),this,SLOT(disconnected())); connect(timeOut, SIGNAL(timeout()),this,SLOT(disconnected()));
//Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea;
scroll->setWidget(m_pipx->frame_3);
m_pipx->verticalLayout_3->addWidget(scroll);
// Request and update of the setting object. // Request and update of the setting object.
settingsUpdated = false; settingsUpdated = false;
pipxSettingsObj->requestUpdate(); pipxSettingsObj->requestUpdate();
disableMouseWheelEvents();
} }
ConfigPipXtremeWidget::~ConfigPipXtremeWidget() ConfigPipXtremeWidget::~ConfigPipXtremeWidget()

23
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -40,6 +40,11 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
{ {
m_stabilization = new Ui_StabilizationWidget(); m_stabilization = new Ui_StabilizationWidget();
m_stabilization->setupUi(this); m_stabilization->setupUi(this);
// To bring old style sheet back without adding it manually do this:
// Alternatively apply a global stylesheet to the QGroupBox
// setStyleSheet("QGroupBox {background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255)); border: 1px outset #999; border-radius: 3; }");
autoLoadWidgets(); autoLoadWidgets();
realtimeUpdates=new QTimer(this); realtimeUpdates=new QTimer(this);
connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int))); connect(m_stabilization->realTimeUpdates_6,SIGNAL(stateChanged(int)),this,SLOT(realtimeUpdatesSlot(int)));
@ -54,6 +59,24 @@ ConfigStabilizationWidget::ConfigStabilizationWidget(QWidget *parent) : ConfigTa
connect(this,SIGNAL(widgetContentsChanged(QWidget*)),this,SLOT(processLinkedWidgets(QWidget*))); connect(this,SIGNAL(widgetContentsChanged(QWidget*)),this,SLOT(processLinkedWidgets(QWidget*)));
disableMouseWheelEvents(); disableMouseWheelEvents();
// This is needed because new style tries to compact things as much as possible in grid
// and on OSX the widget sizes of PushButtons is reported incorrectly:
// https://bugreports.qt-project.org/browse/QTBUG-14591
m_stabilization->saveStabilizationToRAM_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->saveStabilizationToSD_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->stabilizationReloadBoardData_6->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->saveStabilizationToRAM_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->saveStabilizationToSD_7->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_2->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_3->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_4->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_19->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_20->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_21->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_22->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_23->setAttribute(Qt::WA_LayoutUsesWidgetRect);
m_stabilization->pushButton_24->setAttribute(Qt::WA_LayoutUsesWidgetRect);
} }

22
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -16,23 +16,6 @@
<layout class="QVBoxLayout" name="verticalLayout"> <layout class="QVBoxLayout" name="verticalLayout">
<item> <item>
<widget class="QTabWidget" name="tabWidget"> <widget class="QTabWidget" name="tabWidget">
<property name="styleSheet">
<string notr="true">#groupBox_2,#groupBox{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="currentIndex"> <property name="currentIndex">
<number>0</number> <number>0</number>
</property> </property>
@ -246,7 +229,7 @@ QGroupBox::title {
<x>30</x> <x>30</x>
<y>160</y> <y>160</y>
<width>451</width> <width>451</width>
<height>141</height> <height>161</height>
</rect> </rect>
</property> </property>
<property name="styleSheet"> <property name="styleSheet">
@ -442,9 +425,6 @@ margin:1px;</string>
<height>121</height> <height>121</height>
</rect> </rect>
</property> </property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="title"> <property name="title">
<string>FlightMode Switch Positions</string> <string>FlightMode Switch Positions</string>
</property> </property>

3
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -2,6 +2,7 @@
#include "ui_inputchannelform.h" #include "ui_inputchannelform.h"
#include "manualcontrolsettings.h" #include "manualcontrolsettings.h"
#include "gcsreceiver.h"
inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) : inputChannelForm::inputChannelForm(QWidget *parent,bool showlegend) :
ConfigTaskWidget(parent), ConfigTaskWidget(parent),
@ -115,7 +116,7 @@ void inputChannelForm::groupUpdated()
count = 18; count = 18;
break; break;
case ManualControlSettings::CHANNELGROUPS_GCS: case ManualControlSettings::CHANNELGROUPS_GCS:
count = 5; count = GCSReceiver::CHANNEL_NUMELEM;
break; break;
case ManualControlSettings::CHANNELGROUPS_NONE: case ManualControlSettings::CHANNELGROUPS_NONE:
count = 0; count = 0;

241
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -7,7 +7,7 @@
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>840</width> <width>840</width>
<height>724</height> <height>834</height>
</rect> </rect>
</property> </property>
<property name="windowTitle"> <property name="windowTitle">
@ -23,6 +23,96 @@
<enum>QFrame::Raised</enum> <enum>QFrame::Raised</enum>
</property> </property>
<layout class="QGridLayout" name="gridLayout"> <layout class="QGridLayout" name="gridLayout">
<item row="1" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QGraphicsView" name="graphicsView_Spectrum">
<property name="backgroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="interactive">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="2" column="0" colspan="2">
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item row="0" column="0"> <item row="0" column="0">
<widget class="QFrame" name="frame_2"> <widget class="QFrame" name="frame_2">
<property name="frameShape"> <property name="frameShape">
@ -165,6 +255,12 @@
</item> </item>
<item> <item>
<widget class="QGroupBox" name="groupBox_3"> <widget class="QGroupBox" name="groupBox_3">
<property name="minimumSize">
<size>
<width>400</width>
<height>0</height>
</size>
</property>
<property name="font"> <property name="font">
<font> <font>
<weight>75</weight> <weight>75</weight>
@ -374,7 +470,7 @@
<item row="6" column="0"> <item row="6" column="0">
<widget class="QLabel" name="label_12"> <widget class="QLabel" name="label_12">
<property name="text"> <property name="text">
<string>Frequency Step Size</string> <string>Freq. Step Size</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -779,7 +875,7 @@
<item row="0" column="0"> <item row="0" column="0">
<widget class="QLabel" name="TelemPortConfigLabel"> <widget class="QLabel" name="TelemPortConfigLabel">
<property name="text"> <property name="text">
<string>Telemetry Port Configuration</string> <string>Telemetry Port Config.</string>
</property> </property>
<property name="alignment"> <property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set> <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
@ -1105,13 +1201,13 @@
<bool>true</bool> <bool>true</bool>
</property> </property>
<property name="minimum"> <property name="minimum">
<double>0</double> <number>0</number>
</property> </property>
<property name="maximum"> <property name="maximum">
<double>1000000000</double> <number>1000000000</number>
</property> </property>
<property name="singleStep"> <property name="singleStep">
<double>100000</double> <number>100000</number>
</property> </property>
</widget> </widget>
</item> </item>
@ -1213,98 +1309,51 @@
</layout> </layout>
</widget> </widget>
</item> </item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_12">
<item>
<widget class="QGraphicsView" name="graphicsView_Spectrum">
<property name="backgroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="foregroundBrush">
<brush brushstyle="NoBrush">
<color alpha="255">
<red>0</red>
<green>0</green>
<blue>0</blue>
</color>
</brush>
</property>
<property name="interactive">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QLabel" name="message">
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QPushButton" name="Apply">
<property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string>
</property>
<property name="text">
<string>Apply</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="Save">
<property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string>
</property>
<property name="text">
<string>Save</string>
</property>
<property name="checked">
<bool>false</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout> </layout>
</widget> </widget>
<tabstops>
<tabstop>PairSelect1</tabstop>
<tabstop>PairID1</tabstop>
<tabstop>PairSelect2</tabstop>
<tabstop>PairID2</tabstop>
<tabstop>PairSelect3</tabstop>
<tabstop>PairID3</tabstop>
<tabstop>PairSelect4</tabstop>
<tabstop>PairID4</tabstop>
<tabstop>FirmwareVersion</tabstop>
<tabstop>SerialNumber</tabstop>
<tabstop>DeviceID</tabstop>
<tabstop>MinFrequency</tabstop>
<tabstop>MaxFrequency</tabstop>
<tabstop>FrequencyStepSize</tabstop>
<tabstop>LinkState</tabstop>
<tabstop>RxAFC</tabstop>
<tabstop>Retries</tabstop>
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<connections/> <connections/>
</ui> </ui>

1177
ground/openpilotgcs/src/plugins/config/stabilization.ui
View File

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@ -7438,7 +6818,7 @@ border-radius: 4;
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="7" column="2"> <item row="4" column="1">
<widget class="QLabel" name="label_161"> <widget class="QLabel" name="label_161">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@ -7446,19 +6826,12 @@ border-radius: 4;
<height>16</height> <height>16</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text"> <property name="text">
<string>Stick Range and Limits</string> <string>Stick Range and Limits</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="8" column="1" colspan="4"> <item row="5" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_19"> <widget class="QGroupBox" name="RateStabilizationGroup_19">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -7992,16 +7365,6 @@ border-radius: 4;
</disabled> </disabled>
</palette> </palette>
</property> </property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_19{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -8019,7 +7382,7 @@ border-radius: 3;
</property> </property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>10</width> <width>1000</width>
<height>10</height> <height>10</height>
</size> </size>
</property> </property>
@ -8027,24 +7390,12 @@ border-radius: 3;
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QPushButton" name="pushButton_23"> <widget class="QPushButton" name="pushButton_23">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>51</width> <width>51</width>
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>51</width>
<height>28</height>
</size>
</property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">QPushButton { <string notr="true">QPushButton {
border: 1px outset #999; border: 1px outset #999;
@ -8091,12 +7442,6 @@ border-radius: 4;
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">QPushButton { <string notr="true">QPushButton {
border: 1px outset #999; border: 1px outset #999;
@ -11063,23 +10408,7 @@ Attitude</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="9" column="3"> <item row="7" column="2">
<spacer name="verticalSpacer_9">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="11" column="4">
<spacer name="verticalSpacer_10"> <spacer name="verticalSpacer_10">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Vertical</enum>
@ -11095,23 +10424,7 @@ Attitude</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="2" column="0"> <item row="6" column="0" colspan="3">
<spacer name="horizontalSpacer_16">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="10" column="1" colspan="4">
<widget class="QGroupBox" name="RateStabilizationGroup_21"> <widget class="QGroupBox" name="RateStabilizationGroup_21">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -11648,13 +10961,6 @@ Attitude</string>
<property name="autoFillBackground"> <property name="autoFillBackground">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_21{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -11734,29 +11040,12 @@ automatically every 300ms, which will help for fast tuning.</string>
</item> </item>
<item row="1" column="2"> <item row="1" column="2">
<widget class="QPushButton" name="stabilizationReloadBoardData_6"> <widget class="QPushButton" name="stabilizationReloadBoardData_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>120</width> <width>120</width>
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>120</width>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Reloads the saved settings into GCS. <string>Reloads the saved settings into GCS.
Useful if you have accidentally changed some settings.</string> Useful if you have accidentally changed some settings.</string>
@ -11795,29 +11084,12 @@ border-radius: 4;
</item> </item>
<item row="1" column="3"> <item row="1" column="3">
<widget class="QPushButton" name="saveStabilizationToRAM_6"> <widget class="QPushButton" name="saveStabilizationToRAM_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>60</width> <width>60</width>
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>60</width>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string> <string>Send settings to the board but do not save to the non-volatile memory</string>
</property> </property>
@ -11854,29 +11126,12 @@ border-radius: 4;
</item> </item>
<item row="1" column="4"> <item row="1" column="4">
<widget class="QPushButton" name="saveStabilizationToSD_6"> <widget class="QPushButton" name="saveStabilizationToSD_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>60</width> <width>60</width>
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>60</width>
<height>28</height>
</size>
</property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string> <string>Send settings to the board and save to the non-volatile memory</string>
</property> </property>
@ -11939,27 +11194,11 @@ border-radius: 4;
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>673</width> <width>673</width>
<height>1079</height> <height>981</height>
</rect> </rect>
</property> </property>
<layout class="QGridLayout" name="gridLayout_15"> <layout class="QGridLayout" name="gridLayout_15">
<item row="0" column="2"> <item row="0" column="0">
<spacer name="verticalSpacer_11">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>25</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="1" column="1">
<spacer name="horizontalSpacer_25"> <spacer name="horizontalSpacer_25">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
@ -11975,7 +11214,7 @@ border-radius: 4;
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="1" column="2" colspan="2"> <item row="0" column="1" colspan="2">
<widget class="QLabel" name="label_41"> <widget class="QLabel" name="label_41">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@ -11983,19 +11222,12 @@ border-radius: 4;
<height>16</height> <height>16</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text"> <property name="text">
<string>Rate Stabization Coefficients (Inner Loop)</string> <string>Rate Stabization Coefficients (Inner Loop)</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="2" column="1" rowspan="2" colspan="3"> <item row="1" column="0" rowspan="2" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_8"> <widget class="QGroupBox" name="RateStabilizationGroup_8">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -12529,16 +11761,6 @@ border-radius: 4;
</disabled> </disabled>
</palette> </palette>
</property> </property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_8{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -15474,55 +14696,7 @@ value as the Kp.</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="2" column="4">
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="0"> <item row="3" column="0">
<spacer name="horizontalSpacer_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>2</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="4" column="2">
<spacer name="verticalSpacer_12">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>15</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1">
<spacer name="horizontalSpacer_12"> <spacer name="horizontalSpacer_12">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
@ -15538,7 +14712,7 @@ value as the Kp.</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="5" column="2" colspan="2"> <item row="3" column="1" colspan="2">
<widget class="QLabel" name="label_35"> <widget class="QLabel" name="label_35">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@ -15546,19 +14720,12 @@ value as the Kp.</string>
<height>16</height> <height>16</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text"> <property name="text">
<string>Attitude Stabization Coefficients (Outer Loop)</string> <string>Attitude Stabization Coefficients (Outer Loop)</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="6" column="1" colspan="3"> <item row="4" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_4"> <widget class="QGroupBox" name="RateStabilizationGroup_4">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -16095,13 +15262,6 @@ value as the Kp.</string>
<property name="autoFillBackground"> <property name="autoFillBackground">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_4{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -16112,85 +15272,6 @@ border-radius: 3;
<bool>false</bool> <bool>false</bool>
</property> </property>
<layout class="QGridLayout" name="gridLayout_4"> <layout class="QGridLayout" name="gridLayout_4">
<item row="0" column="0">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>10</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_2">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
border-radius: 5;
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
}
QPushButton:pressed {
border-style: inset;
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
}
QPushButton:hover {
border: 1px outset #999;
border-color: rgb(83, 83, 83);
border-radius: 4;
}</string>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="1" column="0" colspan="3"> <item row="1" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_5"> <widget class="QGroupBox" name="RateStabilizationGroup_5">
<property name="sizePolicy"> <property name="sizePolicy">
@ -18839,26 +17920,89 @@ border-radius: 5;</string>
</layout> </layout>
</widget> </widget>
</item> </item>
</layout> <item row="0" column="0">
</widget> <spacer name="horizontalSpacer_7">
</item>
<item row="7" column="2">
<spacer name="verticalSpacer_13">
<property name="orientation"> <property name="orientation">
<enum>Qt::Vertical</enum> <enum>Qt::Horizontal</enum>
</property> </property>
<property name="sizeType"> <property name="sizeType">
<enum>QSizePolicy::Fixed</enum> <enum>QSizePolicy::Fixed</enum>
</property> </property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>20</width> <width>10</width>
<height>15</height> <height>10</height>
</size> </size>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="8" column="1"> <item row="0" column="2">
<widget class="QPushButton" name="pushButton_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">QPushButton {
border: 1px outset #999;
border-radius: 5;
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0.28 rgba(236, 236, 236, 255), stop:1 rgba(252, 252, 252, 255));
}
QPushButton:pressed {
border-style: inset;
background-color: qlineargradient(spread:pad, x1:0.502, y1:0.664864, x2:0.502, y2:0.034, stop:0.358209 rgba(250, 250, 250, 255), stop:0.626866 rgba(235, 235, 235, 255));
}
QPushButton:hover {
border: 1px outset #999;
border-color: rgb(83, 83, 83);
border-radius: 4;
}</string>
</property>
<property name="text">
<string>Default</string>
</property>
<property name="objrelation" stdset="0">
<stringlist>
<string>objname:StabilizationSettings</string>
<string>button:default</string>
<string>buttongroup:5</string>
</stringlist>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QCheckBox" name="checkBox_2">
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Link Roll and Pitch</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item row="5" column="0">
<spacer name="horizontalSpacer_13"> <spacer name="horizontalSpacer_13">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
@ -18874,7 +18018,7 @@ border-radius: 5;</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="8" column="2" colspan="2"> <item row="5" column="1" colspan="2">
<widget class="QLabel" name="label_36"> <widget class="QLabel" name="label_36">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@ -18882,19 +18026,12 @@ border-radius: 5;</string>
<height>16</height> <height>16</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text"> <property name="text">
<string>Stick Range and Limits</string> <string>Stick Range and Limits</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="9" column="1" colspan="3"> <item row="6" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_6"> <widget class="QGroupBox" name="RateStabilizationGroup_6">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -19428,16 +18565,6 @@ border-radius: 5;</string>
</disabled> </disabled>
</palette> </palette>
</property> </property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_6{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -19455,7 +18582,7 @@ border-radius: 3;
</property> </property>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>10</width> <width>10000</width>
<height>10</height> <height>10</height>
</size> </size>
</property> </property>
@ -19463,24 +18590,12 @@ border-radius: 3;
</item> </item>
<item row="0" column="1"> <item row="0" column="1">
<widget class="QPushButton" name="pushButton_3"> <widget class="QPushButton" name="pushButton_3">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>81</width> <width>81</width>
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="maximumSize">
<size>
<width>81</width>
<height>28</height>
</size>
</property>
<property name="styleSheet"> <property name="styleSheet">
<string notr="true">QPushButton { <string notr="true">QPushButton {
border: 1px outset #999; border: 1px outset #999;
@ -22192,23 +21307,7 @@ rate(deg/s)</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="10" column="3"> <item row="7" column="0">
<spacer name="verticalSpacer_14">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="11" column="1">
<spacer name="horizontalSpacer_41"> <spacer name="horizontalSpacer_41">
<property name="orientation"> <property name="orientation">
<enum>Qt::Horizontal</enum> <enum>Qt::Horizontal</enum>
@ -22224,7 +21323,7 @@ rate(deg/s)</string>
</property> </property>
</spacer> </spacer>
</item> </item>
<item row="11" column="2" colspan="2"> <item row="7" column="1" colspan="2">
<widget class="QLabel" name="label_45"> <widget class="QLabel" name="label_45">
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
@ -22232,26 +21331,13 @@ rate(deg/s)</string>
<height>16</height> <height>16</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text"> <property name="text">
<string>Sensor Tunning</string> <string>Sensor Tunning</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="12" column="1" colspan="3"> <item row="8" column="0" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_23"> <widget class="QGroupBox" name="RateStabilizationGroup_23">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize"> <property name="minimumSize">
<size> <size>
<width>0</width> <width>0</width>
@ -22781,13 +21867,6 @@ rate(deg/s)</string>
<property name="autoFillBackground"> <property name="autoFillBackground">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_23{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -25118,23 +24197,7 @@ border-radius: 5;</string>
</layout> </layout>
</widget> </widget>
</item> </item>
<item row="13" column="1" colspan="2"> <item row="9" column="0" colspan="3">
<spacer name="verticalSpacer_15">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="14" column="1" colspan="3">
<widget class="QGroupBox" name="RateStabilizationGroup_22"> <widget class="QGroupBox" name="RateStabilizationGroup_22">
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed"> <sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -25671,13 +24734,6 @@ border-radius: 5;</string>
<property name="autoFillBackground"> <property name="autoFillBackground">
<bool>false</bool> <bool>false</bool>
</property> </property>
<property name="styleSheet">
<string notr="true">#RateStabilizationGroup_22{background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
}</string>
</property>
<property name="title"> <property name="title">
<string/> <string/>
</property> </property>
@ -25724,13 +24780,6 @@ border-radius: 3;
<verstretch>0</verstretch> <verstretch>0</verstretch>
</sizepolicy> </sizepolicy>
</property> </property>
<property name="font">
<font>
<pointsize>9</pointsize>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="toolTip"> <property name="toolTip">
<string>If you check this, the GCS will udpate the stabilization factors <string>If you check this, the GCS will udpate the stabilization factors
automatically every 300ms, which will help for fast tuning.</string> automatically every 300ms, which will help for fast tuning.</string>
@ -25776,11 +24825,6 @@ automatically every 300ms, which will help for fast tuning.</string>
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Send settings to the board but do not save to the non-volatile memory</string> <string>Send settings to the board but do not save to the non-volatile memory</string>
</property> </property>
@ -25835,11 +24879,6 @@ border-radius: 4;
<height>28</height> <height>28</height>
</size> </size>
</property> </property>
<property name="font">
<font>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip"> <property name="toolTip">
<string>Send settings to the board and save to the non-volatile memory</string> <string>Send settings to the board and save to the non-volatile memory</string>
</property> </property>

39
ground/openpilotgcs/src/plugins/config/txpid.ui
View File

@ -27,8 +27,8 @@
<rect> <rect>
<x>0</x> <x>0</x>
<y>0</y> <y>0</y>
<width>702</width> <width>696</width>
<height>489</height> <height>475</height>
</rect> </rect>
</property> </property>
<layout class="QVBoxLayout" name="verticalLayout_2"> <layout class="QVBoxLayout" name="verticalLayout_2">
@ -84,6 +84,9 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
</item> </item>
<item> <item>
<widget class="QGroupBox" name="groupBox_6"> <widget class="QGroupBox" name="groupBox_6">
<property name="enabled">
<bool>true</bool>
</property>
<property name="sizePolicy"> <property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Minimum"> <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
<horstretch>0</horstretch> <horstretch>0</horstretch>
@ -96,23 +99,6 @@ Up to 3 separate PID options (or option pairs) can be selected and updated.</str
<height>100</height> <height>100</height>
</size> </size>
</property> </property>
<property name="styleSheet">
<string notr="true">#groupBox_6{
background-color: qlineargradient(spread:pad, x1:0.507, y1:0.869318, x2:0.507, y2:0.0965909, stop:0 rgba(243, 243, 243, 255), stop:1 rgba(250, 250, 250, 255));
border: 1px outset #999;
border-radius: 3;
font:bold;
}
QGroupBox::title {
subcontrol-origin: margin;
subcontrol-position: top center; /* position at the top center */
padding: 0 3px;
background-color: qlineargradient(x1: 0, y1: 0, x2: 0, y2: 1,
stop: 0 #FFOECE, stop: 1 #FFFFFF);
top: 5px;
}</string>
</property>
<property name="title"> <property name="title">
<string>Module Settings</string> <string>Module Settings</string>
</property> </property>
@ -509,19 +495,6 @@ margin:1px;</string>
</property> </property>
</widget> </widget>
</item> </item>
<item row="0" column="2">
<spacer name="verticalSpacer_4">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="5" column="1"> <item row="5" column="1">
<spacer name="verticalSpacer_3"> <spacer name="verticalSpacer_3">
<property name="orientation"> <property name="orientation">
@ -549,7 +522,7 @@ margin:1px;</string>
<property name="sizeHint" stdset="0"> <property name="sizeHint" stdset="0">
<size> <size>
<width>20</width> <width>20</width>
<height>40</height> <height>20</height>
</size> </size>
</property> </property>
</spacer> </spacer>

11
ground/openpilotgcs/src/plugins/coreplugin/modemanager.cpp
View File

@ -124,6 +124,17 @@ void ModeManager::activateMode(const QString &id)
m_modeStack->setCurrentIndex(index); m_modeStack->setCurrentIndex(index);
} }
void ModeManager::activateModeByWorkspaceName(const QString &id)
{
for (int i = 0; i < m_modes.count(); ++i) {
if (m_modes.at(i)->name() == id)
{
m_modeStack->setCurrentIndex(i);
return;
}
}
}
void ModeManager::objectAdded(QObject *obj) void ModeManager::objectAdded(QObject *obj)
{ {
IMode *mode = Aggregation::query<IMode>(obj); IMode *mode = Aggregation::query<IMode>(obj);

1
ground/openpilotgcs/src/plugins/coreplugin/modemanager.h
View File

@ -80,6 +80,7 @@ signals:
public slots: public slots:
void activateMode(const QString &id); void activateMode(const QString &id);
void activateModeByWorkspaceName(const QString &id);
void setFocusToCurrentMode(); void setFocusToCurrentMode();
private slots: private slots:

47
ground/openpilotgcs/src/plugins/hitlnew/fgsimulator.cpp
View File

@ -308,13 +308,7 @@ void FGSimulator::processUpdate(const QByteArray& inp)
double ECEF[3]; double ECEF[3];
double RNE[9]; double RNE[9];
Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE); Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
for (int t=0;t<9;t++) {
homeData.RNE[t]=RNE[t];
}
Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF); Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
homeData.ECEF[0]=ECEF[0]*100;
homeData.ECEF[1]=ECEF[1]*100;
homeData.ECEF[2]=ECEF[2]*100;
homeData.Be[0]=0; homeData.Be[0]=0;
homeData.Be[1]=0; homeData.Be[1]=0;
homeData.Be[2]=0; homeData.Be[2]=0;
@ -335,7 +329,7 @@ void FGSimulator::processUpdate(const QByteArray& inp)
memset(&positionActualData, 0, sizeof(PositionActual::DataFields)); memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
positionActualData.North = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance positionActualData.North = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.East = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance positionActualData.East = 0; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.Down = (altitude * 100); //Multiply by 100 because positionActual expects input in Centimeters. positionActualData.Down = altitude ; //Multiply by 1 because positionActual expects input in meters.
posActual->setData(positionActualData); posActual->setData(positionActualData);
// Update AltitudeActual object // Update AltitudeActual object
@ -371,26 +365,39 @@ void FGSimulator::processUpdate(const QByteArray& inp)
gpsPos->setData(gpsData); gpsPos->setData(gpsData);
float NED[3]; float NED[3];
double LLA[3] = {(double) gpsData.Latitude / 1e7, (double) gpsData.Longitude / 1e7, (double) (gpsData.GeoidSeparation + gpsData.Altitude)};
// convert from cm back to meters // convert from cm back to meters
double ECEF[3] = {(double) (homeData.ECEF[0] / 100), (double) (homeData.ECEF[1] / 100), (double) (homeData.ECEF[2] / 100)};
Utils::CoordinateConversions().LLA2Base(LLA, ECEF, (float (*)[3]) homeData.RNE, NED);
positionActualData.North = NED[0]*100; //Currently hardcoded as there is no way of setting up a reference point to calculate distance double hLLA[3] = {(double) homeData.Latitude / 1e7, (double) homeData.Longitude / 1e7, (double) (homeData.Altitude)};
positionActualData.East = NED[1]*100; //Currently hardcoded as there is no way of setting up a reference point to calculate distance double ECEF[3];
positionActualData.Down = NED[2]*100; //Multiply by 100 because positionActual expects input in Centimeters. double RNE[9];
Utils::CoordinateConversions().RneFromLLA(hLLA,(double (*)[3])RNE);
Utils::CoordinateConversions().LLA2ECEF(hLLA,ECEF);
Utils::CoordinateConversions().LLA2Base(hLLA, ECEF, (float (*)[3]) RNE, NED);
positionActualData.North = NED[0]; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.East = NED[1]; //Currently hardcoded as there is no way of setting up a reference point to calculate distance
positionActualData.Down = NED[2]; //Multiply by 1 because positionActual expects input in meters.
posActual->setData(positionActualData); posActual->setData(positionActualData);
// Update AttitudeRaw object (filtered gyros only for now) // Update AttitudeRaw object (filtered gyros only for now)
AttitudeRaw::DataFields rawData; //AttitudeRaw::DataFields rawData;
memset(&rawData, 0, sizeof(AttitudeRaw::DataFields)); //AttitudeRaw::DataFields rawData;
rawData = attRaw->getData(); Gyros::DataFields gyroData;
rawData.gyros[0] = rollRate; Accels::DataFields accelData;
memset(&gyroData, 0, sizeof(Gyros::DataFields));
memset(&accelData, 0, sizeof(Accels::DataFields));
gyroData = gyros->getData();
accelData = accels->getData();
//rawData.gyros[0] = rollRate;
//rawData.gyros[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate; //rawData.gyros[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate;
//rawData.gyros[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate; //rawData.gyros[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate;
rawData.gyros[1] = pitchRate; //rawData.gyros[1] = pitchRate;
rawData.gyros[2] = yawRate; //rawData.gyros[2] = yawRate;
attRaw->setData(rawData); gyroData.x = rollRate;
gyroData.y = pitchRate;
gyroData.z = yawRate;
// TODO: Accels are still missing!!!!
gyros->setData(gyroData);
// attRaw->updated(); // attRaw->updated();
} }

56
ground/openpilotgcs/src/plugins/hitlnew/il2simulator.cpp
View File

@ -263,35 +263,45 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
// Update positionActual objects // Update positionActual objects
PositionActual::DataFields posData; PositionActual::DataFields posData;
memset(&posData, 0, sizeof(PositionActual::DataFields)); memset(&posData, 0, sizeof(PositionActual::DataFields));
posData.North = current.Y*100; posData.North = current.Y;
posData.East = current.X*100; posData.East = current.X;
posData.Down = current.Z*-100; posData.Down = current.Z*-1.;
// Update velocityActual objects // Update velocityActual objects
VelocityActual::DataFields velData; VelocityActual::DataFields velData;
memset(&velData, 0, sizeof(VelocityActual::DataFields)); memset(&velData, 0, sizeof(VelocityActual::DataFields));
velData.North = current.dY*100; velData.North = current.dY;
velData.East = current.dX*100; velData.East = current.dX;
velData.Down = current.dZ*-100; velData.Down = current.dZ*-1.;
// Update AttitudeRaw object (filtered gyros and accels only for now) // Update AttitudeRaw object (filtered gyros and accels only for now)
AttitudeRaw::DataFields rawData; //AttitudeRaw::DataFields rawData;
memset(&rawData, 0, sizeof(AttitudeRaw::DataFields)); //memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
rawData = attRaw->getData(); //rawData = attRaw->getData();
Gyros::DataFields gyroData;
Accels::DataFields accelData;
memset(&gyroData, 0, sizeof(Gyros::DataFields));
memset(&accelData, 0, sizeof(Accels::DataFields));
gyroData = gyros->getData();
accelData = accels->getData();
// rotate turn rates and accelerations into body frame // rotate turn rates and accelerations into body frame
// (note: rotation deltas are NOT in NED frame but in RPY - manual conversion!) // (note: rotation deltas are NOT in NED frame but in RPY - manual conversion!)
rawData.gyros[0] = current.dRoll; gyroData.x = current.dRoll;
rawData.gyros[1] = cos(DEG2RAD * current.roll) * current.dPitch + sin(DEG2RAD * current.roll) * current.dAzimuth; gyroData.y = cos(DEG2RAD * current.roll) * current.dPitch + sin(DEG2RAD * current.roll) * current.dAzimuth;
rawData.gyros[2] = cos(DEG2RAD * current.roll) * current.dAzimuth - sin(DEG2RAD * current.roll) * current.dPitch; gyroData.z = cos(DEG2RAD * current.roll) * current.dAzimuth - sin(DEG2RAD * current.roll) * current.dPitch;
// accels are in NED and can be converted using standard ned->local rotation matrix // accels are in NED and can be converted using standard ned->local rotation matrix
float Rbe[3][3]; float Rbe[3][3];
Utils::CoordinateConversions().Quaternion2R(quat,Rbe); Utils::CoordinateConversions().Quaternion2R(quat,Rbe);
for (int t=0;t<3;t++) { accelData.x = current.ddX*Rbe[0][0]
rawData.accels[t]=current.ddX*Rbe[t][0] +current.ddY*Rbe[0][1]
+current.ddY*Rbe[t][1] +(current.ddZ+GEE)*Rbe[0][2];
+(current.ddZ+GEE)*Rbe[t][2]; accelData.y = current.ddX*Rbe[1][0]
} +current.ddY*Rbe[1][1]
rawData.accels[2]=-rawData.accels[2]; +(current.ddZ+GEE)*Rbe[1][2];
accelData.z = - (current.ddX*Rbe[2][0]
+current.ddY*Rbe[2][1]
+(current.ddZ+GEE)*Rbe[2][2]);
// Update homelocation // Update homelocation
HomeLocation::DataFields homeData; HomeLocation::DataFields homeData;
@ -307,13 +317,7 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
double ECEF[3]; double ECEF[3];
double RNE[9]; double RNE[9];
Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE); Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
for (int t=0;t<9;t++) {
homeData.RNE[t]=RNE[t];
}
Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF); Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
homeData.ECEF[0]=ECEF[0]*100;
homeData.ECEF[1]=ECEF[1]*100;
homeData.ECEF[2]=ECEF[2]*100;
homeData.Be[0]=0; homeData.Be[0]=0;
homeData.Be[1]=0; homeData.Be[1]=0;
homeData.Be[2]=0; homeData.Be[2]=0;
@ -339,7 +343,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
// update every time (50ms) // update every time (50ms)
attActual->setData(attActualData); attActual->setData(attActualData);
//attActual->updated(); //attActual->updated();
attRaw->setData(rawData); //attRaw->setData(rawData);
gyros->setData(gyroData);
accels->setData(accelData);
//attRaw->updated(); //attRaw->updated();
velActual->setData(velData); velActual->setData(velData);
//velActual->updated(); //velActual->updated();

8
ground/openpilotgcs/src/plugins/hitlnew/simulator.cpp
View File

@ -49,7 +49,7 @@ Simulator::Simulator(const SimulatorSettings& params) :
outSocket(NULL), outSocket(NULL),
settings(params), settings(params),
updatePeriod(50), updatePeriod(50),
simTimeout(2000), simTimeout(8000),
autopilotConnectionStatus(false), autopilotConnectionStatus(false),
simConnectionStatus(false), simConnectionStatus(false),
txTimer(NULL), txTimer(NULL),
@ -131,7 +131,8 @@ void Simulator::onStart()
posActual = PositionActual::GetInstance(objManager); posActual = PositionActual::GetInstance(objManager);
altActual = BaroAltitude::GetInstance(objManager); altActual = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager); attActual = AttitudeActual::GetInstance(objManager);
attRaw = AttitudeRaw::GetInstance(objManager); accels = Accels::GetInstance(objManager);
gyros = Gyros::GetInstance(objManager);
gpsPos = GPSPosition::GetInstance(objManager); gpsPos = GPSPosition::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager); telStats = GCSTelemetryStats::GetInstance(objManager);
@ -225,7 +226,8 @@ void Simulator::setupObjects()
setupOutputObject(posActual, 250); setupOutputObject(posActual, 250);
setupOutputObject(velActual, 250); setupOutputObject(velActual, 250);
setupOutputObject(posHome, 1000); setupOutputObject(posHome, 1000);
setupOutputObject(attRaw, 10); setupOutputObject(accels, 10);
setupOutputObject(gyros, 10);
//setupOutputObject(attRaw, 100); //setupOutputObject(attRaw, 100);

6
ground/openpilotgcs/src/plugins/hitlnew/simulator.h
View File

@ -44,7 +44,8 @@
#include "attitudeactual.h" #include "attitudeactual.h"
#include "gpsposition.h" #include "gpsposition.h"
#include "homelocation.h" #include "homelocation.h"
#include "attituderaw.h" #include "accels.h"
#include "gyros.h"
#include "gcstelemetrystats.h" #include "gcstelemetrystats.h"
#include "flightstatus.h" #include "flightstatus.h"
@ -177,7 +178,8 @@ protected:
VelocityActual* velActual; VelocityActual* velActual;
PositionActual* posActual; PositionActual* posActual;
HomeLocation* posHome; HomeLocation* posHome;
AttitudeRaw* attRaw; Accels* accels;
Gyros* gyros;
GPSPosition* gpsPos; GPSPosition* gpsPos;
GCSTelemetryStats* telStats; GCSTelemetryStats* telStats;

50
ground/openpilotgcs/src/plugins/hitlnew/xplanesimulator.cpp
View File

@ -306,13 +306,7 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
double ECEF[3]; double ECEF[3];
double RNE[9]; double RNE[9];
Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE); Utils::CoordinateConversions().RneFromLLA(LLA,(double (*)[3])RNE);
for (int t=0;t<9;t++) {
homeData.RNE[t]=RNE[t];
}
Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF); Utils::CoordinateConversions().LLA2ECEF(LLA,ECEF);
homeData.ECEF[0]=ECEF[0]*100;
homeData.ECEF[1]=ECEF[1]*100;
homeData.ECEF[2]=ECEF[2]*100;
homeData.Be[0]=0; homeData.Be[0]=0;
homeData.Be[1]=0; homeData.Be[1]=0;
homeData.Be[2]=0; homeData.Be[2]=0;
@ -368,33 +362,45 @@ void XplaneSimulator::processUpdate(const QByteArray& dataBuf)
// Update VelocityActual.{Nort,East,Down} // Update VelocityActual.{Nort,East,Down}
VelocityActual::DataFields velocityActualData; VelocityActual::DataFields velocityActualData;
memset(&velocityActualData, 0, sizeof(VelocityActual::DataFields)); memset(&velocityActualData, 0, sizeof(VelocityActual::DataFields));
velocityActualData.North = velY*100; velocityActualData.North = velY;
velocityActualData.East = velX*100; velocityActualData.East = velX;
velocityActualData.Down = -velZ*100; velocityActualData.Down = -velZ;
velActual->setData(velocityActualData); velActual->setData(velocityActualData);
// Update PositionActual.{Nort,East,Down} // Update PositionActual.{Nort,East,Down}
PositionActual::DataFields positionActualData; PositionActual::DataFields positionActualData;
memset(&positionActualData, 0, sizeof(PositionActual::DataFields)); memset(&positionActualData, 0, sizeof(PositionActual::DataFields));
positionActualData.North = (dstY-initY)*100; positionActualData.North = (dstY-initY);
positionActualData.East = (dstX-initX)*100; positionActualData.East = (dstX-initX);
positionActualData.Down = -(dstZ-initZ)*100; positionActualData.Down = -(dstZ-initZ);
posActual->setData(positionActualData); posActual->setData(positionActualData);
// Update AttitudeRaw object (filtered gyros only for now) // Update AttitudeRaw object (filtered gyros only for now)
AttitudeRaw::DataFields rawData; //AttitudeRaw::DataFields rawData;
memset(&rawData, 0, sizeof(AttitudeRaw::DataFields)); //memset(&rawData, 0, sizeof(AttitudeRaw::DataFields));
rawData = attRaw->getData(); //rawData = attRaw->getData();
rawData.gyros[0] = rollRate; //rawData.gyros[0] = rollRate;
//rawData.gyros_filtered[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate; //rawData.gyros_filtered[1] = cos(DEG2RAD * roll) * pitchRate + sin(DEG2RAD * roll) * yawRate;
//rawData.gyros_filtered[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate; //rawData.gyros_filtered[2] = cos(DEG2RAD * roll) * yawRate - sin(DEG2RAD * roll) * pitchRate;
rawData.gyros[1] = pitchRate; //rawData.gyros[1] = pitchRate;
rawData.gyros[2] = yawRate; //rawData.gyros[2] = yawRate;
rawData.accels[0] = accX; //rawData.accels[0] = accX;
rawData.accels[1] = accY; //rawData.accels[1] = accY;
rawData.accels[2] = -accZ; //rawData.accels[2] = -accZ;
attRaw->setData(rawData); //attRaw->setData(rawData);
Gyros::DataFields gyroData;
memset(&gyroData, 0, sizeof(Gyros::DataFields));
gyroData.x = rollRate;
gyroData.y = pitchRate;
gyroData.z = yawRate;
gyros->setData(gyroData);
Accels::DataFields accelData;
memset(&accelData, 0, sizeof(Accels::DataFields));
accelData.x = accX;
accelData.y = accY;
accelData.z = -accZ;
accels->setData(accelData);
} }
// issue manual update // issue manual update

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#include "aerosimrc.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
AeroSimRCSimulator::AeroSimRCSimulator(const SimulatorSettings &params)
: Simulator(params)
{
udpCounterASrecv = 0;
}
AeroSimRCSimulator::~AeroSimRCSimulator()
{
}
bool AeroSimRCSimulator::setupProcess()
{
QMutexLocker locker(&lock);
return true;
}
void AeroSimRCSimulator::setupUdpPorts(const QString &host, int inPort, int outPort)
{
Q_UNUSED(outPort)
if (inSocket->bind(QHostAddress(host), inPort))
emit processOutput("Successfully bound to address " + host + ", port " + QString::number(inPort) + "\n");
else
emit processOutput("Cannot bind to address " + host + ", port " + QString::number(inPort) + "\n");
}
void AeroSimRCSimulator::transmitUpdate()
{
// read actuator output
ActuatorCommand::DataFields actCmdData;
actCmdData = actCommand->getData();
float channels[10];
for (int i = 0; i < 10; ++i) {
qint16 ch = actCmdData.Channel[i];
float out = -1.0;
if (ch >= 1000 && ch <= 2000) {
ch -= 1000;
out = ((float)ch / 500.0) - 1.0;
}
channels[i] = out;
}
// read flight status
FlightStatus::DataFields flightData;
flightData = flightStatus->getData();
quint8 armed;
quint8 mode;
armed = flightData.Armed;
mode = flightData.FlightMode;
QByteArray data;
// 50 - current size of values, 4(quint32) + 10*4(float) + 2(quint8) + 4(quint32)
data.resize(50);
QDataStream stream(&data, QIODevice::WriteOnly);
stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
stream << quint32(0x52434D44); // magic header, "RCMD"
for (int i = 0; i < 10; ++i)
stream << channels[i]; // channels
stream << armed << mode; // flight status
stream << udpCounterASrecv; // packet counter
if (outSocket->writeDatagram(data, QHostAddress(settings.remoteAddress), settings.outPort) == -1) {
qDebug() << "write failed: " << outSocket->errorString();
}
#ifdef DBG_TIMERS
static int cntTX = 0;
if (cntTX >= 100) {
qDebug() << "TX=" << 1000.0 * 100 / timeTX.restart();
cntTX = 0;
} else {
++cntTX;
}
#endif
}
void AeroSimRCSimulator::processUpdate(const QByteArray &data)
{
// check size
if (data.size() > 188) {
qDebug() << "!!! big datagram: " << data.size();
return;
}
QByteArray buf = data;
QDataStream stream(&buf, QIODevice::ReadOnly);
stream.setFloatingPointPrecision(QDataStream::SinglePrecision);
// check magic header
quint32 magic;
stream >> magic;
if (magic != 0x4153494D) { // "AERO"
qDebug() << "wrong magic: " << magic << ", correct: " << quint32(0x4153494D);
return;
}
float timeStep,
homeX, homeY, homeZ,
WpHX, WpHY, WpLat, WpLon,
posX, posY, posZ, // world
velX, velY, velZ, // world
angX, angY, angZ, // model
accX, accY, accZ, // model
lat, lon, agl, // world
yaw, pitch, roll, // model
volt, curr,
rx, ry, rz, fx, fy, fz, ux, uy, uz, // matrix
ch[8];
stream >> timeStep;
stream >> homeX >> homeY >> homeZ;
stream >> WpHX >> WpHY >> WpLat >> WpLon;
stream >> posX >> posY >> posZ;
stream >> velX >> velY >> velZ;
stream >> angX >> angY >> angZ;
stream >> accX >> accY >> accZ;
stream >> lat >> lon >> agl;
stream >> yaw >> pitch >> roll;
stream >> volt >> curr;
stream >> rx >> ry >> rz >> fx >> fy >> fz >> ux >> uy >> uz;
stream >> ch[0] >> ch[1] >> ch[2] >> ch[3] >> ch[4] >> ch[5] >> ch[6] >> ch[7];
stream >> udpCounterASrecv;
/**********************************************************************************************/
QTime currentTime = QTime::currentTime();
/**********************************************************************************************/
static bool firstRun = true;
if (settings.homeLocation) {
if (firstRun) {
HomeLocation::DataFields homeData;
homeData = posHome->getData();
homeData.Latitude = WpLat * 10e6;
homeData.Longitude = WpLon * 10e6;
homeData.Altitude = homeZ;
homeData.Set = HomeLocation::SET_TRUE;
posHome->setData(homeData);
firstRun = false;
}
if (settings.homeLocRate > 0) {
static QTime homeLocTime = currentTime;
if (homeLocTime.secsTo(currentTime) >= settings.homeLocRate) {
firstRun = true;
homeLocTime = currentTime;
}
}
}
/**********************************************************************************************/
if (settings.attRaw || settings.attActual) {
QMatrix4x4 mat;
mat = QMatrix4x4( fy, fx, -fz, 0.0, // model matrix
ry, rx, -rz, 0.0, // (X,Y,Z) -> (+Y,+X,-Z)
-uy, -ux, uz, 0.0,
0.0, 0.0, 0.0, 1.0);
mat.optimize();
QQuaternion quat; // model quat
asMatrix2Quat(mat, quat);
// rotate gravity
QVector3D acc = QVector3D(accY, accX, -accZ); // accel (X,Y,Z) -> (+Y,+X,-Z)
QVector3D gee = QVector3D(0.0, 0.0, -GEE);
QQuaternion qWorld = quat.conjugate();
gee = qWorld.rotatedVector(gee);
acc += gee;
/*************************************************************************************/
if (settings.attRaw) {
Accels::DataFields accelsData;
accelsData = accels->getData();
Gyros::DataFields gyrosData;
gyrosData = gyros->getData();
gyrosData.x = angY * RAD2DEG; // gyros (X,Y,Z) -> (+Y,+X,-Z)
gyrosData.y = angX * RAD2DEG;
gyrosData.z = angZ * -RAD2DEG;
accelsData.x = acc.x();
accelsData.y = acc.y();
accelsData.z = acc.z();
accels->setData(accelsData);
gyros->setData(gyrosData);
}
/*************************************************************************************/
if (settings.attActHW) {
// do nothing
/*****************************************/
} else if (settings.attActSim) {
// take all data from simulator
AttitudeActual::DataFields attActData;
attActData = attActual->getData();
QVector3D rpy; // model roll, pitch, yaw
asMatrix2RPY(mat, rpy);
attActData.Roll = rpy.x();
attActData.Pitch = rpy.y();
attActData.Yaw = rpy.z();
attActData.q1 = quat.scalar();
attActData.q2 = quat.x();
attActData.q3 = quat.y();
attActData.q4 = quat.z();
attActual->setData(attActData);
/*****************************************/
} else if (settings.attActCalc) {
// calculate RPY with code from Attitude module
AttitudeActual::DataFields attActData;
attActData = attActual->getData();
static float q[4] = {1, 0, 0, 0};
static float gyro_correct_int2 = 0;
float dT = timeStep;
AttitudeSettings::DataFields attSettData = attSettings->getData();
float accelKp = attSettData.AccelKp * 0.1666666666666667;
float accelKi = attSettData.AccelKp * 0.1666666666666667;
float yawBiasRate = attSettData.YawBiasRate;
// calibrate sensors on arming
if (flightStatus->getData().Armed == FlightStatus::ARMED_ARMING) {
accelKp = 2.0;
accelKi = 0.9;
}
float gyro[3] = {angY * RAD2DEG, angX * RAD2DEG, angZ * -RAD2DEG};
float attRawAcc[3] = {acc.x(), acc.y(), acc.z()};
// code from Attitude module begin ///////////////////////////////
float *accels = attRawAcc;
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
// CrossProduct
{
accel_err[0] = accels[1]*grot[2] - grot[1]*accels[2];
accel_err[1] = grot[0]*accels[2] - accels[0]*grot[2];
accel_err[2] = accels[0]*grot[1] - grot[0]*accels[1];
}
// Account for accel magnitude
float accel_mag = sqrt(accels[0] * accels[0] + accels[1] * accels[1] + accels[2] * accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int2 += -gyro[2] * yawBiasRate;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT + gyro_correct_int2;
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
float qdot[4];
qdot[0] = (-q[1] * gyro[0] - q[2] * gyro[1] - q[3] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[1] = (+q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[2] = (+q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
// Take a time step
q[0] += qdot[0];
q[1] += qdot[1];
q[2] += qdot[2];
q[3] += qdot[3];
if(q[0] < 0) {
q[0] = -q[0];
q[1] = -q[1];
q[2] = -q[2];
q[3] = -q[3];
}
// Renomalize
float qmag = sqrt((q[0] * q[0]) + (q[1] * q[1]) + (q[2] * q[2]) + (q[3] * q[3]));
q[0] /= qmag;
q[1] /= qmag;
q[2] /= qmag;
q[3] /= qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
float rpy2[3];
// Quaternion2RPY
{
float q0s, q1s, q2s, q3s;
q0s = q[0] * q[0];
q1s = q[1] * q[1];
q2s = q[2] * q[2];
q3s = q[3] * q[3];
float R13, R11, R12, R23, R33;
R13 = 2 * (q[1] * q[3] - q[0] * q[2]);
R11 = q0s + q1s - q2s - q3s;
R12 = 2 * (q[1] * q[2] + q[0] * q[3]);
R23 = 2 * (q[2] * q[3] + q[0] * q[1]);
R33 = q0s - q1s - q2s + q3s;
rpy2[1] = RAD2DEG * asinf(-R13); // pitch always between -pi/2 to pi/2
rpy2[2] = RAD2DEG * atan2f(R12, R11);
rpy2[0] = RAD2DEG * atan2f(R23, R33);
}
attActData.Roll = rpy2[0];
attActData.Pitch = rpy2[1];
attActData.Yaw = rpy2[2];
attActData.q1 = q[0];
attActData.q2 = q[1];
attActData.q3 = q[2];
attActData.q4 = q[3];
attActual->setData(attActData);
/*****************************************/
}
}
/**********************************************************************************************/
if (settings.gcsReciever) {
static QTime gcsRcvrTime = currentTime;
if (!settings.manualOutput || gcsRcvrTime.msecsTo(currentTime) >= settings.outputRate) {
GCSReceiver::DataFields gcsRcvrData;
gcsRcvrData = gcsReceiver->getData();
for (int i = 0; i < 8; ++i)
gcsRcvrData.Channel[i] = 1500 + (ch[i] * 500);
gcsReceiver->setData(gcsRcvrData);
if (settings.manualOutput)
gcsRcvrTime = currentTime;
}
} else if (settings.manualControl) {
// not implemented yet
}
/**********************************************************************************************/
if (settings.gpsPosition) {
static QTime gpsPosTime = currentTime;
if (gpsPosTime.msecsTo(currentTime) >= settings.gpsPosRate) {
GPSPosition::DataFields gpsPosData;
gpsPosData = gpsPosition->getData();
gpsPosData.Altitude = posZ;
gpsPosData.Heading = yaw * RAD2DEG;
gpsPosData.Latitude = lat * 10e6;
gpsPosData.Longitude = lon * 10e6;
gpsPosData.Groundspeed = qSqrt(velX * velX + velY * velY);
gpsPosData.GeoidSeparation = 0.0;
gpsPosData.Satellites = 8;
gpsPosData.PDOP = 3.0;
gpsPosData.Status = GPSPosition::STATUS_FIX3D;
gpsPosition->setData(gpsPosData);
gpsPosTime = currentTime;
}
}
/**********************************************************************************************/
if (settings.sonarAltitude) {
static QTime sonarAltTime = currentTime;
if (sonarAltTime.msecsTo(currentTime) >= settings.sonarAltRate) {
SonarAltitude::DataFields sonarAltData;
sonarAltData = sonarAlt->getData();
float sAlt = settings.sonarMaxAlt;
// 0.35 rad ~= 20 degree
if ((agl < (sAlt * 2.0)) && (roll < 0.35) && (pitch < 0.35)) {
float x = agl * qTan(roll);
float y = agl * qTan(pitch);
float h = qSqrt(x*x + y*y + agl*agl);
sAlt = qMin(h, sAlt);
}
sonarAltData.Altitude = sAlt;
sonarAlt->setData(sonarAltData);
sonarAltTime = currentTime;
}
}
/**********************************************************************************************/
/*
BaroAltitude::DataFields altActData;
altActData = altActual->getData();
altActData.Altitude = posZ;
altActual->setData(altActData);
PositionActual::DataFields posActData;
posActData = posActual->getData();
posActData.North = posY * 100;
posActData.East = posX * 100;
posActData.Down = posZ * -100;
posActual->setData(posActData);
VelocityActual::DataFields velActData;
velActData = velActual->getData();
velActData.North = velY * 100;
velActData.East = velX * 100;
velActData.Down = velZ * 100;
velActual->setData(velActData);
*/
#ifdef DBG_TIMERS
static int cntRX = 0;
if (cntRX >= 100) {
qDebug() << "RX=" << 1000.0 * 100 / timeRX.restart();
cntRX = 0;
} else {
++cntRX;
}
#endif
}
// transfomations
void AeroSimRCSimulator::asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q)
{
qreal w, x, y, z;
// w always >= 0
w = qSqrt(qMax(0.0, 1.0 + m(0, 0) + m(1, 1) + m(2, 2))) / 2.0;
x = qSqrt(qMax(0.0, 1.0 + m(0, 0) - m(1, 1) - m(2, 2))) / 2.0;
y = qSqrt(qMax(0.0, 1.0 - m(0, 0) + m(1, 1) - m(2, 2))) / 2.0;
z = qSqrt(qMax(0.0, 1.0 - m(0, 0) - m(1, 1) + m(2, 2))) / 2.0;
x = copysign(x, (m(1, 2) - m(2, 1)));
y = copysign(y, (m(2, 0) - m(0, 2)));
z = copysign(z, (m(0, 1) - m(1, 0)));
q.setScalar(w);
q.setX(x);
q.setY(y);
q.setZ(z);
}
void AeroSimRCSimulator::asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy)
{
qreal roll, pitch, yaw;
if (qFabs(m(0, 2)) > 0.998) {
// ~86.3°, gimbal lock
roll = 0.0;
pitch = copysign(M_PI_2, -m(0, 2));
yaw = qAtan2(-m(1, 0), m(1, 1));
} else {
roll = qAtan2(m(1, 2), m(2, 2));
pitch = qAsin(-m(0, 2));
yaw = qAtan2(m(0, 1), m(0, 0));
}
rpy.setX(roll * RAD2DEG);
rpy.setY(pitch * RAD2DEG);
rpy.setZ(yaw * RAD2DEG);
}

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ground/openpilotgcs/src/plugins/hitlv2/aerosimrc.h Normal file
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#ifndef AEROSIMRC_H
#define AEROSIMRC_H
#include <QObject>
#include <QVector3D>
#include <QQuaternion>
#include <QMatrix4x4>
#include "simulatorv2.h"
class AeroSimRCSimulator: public Simulator
{
Q_OBJECT
public:
AeroSimRCSimulator(const SimulatorSettings &params);
~AeroSimRCSimulator();
bool setupProcess();
void setupUdpPorts(const QString& host, int inPort, int outPort);
private slots:
void transmitUpdate();
private:
quint32 udpCounterASrecv; //keeps track of udp packets received by ASim
void processUpdate(const QByteArray &data);
void asMatrix2Quat(const QMatrix4x4 &m, QQuaternion &q);
void asMatrix2RPY(const QMatrix4x4 &m, QVector3D &rpy);
};
class AeroSimRCSimulatorCreator : public SimulatorCreator
{
public:
AeroSimRCSimulatorCreator(const QString &classId, const QString &description)
: SimulatorCreator (classId, description)
{}
Simulator* createSimulator(const SimulatorSettings &params)
{
return new AeroSimRCSimulator(params);
}
};
#endif // AEROSIMRC_H

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ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pluginspec Normal file
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<plugin name="HITLv2" version="1.0.0" compatVersion="1.0.0">
<vendor>The OpenPilot Project</vendor>
<copyright>(C) 2011 OpenPilot Project</copyright>
<license>The GNU Public License (GPL) Version 3</license>
<description>Hardware In The Loop Simulation (v2)</description>
<url>http://www.openpilot.org</url>
<dependencyList>
<dependency name="Core" version="1.0.0"/>
<dependency name="UAVObjects" version="1.0.0"/>
<dependency name="UAVTalk" version="1.0.0"/>
</dependencyList>
</plugin>

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ground/openpilotgcs/src/plugins/hitlv2/hitlv2.pro Normal file
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TEMPLATE = lib
TARGET = HITLV2
QT += network
include(../../openpilotgcsplugin.pri)
include(hitlv2_dependencies.pri)
HEADERS += \
aerosimrc.h \
hitlv2configuration.h \
hitlv2factory.h \
hitlv2gadget.h \
hitlv2optionspage.h \
hitlv2plugin.h \
hitlv2widget.h \
simulatorv2.h
SOURCES += \
aerosimrc.cpp \
hitlv2configuration.cpp \
hitlv2factory.cpp \
hitlv2gadget.cpp \
hitlv2optionspage.cpp \
hitlv2plugin.cpp \
hitlv2widget.cpp \
simulatorv2.cpp
OTHER_FILES += hitlv2.pluginspec
FORMS += \
hitlv2optionspage.ui \
hitlv2widget.ui

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ground/openpilotgcs/src/plugins/hitlv2/hitlv2_dependencies.pri Normal file
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include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavtalk/uavtalk.pri)
#include(../../plugins/coreplugin/coreplugin.pri)
#include(../../libs/utils/utils.pri)

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ground/openpilotgcs/src/plugins/hitlv2/hitlv2configuration.cpp Normal file
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/**
******************************************************************************
*
* @file hitlconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlv2configuration.h"
HITLConfiguration::HITLConfiguration(QString classId,
QSettings* qSettings,
QObject *parent)
: IUAVGadgetConfiguration(classId, parent)
{
// qDebug() << "HITLV2Configuration";
// default values
QString simulatorId = "";
QString hostAddress = "127.0.0.1";
int inPort = 40100;
QString remoteAddress = "127.0.0.1";
int outPort = 40200;
QString binPath = "";
QString dataPath = "";
bool homeLocation = true;
quint16 homeLocRate = 0;
bool attRaw = true;
quint8 attRawRate = 20;
bool attActual = true;
bool attActHW = false;
bool attActSim = true;
bool attActCalc = false;
bool sonarAltitude = false;
float sonarMaxAlt = 5.0;
quint16 sonarAltRate = 50;
bool gpsPosition = true;
quint16 gpsPosRate = 200;
bool inputCommand = true;
bool gcsReciever = true;
bool manualControl = false;
bool manualOutput = false;
quint8 outputRate = 20;
// if a saved configuration exists load it
if (qSettings != 0) {
settings.simulatorId = qSettings->value("simulatorId", simulatorId).toString();
settings.hostAddress = qSettings->value("hostAddress", hostAddress).toString();
settings.inPort = qSettings->value("inPort", inPort).toInt();
settings.remoteAddress = qSettings->value("remoteAddress", remoteAddress).toString();
settings.outPort = qSettings->value("outPort", outPort).toInt();
settings.binPath = qSettings->value("binPath", binPath).toString();
settings.dataPath = qSettings->value("dataPath", dataPath).toString();
settings.homeLocation = qSettings->value("homeLocation", homeLocation).toBool();
settings.homeLocRate = qSettings->value("homeLocRate", homeLocRate).toInt();
settings.attRaw = qSettings->value("attRaw", attRaw).toBool();
settings.attRawRate = qSettings->value("attRawRate", attRawRate).toInt();
settings.attActual = qSettings->value("attActual", attActual).toBool();
settings.attActHW = qSettings->value("attActHW", attActHW).toBool();
settings.attActSim = qSettings->value("attActSim", attActSim).toBool();
settings.attActCalc = qSettings->value("attActCalc", attActCalc).toBool();
settings.sonarAltitude = qSettings->value("sonarAltitude", sonarAltitude).toBool();
settings.sonarMaxAlt = qSettings->value("sonarMaxAlt", sonarMaxAlt).toFloat();
settings.sonarAltRate = qSettings->value("sonarAltRate", sonarAltRate).toInt();
settings.gpsPosition = qSettings->value("gpsPosition", gpsPosition).toBool();
settings.gpsPosRate = qSettings->value("gpsPosRate", gpsPosRate).toInt();
settings.inputCommand = qSettings->value("inputCommand", inputCommand).toBool();
settings.gcsReciever = qSettings->value("gcsReciever", gcsReciever).toBool();
settings.manualControl = qSettings->value("manualControl", manualControl).toBool();
settings.manualOutput = qSettings->value("manualOutput", manualOutput).toBool();
settings.outputRate = qSettings->value("outputRate", outputRate).toInt();
} else {
settings.simulatorId = simulatorId;
settings.hostAddress = hostAddress;
settings.inPort = inPort;
settings.remoteAddress = remoteAddress;
settings.outPort = outPort;
settings.binPath = binPath;
settings.dataPath = dataPath;
settings.homeLocation = homeLocation;
settings.homeLocRate = homeLocRate;
settings.attRaw = attRaw;
settings.attRawRate = attRawRate;
settings.attActual = attActual;
settings.attActHW = attActHW;
settings.attActSim = attActSim;
settings.attActCalc = attActCalc;
settings.sonarAltitude = sonarAltitude;
settings.sonarMaxAlt = sonarMaxAlt;
settings.sonarAltRate = sonarAltRate;
settings.gpsPosition = gpsPosition;
settings.gpsPosRate = gpsPosRate;
settings.inputCommand = inputCommand;
settings.gcsReciever = gcsReciever;
settings.manualControl = manualControl;
settings.manualOutput = manualOutput;
settings.outputRate = outputRate;
}
}
IUAVGadgetConfiguration *HITLConfiguration::clone()
{
HITLConfiguration *m = new HITLConfiguration(this->classId());
m->settings = settings;
return m;
}
void HITLConfiguration::saveConfig(QSettings* qSettings) const
{
qSettings->setValue("simulatorId", settings.simulatorId);
qSettings->setValue("hostAddress", settings.hostAddress);
qSettings->setValue("inPort", settings.inPort);
qSettings->setValue("remoteAddress", settings.remoteAddress);
qSettings->setValue("outPort", settings.outPort);
qSettings->setValue("binPath", settings.binPath);
qSettings->setValue("dataPath", settings.dataPath);
qSettings->setValue("homeLocation", settings.homeLocation);
qSettings->setValue("homeLocRate", settings.homeLocRate);
qSettings->setValue("attRaw", settings.attRaw);
qSettings->setValue("attRawRate", settings.attRawRate);
qSettings->setValue("attActual", settings.attActual);
qSettings->setValue("attActHW", settings.attActHW);
qSettings->setValue("attActSim", settings.attActSim);
qSettings->setValue("attActCalc", settings.attActCalc);
qSettings->setValue("sonarAltitude", settings.sonarAltitude);
qSettings->setValue("sonarMaxAlt", settings.sonarMaxAlt);
qSettings->setValue("sonarAltRate", settings.sonarAltRate);
qSettings->setValue("gpsPosition", settings.gpsPosition);
qSettings->setValue("gpsPosRate", settings.gpsPosRate);
qSettings->setValue("inputCommand", settings.inputCommand);
qSettings->setValue("gcsReciever", settings.gcsReciever);
qSettings->setValue("manualControl", settings.manualControl);
qSettings->setValue("manualOutput", settings.manualOutput);
qSettings->setValue("outputRate", settings.outputRate);
}

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/**
******************************************************************************
*
* @file hitlconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLV2CONFIGURATION_H
#define HITLV2CONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtGui/QColor>
#include <QString>
#include <simulatorv2.h>
using namespace Core;
class HITLConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
Q_PROPERTY(SimulatorSettings settings READ Settings WRITE setSimulatorSettings)
public:
explicit HITLConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
void saveConfig(QSettings* settings) const;
IUAVGadgetConfiguration *clone();
SimulatorSettings Settings() const { return settings; }
public slots:
void setSimulatorSettings (const SimulatorSettings& params ) { settings = params; }
private:
SimulatorSettings settings;
};
#endif // HITLV2CONFIGURATION_H

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/**
******************************************************************************
*
* @file hitlfactory.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlv2factory.h"
#include "hitlv2widget.h"
#include "hitlv2gadget.h"
#include "hitlv2configuration.h"
#include "hitlv2optionspage.h"
#include <coreplugin/iuavgadget.h>
HITLFactory::HITLFactory(QObject *parent)
: IUAVGadgetFactory(QString("HITLv2"), tr("HITL Simulation (v2)"), parent)
{
}
HITLFactory::~HITLFactory()
{
}
Core::IUAVGadget* HITLFactory::createGadget(QWidget *parent)
{
HITLWidget* gadgetWidget = new HITLWidget(parent);
return new HITLGadget(QString("HITLv2"), gadgetWidget, parent);
}
IUAVGadgetConfiguration *HITLFactory::createConfiguration(QSettings* qSettings)
{
return new HITLConfiguration(QString("HITLv2"), qSettings);
}
IOptionsPage *HITLFactory::createOptionsPage(IUAVGadgetConfiguration *config)
{
return new HITLOptionsPage(qobject_cast<HITLConfiguration*>(config));
}

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/**
******************************************************************************
*
* @file hitlfactory.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLV2FACTORY_H
#define HITLV2FACTORY_H
#include <coreplugin/iuavgadgetfactory.h>
namespace Core {
class IUAVGadget;
class IUAVGadgetFactory;
}
using namespace Core;
class HITLFactory : public Core::IUAVGadgetFactory
{
Q_OBJECT
public:
HITLFactory(QObject *parent = 0);
~HITLFactory();
IUAVGadget *createGadget(QWidget *parent);
IUAVGadgetConfiguration *createConfiguration(QSettings* qSettings);
IOptionsPage *createOptionsPage(IUAVGadgetConfiguration *config);
};
#endif // HITLV2FACTORY_H

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/**
******************************************************************************
*
* @file hitl.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlv2gadget.h"
#include "hitlv2widget.h"
#include "hitlv2configuration.h"
#include "simulatorv2.h"
HITLGadget::HITLGadget(QString classId, HITLWidget *widget, QWidget *parent) :
IUAVGadget(classId, parent),
m_widget(widget)
{
connect(this, SIGNAL(changeConfiguration(void)), m_widget, SLOT(stopButtonClicked(void)));
}
HITLGadget::~HITLGadget()
{
delete m_widget;
}
void HITLGadget::loadConfiguration(IUAVGadgetConfiguration* config)
{
HITLConfiguration *m = qobject_cast<HITLConfiguration*>(config);
emit changeConfiguration();
m_widget->setSettingParameters(m->Settings());
}

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/**
******************************************************************************
*
* @file hitl.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLV2_H
#define HITLV2_H
#include <coreplugin/iuavgadget.h>
#include "hitlv2widget.h"
class IUAVGadget;
class QWidget;
class QString;
class Simulator;
using namespace Core;
class HITLGadget : public Core::IUAVGadget
{
Q_OBJECT
public:
HITLGadget(QString classId, HITLWidget *widget, QWidget *parent = 0);
~HITLGadget();
QWidget *widget() { return m_widget; }
void loadConfiguration(IUAVGadgetConfiguration* config);
signals:
void changeConfiguration();
private:
HITLWidget* m_widget;
Simulator* simulator;
};
#endif // HITLV2_H

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/**
******************************************************************************
*
* @file hitloptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlv2optionspage.h"
#include "hitlv2configuration.h"
#include "ui_hitlv2optionspage.h"
#include "hitlv2plugin.h"
#include <QFileDialog>
#include <QtAlgorithms>
#include <QStringList>
#include "simulatorv2.h"
HITLOptionsPage::HITLOptionsPage(HITLConfiguration *conf, QObject *parent) :
IOptionsPage(parent),
config(conf)
{
}
QWidget *HITLOptionsPage::createPage(QWidget *parent)
{
// qDebug() << "HITLOptionsPage::createPage";
// Create page
m_optionsPage = new Ui::HITLOptionsPage();
QWidget* optionsPageWidget = new QWidget;
m_optionsPage->setupUi(optionsPageWidget);
int index = 0;
foreach (SimulatorCreator* creator, HITLPlugin::typeSimulators)
m_optionsPage->chooseFlightSimulator->insertItem(index++, creator->Description(), creator->ClassId());
m_optionsPage->executablePath->setExpectedKind(Utils::PathChooser::File);
m_optionsPage->executablePath->setPromptDialogTitle(tr("Choose flight simulator executable"));
m_optionsPage->dataPath->setExpectedKind(Utils::PathChooser::Directory);
m_optionsPage->dataPath->setPromptDialogTitle(tr("Choose flight simulator data directory"));
// Restore the contents from the settings:
foreach (SimulatorCreator* creator, HITLPlugin::typeSimulators) {
QString id = config->Settings().simulatorId;
if (creator->ClassId() == id)
m_optionsPage->chooseFlightSimulator->setCurrentIndex(HITLPlugin::typeSimulators.indexOf(creator));
}
m_optionsPage->hostAddress->setText(config->Settings().hostAddress);
m_optionsPage->inputPort->setText(QString::number(config->Settings().inPort));
m_optionsPage->remoteAddress->setText(config->Settings().remoteAddress);
m_optionsPage->outputPort->setText(QString::number(config->Settings().outPort));
m_optionsPage->executablePath->setPath(config->Settings().binPath);
m_optionsPage->dataPath->setPath(config->Settings().dataPath);
m_optionsPage->homeLocation->setChecked(config->Settings().homeLocation);
m_optionsPage->homeLocRate->setValue(config->Settings().homeLocRate);
m_optionsPage->attRaw->setChecked(config->Settings().attRaw);
m_optionsPage->attRawRate->setValue(config->Settings().attRawRate);
m_optionsPage->attActual->setChecked(config->Settings().attActual);
m_optionsPage->attActHW->setChecked(config->Settings().attActHW);
m_optionsPage->attActSim->setChecked(config->Settings().attActSim);
m_optionsPage->attActCalc->setChecked(config->Settings().attActCalc);
m_optionsPage->sonarAltitude->setChecked(config->Settings().sonarAltitude);
m_optionsPage->sonarMaxAlt->setValue(config->Settings().sonarMaxAlt);
m_optionsPage->sonarAltRate->setValue(config->Settings().sonarAltRate);
m_optionsPage->gpsPosition->setChecked(config->Settings().gpsPosition);
m_optionsPage->gpsPosRate->setValue(config->Settings().gpsPosRate);
m_optionsPage->inputCommand->setChecked(config->Settings().inputCommand);
m_optionsPage->gcsReciever->setChecked(config->Settings().gcsReciever);
m_optionsPage->manualControl->setChecked(config->Settings().manualControl);
m_optionsPage->manualOutput->setChecked(config->Settings().manualOutput);
m_optionsPage->outputRate->setValue(config->Settings().outputRate);
return optionsPageWidget;
}
void HITLOptionsPage::apply()
{
SimulatorSettings settings;
int i = m_optionsPage->chooseFlightSimulator->currentIndex();
settings.simulatorId = m_optionsPage->chooseFlightSimulator->itemData(i).toString();
settings.hostAddress = m_optionsPage->hostAddress->text();
settings.inPort = m_optionsPage->inputPort->text().toInt();
settings.remoteAddress = m_optionsPage->remoteAddress->text();
settings.outPort = m_optionsPage->outputPort->text().toInt();
settings.binPath = m_optionsPage->executablePath->path();
settings.dataPath = m_optionsPage->dataPath->path();
settings.homeLocation = m_optionsPage->homeLocation->isChecked();
settings.homeLocRate = m_optionsPage->homeLocRate->value();
settings.attRaw = m_optionsPage->attRaw->isChecked();
settings.attRawRate = m_optionsPage->attRawRate->value();
settings.attActual = m_optionsPage->attActual->isChecked();
settings.attActHW = m_optionsPage->attActHW->isChecked();
settings.attActSim = m_optionsPage->attActSim->isChecked();
settings.attActCalc = m_optionsPage->attActCalc->isChecked();
settings.sonarAltitude = m_optionsPage->sonarAltitude->isChecked();
settings.sonarMaxAlt = m_optionsPage->sonarMaxAlt->value();
settings.sonarAltRate = m_optionsPage->sonarAltRate->value();
settings.gpsPosition = m_optionsPage->gpsPosition->isChecked();
settings.gpsPosRate = m_optionsPage->gpsPosRate->value();
settings.inputCommand = m_optionsPage->inputCommand->isChecked();
settings.gcsReciever = m_optionsPage->gcsReciever->isChecked();
settings.manualControl = m_optionsPage->manualControl->isChecked();
settings.manualOutput = m_optionsPage->manualOutput->isChecked();
settings.outputRate = m_optionsPage->outputRate->value();
config->setSimulatorSettings(settings);
}
void HITLOptionsPage::finish()
{
delete m_optionsPage;
}

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/**
******************************************************************************
*
* @file hitloptionspage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLV2OPTIONSPAGE_H
#define HITLV2OPTIONSPAGE_H
#include <coreplugin/dialogs/ioptionspage.h>
namespace Core {
class IUAVGadgetConfiguration;
}
class HITLConfiguration;
using namespace Core;
namespace Ui {
class HITLOptionsPage;
}
class HITLOptionsPage : public IOptionsPage
{
Q_OBJECT
public:
explicit HITLOptionsPage(HITLConfiguration *conf, QObject *parent = 0);
QWidget *createPage(QWidget *parent);
void apply();
void finish();
bool isDecorated() const { return true; }
private:
HITLConfiguration* config;
Ui::HITLOptionsPage* m_optionsPage;
};
#endif // HITLV2OPTIONSPAGE_H

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>HITLOptionsPage</class>
<widget class="QWidget" name="HITLOptionsPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>403</width>
<height>400</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>3</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Choose flight simulator:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="chooseFlightSimulator"/>
</item>
</layout>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_6">
<property name="text">
<string>Local interface (IP):</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="hostAddress">
<property name="toolTip">
<string>For communication with sim computer via network. Should be the IP address of one of the interfaces of the GCS computer.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Remote interface (IP):</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLineEdit" name="remoteAddress">
<property name="toolTip">
<string>Only required if running simulator on remote machine. Should be the IP of the machine on which the simulator is running.</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_5">
<property name="text">
<string>Input Port:</string>
</property>
</widget>
</item>
<item row="0" column="3">
<widget class="QLineEdit" name="inputPort">
<property name="toolTip">
<string>For receiving data from sim</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Output Port:</string>
</property>
</widget>
</item>
<item row="1" column="3">
<widget class="QLineEdit" name="outputPort">
<property name="toolTip">
<string>For sending data to sim</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QFormLayout" name="formLayout">
<property name="fieldGrowthPolicy">
<enum>QFormLayout::AllNonFixedFieldsGrow</enum>
</property>
<item row="0" column="0">
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Path executable:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="Utils::PathChooser" name="executablePath" native="true"/>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Data directory:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="Utils::PathChooser" name="dataPath" native="true"/>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Attitude data</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="attRaw">
<property name="title">
<string>AttitudeRaw (gyro, accels)</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<property name="spacing">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_8">
<property name="text">
<string>Refresh rate</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="attRawRate">
<property name="suffix">
<string>ms</string>
</property>
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="value">
<number>20</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="attActual">
<property name="title">
<string>AttitudeActual</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_4">
<property name="spacing">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QRadioButton" name="attActHW">
<property name="text">
<string>send raw data to board</string>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="attActSim">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>use values from simulator</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="attActCalc">
<property name="toolTip">
<string/>
</property>
<property name="text">
<string>calculate from AttitudeRaw</string>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_2">
<property name="title">
<string>Other data</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>3</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QGroupBox" name="homeLocation">
<property name="title">
<string>HomeLocation</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<property name="spacing">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>Refresh rate</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="homeLocRate">
<property name="toolTip">
<string>0 - update once, or every N seconds</string>
</property>
<property name="suffix">
<string>sec</string>
</property>
<property name="maximum">
<number>10</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="gpsPosition">
<property name="title">
<string>GPSPosition</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<property name="spacing">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QLabel" name="label_10">
<property name="text">
<string>Refresh rate</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="gpsPosRate">
<property name="suffix">
<string>ms</string>
</property>
<property name="minimum">
<number>100</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>500</number>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="sonarAltitude">
<property name="title">
<string>SonarAltitude</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_6">
<property name="spacing">
<number>3</number>
</property>
<property name="leftMargin">
<number>6</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Range detectioon</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QSpinBox" name="sonarMaxAlt">
<property name="suffix">
<string>m</string>
</property>
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
<number>10</number>
</property>
<property name="value">
<number>5</number>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Refresh rate</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QSpinBox" name="sonarAltRate">
<property name="suffix">
<string>ms</string>
</property>
<property name="minimum">
<number>20</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="singleStep">
<number>10</number>
</property>
<property name="value">
<number>50</number>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="inputCommand">
<property name="title">
<string>Map command from simulator</string>
</property>
<property name="flat">
<bool>true</bool>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="checked">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
<number>3</number>
</property>
<property name="topMargin">
<number>3</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
<widget class="QRadioButton" name="gcsReciever">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>to GCSReciver</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QRadioButton" name="manualControl">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>to ManualCtrll (not implemented)</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<property name="spacing">
<number>6</number>
</property>
<item>
<widget class="QCheckBox" name="manualOutput">
<property name="text">
<string>Maximum output rate</string>
</property>
</widget>
</item>
<item>
<widget class="QSpinBox" name="outputRate">
<property name="suffix">
<string>ms</string>
</property>
<property name="minimum">
<number>10</number>
</property>
<property name="maximum">
<number>100</number>
</property>
<property name="singleStep">
<number>5</number>
</property>
<property name="value">
<number>15</number>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
<customwidgets>
<customwidget>
<class>Utils::PathChooser</class>
<extends>QWidget</extends>
<header>utils/pathchooser.h</header>
<container>1</container>
</customwidget>
</customwidgets>
<tabstops>
<tabstop>chooseFlightSimulator</tabstop>
<tabstop>hostAddress</tabstop>
<tabstop>inputPort</tabstop>
<tabstop>remoteAddress</tabstop>
<tabstop>outputPort</tabstop>
</tabstops>
<resources/>
<connections/>
</ui>

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/**
******************************************************************************
*
* @file mapplugin.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlv2plugin.h"
#include "hitlv2factory.h"
#include <QtPlugin>
#include <QStringList>
#include <extensionsystem/pluginmanager.h>
#include "aerosimrc.h"
QList<SimulatorCreator* > HITLPlugin::typeSimulators;
HITLPlugin::HITLPlugin()
{
// Do nothing
}
HITLPlugin::~HITLPlugin()
{
// Do nothing
}
bool HITLPlugin::initialize(const QStringList& args, QString *errMsg)
{
Q_UNUSED(args);
Q_UNUSED(errMsg);
mf = new HITLFactory(this);
addAutoReleasedObject(mf);
addSimulator(new AeroSimRCSimulatorCreator("ASimRC", "AeroSimRC"));
return true;
}
void HITLPlugin::extensionsInitialized()
{
// Do nothing
}
void HITLPlugin::shutdown()
{
// Do nothing
}
Q_EXPORT_PLUGIN(HITLPlugin)

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/**
******************************************************************************
*
* @file browserplugin.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLV2PLUGIN_H
#define HITLV2PLUGIN_H
#include <extensionsystem/iplugin.h>
#include <QStringList>
#include <simulatorv2.h>
class HITLFactory;
class HITLPlugin : public ExtensionSystem::IPlugin
{
public:
HITLPlugin();
~HITLPlugin();
void extensionsInitialized();
bool initialize(const QStringList & arguments, QString * errorString);
void shutdown();
static void addSimulator(SimulatorCreator* creator)
{
HITLPlugin::typeSimulators.append(creator);
}
static SimulatorCreator* getSimulatorCreator(const QString classId)
{
foreach(SimulatorCreator* creator, HITLPlugin::typeSimulators) {
if(classId == creator->ClassId())
return creator;
}
return 0;
}
static QList<SimulatorCreator* > typeSimulators;
private:
HITLFactory *mf;
};
#endif /* HITLV2PLUGIN_H */

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/**
******************************************************************************
*
* @file hitlwidget.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "hitlv2widget.h"
#include "ui_hitlv2widget.h"
#include <QDebug>
#include <QFile>
#include <QDir>
#include <QDateTime>
#include <QThread>
#include "hitlv2plugin.h"
#include "simulatorv2.h"
#include "uavobjectmanager.h"
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
QStringList Simulator::instances;
HITLWidget::HITLWidget(QWidget *parent)
: QWidget(parent),
simulator(0)
{
widget = new Ui_HITLWidget();
widget->setupUi(this);
widget->startButton->setEnabled(true);
widget->stopButton->setEnabled(false);
strAutopilotDisconnected = " AP OFF ";
strSimulatorDisconnected = " Sim OFF ";
strAutopilotConnected = " AP ON ";
// strSimulatorConnected = " Sim ON ";
strStyleEnable = "QFrame{background-color: green; color: white}";
strStyleDisable = "QFrame{background-color: red; color: grey}";
widget->apLabel->setText(strAutopilotDisconnected);
widget->simLabel->setText(strSimulatorDisconnected);
connect(widget->startButton, SIGNAL(clicked()), this, SLOT(startButtonClicked()));
connect(widget->stopButton, SIGNAL(clicked()), this, SLOT(stopButtonClicked()));
connect(widget->buttonClearLog, SIGNAL(clicked()), this, SLOT(buttonClearLogClicked()));
}
HITLWidget::~HITLWidget()
{
delete widget;
}
void HITLWidget::startButtonClicked()
{
// allow only one instance per simulator
if (Simulator::Instances().indexOf(settings.simulatorId) != -1) {
widget->textBrowser->append(settings.simulatorId + " alreary started!");
return;
}
if (!HITLPlugin::typeSimulators.size()) {
widget->textBrowser->append("There is no registered simulators, add through HITLPlugin::addSimulator");
return;
}
// Stop running process if one is active
if (simulator) {
QMetaObject::invokeMethod(simulator, "onDeleteSimulator", Qt::QueuedConnection);
simulator = NULL;
}
if (settings.hostAddress == "" || settings.inPort == 0) {
widget->textBrowser->append("Before start, set UDP parameters in options page!");
return;
}
SimulatorCreator* creator = HITLPlugin::getSimulatorCreator(settings.simulatorId);
simulator = creator->createSimulator(settings);
simulator->setName(creator->Description());
simulator->setSimulatorId(creator->ClassId());
connect(simulator, SIGNAL(processOutput(QString)), this, SLOT(onProcessOutput(QString)));
// Setup process
onProcessOutput(QString("[%1] Starting %2... ")
.arg(QTime::currentTime().toString("hh:mm:ss"))
.arg(creator->Description()));
// Start bridge
bool ret = QMetaObject::invokeMethod(simulator, "setupProcess", Qt::QueuedConnection);
if (ret) {
Simulator::setInstance(settings.simulatorId);
connect(this, SIGNAL(deleteSimulator()), simulator, SLOT(onDeleteSimulator()), Qt::QueuedConnection);
widget->startButton->setEnabled(false);
widget->stopButton->setEnabled(true);
connect(simulator, SIGNAL(autopilotConnected()), this, SLOT(onAutopilotConnect()), Qt::QueuedConnection);
connect(simulator, SIGNAL(autopilotDisconnected()), this, SLOT(onAutopilotDisconnect()), Qt::QueuedConnection);
connect(simulator, SIGNAL(simulatorConnected()), this, SLOT(onSimulatorConnect()), Qt::QueuedConnection);
connect(simulator, SIGNAL(simulatorDisconnected()), this, SLOT(onSimulatorDisconnect()), Qt::QueuedConnection);
// Initialize connection status
if (simulator->isAutopilotConnected())
onAutopilotConnect();
else
onAutopilotDisconnect();
if (simulator->isSimulatorConnected())
onSimulatorConnect();
else
onSimulatorDisconnect();
}
}
void HITLWidget::stopButtonClicked()
{
if (simulator)
widget->textBrowser->append(QString("[%1] Terminate %2 ")
.arg(QTime::currentTime().toString("hh:mm:ss"))
.arg(simulator->Name()));
widget->startButton->setEnabled(true);
widget->stopButton->setEnabled(false);
widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{background-color: transparent; color: white}"));
widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{background-color: transparent; color: white}"));
widget->apLabel->setText(strAutopilotDisconnected);
widget->simLabel->setText(strSimulatorDisconnected);
if (simulator) {
QMetaObject::invokeMethod(simulator, "onDeleteSimulator", Qt::QueuedConnection);
simulator = NULL;
}
}
void HITLWidget::buttonClearLogClicked()
{
widget->textBrowser->clear();
}
void HITLWidget::onProcessOutput(QString text)
{
widget->textBrowser->append(text);
}
void HITLWidget::onAutopilotConnect()
{
widget->apLabel->setStyleSheet(strStyleEnable);
widget->apLabel->setText(strAutopilotConnected);
}
void HITLWidget::onAutopilotDisconnect()
{
widget->apLabel->setStyleSheet(strStyleDisable);
widget->apLabel->setText(strAutopilotDisconnected);
}
void HITLWidget::onSimulatorConnect()
{
widget->simLabel->setStyleSheet(strStyleEnable);
widget->simLabel->setText(" " + simulator->Name() + " ON ");
}
void HITLWidget::onSimulatorDisconnect()
{
widget->simLabel->setStyleSheet(strStyleDisable);
widget->simLabel->setText(" " + simulator->Name() + " OFF ");
}

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/**
******************************************************************************
*
* @file hitlwidget.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef HITLV2WIDGET_H
#define HITLV2WIDGET_H
#include <QtGui/QWidget>
#include <QProcess>
#include "simulatorv2.h"
class Ui_HITLWidget;
class HITLWidget : public QWidget
{
Q_OBJECT
public:
HITLWidget(QWidget *parent = 0);
~HITLWidget();
void setSettingParameters(const SimulatorSettings& params) { settings = params; }
signals:
void deleteSimulator();
private slots:
void startButtonClicked();
void stopButtonClicked();
void buttonClearLogClicked();
void onProcessOutput(QString text);
void onAutopilotConnect();
void onAutopilotDisconnect();
void onSimulatorConnect();
void onSimulatorDisconnect();
private:
Ui_HITLWidget* widget;
Simulator* simulator;
SimulatorSettings settings;
QString strAutopilotDisconnected;
QString strSimulatorDisconnected;
QString strAutopilotConnected;
// QString strSimulatorConnected;
QString strStyleEnable;
QString strStyleDisable;
};
#endif /* HITLV2WIDGET_H */

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<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>HITLWidget</class>
<widget class="QWidget" name="HITLWidget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>477</width>
<height>300</height>
</rect>
</property>
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<property name="styleSheet">
<string notr="true">
QScrollBar:vertical {
border: 1px solid grey;
background: grey;
margin: 22px 0 22px 0;
}
QScrollBar:vertical:disabled {
border: 1px solid grey;
background-color: grey;
margin: 22px 0 22px 0;
}
QScrollBar::handle:vertical {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(120, 120, 255, 255), stop:1 rgba(80, 80, 160, 255));
min-height: 20px;
}
QScrollBar::handle:vertical:disabled{
background-color: grey;
min-height: 20px;
}
QScrollBar::handle:vertical:pressed {
background-color: rgb(85, 85, 255);
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(170, 170, 255, 255), stop:1 rgba(80, 80, 160, 255));
min-height: 20px;
}
QScrollBar::add-line:vertical {
border: 1px solid black;
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
height: 20px;
subcontrol-position: bottom;
subcontrol-origin: margin;
}
QScrollBar::add-line:vertical:disabled {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(100, 100, 100, 255));
border: 1px solid grey;
}
QScrollBar::sub-line:vertical:disabled {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(100, 100, 100, 255));
border: 1px solid grey;
}
QScrollBar::add-line:vertical:pressed {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(255, 255, 255, 200), stop:1 rgba(180, 180, 180, 200));
}
QScrollBar::sub-line:vertical:pressed {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(255, 255, 255, 200), stop:1 rgba(180, 180, 180, 200));
}
QScrollBar::sub-line:vertical {
border: 1px solid black;
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
height: 20px;
subcontrol-position: top;
subcontrol-origin: margin;
}
QScrollBar::down-arrow:vertical {
image: url(:/hitlnew/images/arrow-down2.png);
}
QScrollBar::up-arrow:vertical {
image: url(:/hitlnew/images/arrow-up2.png);
}
QScrollBar::add-page:vertical, QScrollBar::sub-page:vertical {
background: none;
}
QPushButton {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(110, 110, 110, 255), stop:1 rgba(71, 71, 71, 255));
color: rgb(255, 255, 255);
border: 1px solid black;
width: 66px;
height: 20px;
}
QPushButton:disabled {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(120, 120, 120, 255));
color: rgb(194, 194, 194);
border: 1px solid gray;
width: 66px;
height: 20px;
}
QPushButton:hover {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(255, 255, 255, 200), stop:1 rgba(180, 180, 180, 200));
color: rgb(255, 255, 255);
border: 0px;
}
QPushButton:pressed {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
color: rgb(255, 255, 255);
border: 0px;
}
QPushButton:checked {
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(48, 48, 48, 255), stop:1 rgba(120, 120, 120, 255));
color: rgb(255, 255, 255);
border: 0px;
}</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<property name="margin">
<number>0</number>
</property>
<item>
<widget class="QFrame" name="frame">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">
QFrame{
background-color: qlineargradient(spread:pad, x1:0.5, y1:0, x2:0.5, y2:1, stop:0 rgba(110, 110, 110, 255), stop:1 rgba(71, 71, 71, 255));
color: rgba(0, 0, 0, 128);
}
</string>
</property>
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<property name="sizeConstraint">
<enum>QLayout::SetMaximumSize</enum>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<property name="sizeConstraint">
<enum>QLayout::SetDefaultConstraint</enum>
</property>
<item>
<widget class="QPushButton" name="startButton">
<property name="toolTip">
<string>Request update</string>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Start</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="stopButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Send update</string>
</property>
<property name="text">
<string>Stop</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="apLabel">
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="font">
<font>
<weight>50</weight>
<bold>false</bold>
</font>
</property>
<property name="layoutDirection">
<enum>Qt::LeftToRight</enum>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>AP OFF</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="simLabel">
<property name="minimumSize">
<size>
<width>0</width>
<height>22</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">color: rgb(255, 255, 255);</string>
</property>
<property name="text">
<string>Sim OFF</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="buttonClearLog">
<property name="text">
<string>Clear Log</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QTextEdit" name="textBrowser">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true">QTextEdit {
background-color: white;
color: rgb(0, 0, 0);
}</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOn</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

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ground/openpilotgcs/src/plugins/hitlv2/simulatorv2.cpp Normal file
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/**
******************************************************************************
*
* @file simulator.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "simulatorv2.h"
#include <extensionsystem/pluginmanager.h>
#include <coreplugin/icore.h>
#include <coreplugin/threadmanager.h>
volatile bool Simulator::isStarted = false;
const float Simulator::GEE = 9.81;
const float Simulator::FT2M = 0.3048;
const float Simulator::KT2MPS = 0.514444444;
const float Simulator::INHG2KPA = 3.386;
const float Simulator::FPS2CMPS = 30.48;
const float Simulator::DEG2RAD = (M_PI/180.0);
const float Simulator::RAD2DEG = (180.0/M_PI);
Simulator::Simulator(const SimulatorSettings& params) :
inSocket(NULL),
outSocket(NULL),
settings(params),
updatePeriod(50),
simTimeout(2000),
autopilotConnectionStatus(false),
simConnectionStatus(false),
txTimer(NULL),
simTimer(NULL),
name("")
{
// move to thread
moveToThread(Core::ICore::instance()->threadManager()->getRealTimeThread());
connect(this, SIGNAL(myStart()), this, SLOT(onStart()), Qt::QueuedConnection);
emit myStart();
}
Simulator::~Simulator()
{
// qDebug() << "Simulator::~Simulator";
if (inSocket) {
delete inSocket;
inSocket = NULL;
}
if (outSocket) {
delete outSocket;
outSocket = NULL;
}
if (txTimer) {
delete txTimer;
txTimer = NULL;
}
if (simTimer) {
delete simTimer;
simTimer = NULL;
}
}
void Simulator::onDeleteSimulator(void)
{
// qDebug() << "Simulator::onDeleteSimulator";
resetAllObjects();
Simulator::setStarted(false);
Simulator::Instances().removeOne(simulatorId);
disconnect(this);
delete this;
}
void Simulator::onStart()
{
// qDebug() << "Simulator::onStart";
QMutexLocker locker(&lock);
// Get required UAVObjects
ExtensionSystem::PluginManager* pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager* objManager = pm->getObject<UAVObjectManager>();
// actDesired = ActuatorDesired::GetInstance(objManager);
// manCtrlCommand = ManualControlCommand::GetInstance(objManager);
// velActual = VelocityActual::GetInstance(objManager);
// posActual = PositionActual::GetInstance(objManager);
// altActual = BaroAltitude::GetInstance(objManager);
// camDesired = CameraDesired::GetInstance(objManager);
// acsDesired = AccessoryDesired::GetInstance(objManager);
posHome = HomeLocation::GetInstance(objManager);
accels = Accels::GetInstance(objManager);
gyros = Gyros::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
gpsPosition = GPSPosition::GetInstance(objManager);
flightStatus = FlightStatus::GetInstance(objManager);
gcsReceiver = GCSReceiver::GetInstance(objManager);
actCommand = ActuatorCommand::GetInstance(objManager);
attSettings = AttitudeSettings::GetInstance(objManager);
sonarAlt = SonarAltitude::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
// If already connect setup autopilot
GCSTelemetryStats::DataFields stats = telStats->getData();
if (stats.Status == GCSTelemetryStats::STATUS_CONNECTED)
onAutopilotConnect();
emit processOutput("Local interface: " + settings.hostAddress + ":" + \
QString::number(settings.inPort) + "\n" + \
"Remote interface: " + settings.remoteAddress + ":" + \
QString::number(settings.outPort) + "\n");
inSocket = new QUdpSocket();
outSocket = new QUdpSocket();
setupUdpPorts(settings.hostAddress, settings.inPort, settings.outPort);
connect(inSocket, SIGNAL(readyRead()), this, SLOT(receiveUpdate())/*, Qt::DirectConnection*/);
// Setup transmit timer
if (settings.manualOutput) {
txTimer = new QTimer();
connect(txTimer, SIGNAL(timeout()), this, SLOT(transmitUpdate())/*, Qt::DirectConnection*/);
txTimer->setInterval(settings.outputRate);
txTimer->start();
}
// Setup simulator connection timer
simTimer = new QTimer();
connect(simTimer, SIGNAL(timeout()), this, SLOT(onSimulatorConnectionTimeout())/*, Qt::DirectConnection*/);
simTimer->setInterval(simTimeout);
simTimer->start();
#ifdef DBG_TIMERS
timeRX = QTime();
timeRX.start();
timeTX = QTime();
timeTX.start();
#endif
setupObjects();
}
void Simulator::receiveUpdate()
{
// Update connection timer and status
simTimer->start();
if (!simConnectionStatus) {
simConnectionStatus = true;
emit simulatorConnected();
}
// Process data
while (inSocket->hasPendingDatagrams()) {
// Receive datagram
QByteArray datagram;
datagram.resize(inSocket->pendingDatagramSize());
QHostAddress sender;
quint16 senderPort;
inSocket->readDatagram(datagram.data(), datagram.size(), &sender, &senderPort);
// Process incomming data
processUpdate(datagram);
}
if (!settings.manualOutput)
transmitUpdate();
}
void Simulator::setupObjects()
{
if (settings.gcsReciever) {
setupInputObject(actCommand, settings.outputRate);
setupOutputObject(gcsReceiver);
} else if (settings.manualControl) {
// setupInputObject(actDesired);
// setupInputObject(camDesired);
// setupInputObject(acsDesired);
// setupOutputObject(manCtrlCommand);
qDebug() << "ManualControlCommand not implemented yet";
}
if (settings.homeLocation)
setupOutputObject(posHome);
if (settings.sonarAltitude)
setupOutputObject(sonarAlt);
if (settings.gpsPosition)
setupOutputObject(gpsPosition);
if (settings.attRaw || settings.attActual) {
setupOutputObject(accels);
setupOutputObject(gyros);
}
if (settings.attActual && !settings.attActHW)
setupOutputObject(attActual);
else
setupWatchedObject(attActual);
}
void Simulator::resetAllObjects()
{
setupDefaultObject(posHome);
setupDefaultObject(accels);
setupDefaultObject(gyros);
setupDefaultObject(attActual);
setupDefaultObject(gpsPosition);
setupDefaultObject(gcsReceiver);
setupDefaultObject(actCommand);
setupDefaultObject(sonarAlt);
// setupDefaultObject(manCtrlCommand);
// setupDefaultObject(actDesired);
// setupDefaultObject(camDesired);
// setupDefaultObject(acsDesired);
// setupDefaultObject(altActual);
// setupDefaultObject(posActual);
// setupDefaultObject(velActual);
}
void Simulator::setupInputObject(UAVObject* obj, quint32 updateRate)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
mdata.gcsTelemetryUpdatePeriod = 0;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryAcked(mdata, false);
if (settings.manualOutput) {
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = updateRate;
} else {
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.flightTelemetryUpdatePeriod = 0;
}
obj->setMetadata(mdata);
}
void Simulator::setupWatchedObject(UAVObject *obj)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
mdata.gcsTelemetryUpdatePeriod = 0;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetFlightTelemetryAcked(mdata, false);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
obj->setMetadata(mdata);
}
void Simulator::setupOutputObject(UAVObject* obj)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
UAVObject::SetGcsAccess(mdata, UAVObject::ACCESS_READWRITE);
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 0;
UAVObject::SetFlightAccess(mdata, UAVObject::ACCESS_READONLY);
UAVObject::SetFlightTelemetryAcked(mdata, false);
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_MANUAL);
mdata.flightTelemetryUpdatePeriod = 0;
obj->setMetadata(mdata);
}
void Simulator::setupDefaultObject(UAVObject *obj)
{
UAVObject::Metadata mdata;
mdata = obj->getDefaultMetadata();
obj->setMetadata(mdata);
}
void Simulator::onAutopilotConnect()
{
autopilotConnectionStatus = true;
emit autopilotConnected();
}
void Simulator::onAutopilotDisconnect()
{
autopilotConnectionStatus = false;
emit autopilotDisconnected();
}
void Simulator::onSimulatorConnectionTimeout()
{
if (simConnectionStatus) {
simConnectionStatus = false;
emit simulatorDisconnected();
}
}
void Simulator::telStatsUpdated(UAVObject* obj)
{
GCSTelemetryStats::DataFields stats = telStats->getData();
if (!autopilotConnectionStatus && stats.Status == GCSTelemetryStats::STATUS_CONNECTED)
onAutopilotConnect();
else if (autopilotConnectionStatus && stats.Status != GCSTelemetryStats::STATUS_CONNECTED)
onAutopilotDisconnect();
}

222
ground/openpilotgcs/src/plugins/hitlv2/simulatorv2.h Normal file
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/**
******************************************************************************
*
* @file simulator.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup HITLPlugin HITL Plugin
* @{
* @brief The Hardware In The Loop plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef ISIMULATORV2_H
#define ISIMULATORV2_H
#include <QObject>
#include <QUdpSocket>
#include <QTimer>
#include <QProcess>
#include <QScopedPointer>
#include <qmath.h>
#include "uavtalk/telemetrymanager.h"
#include "uavobjectmanager.h"
#include "homelocation.h"
#include "accels.h"
#include "gyros.h"
#include "attitudeactual.h"
#include "gpsposition.h"
#include "flightstatus.h"
#include "gcsreceiver.h"
#include "actuatorcommand.h"
#include "gcstelemetrystats.h"
#include "attitudesettings.h"
#include "sonaraltitude.h"
//#define DBG_TIMERS
#undef DBG_TIMERS
/**
* just imagine this was a class without methods and all public properties
*/
typedef struct _CONNECTION
{
QString simulatorId;
QString hostAddress;
int inPort;
QString remoteAddress;
int outPort;
QString binPath;
QString dataPath;
bool homeLocation;
quint16 homeLocRate;
bool attRaw;
quint8 attRawRate;
bool attActual;
bool attActHW;
bool attActSim;
bool attActCalc;
bool sonarAltitude;
float sonarMaxAlt;
quint16 sonarAltRate;
bool gpsPosition;
quint16 gpsPosRate;
bool inputCommand;
bool gcsReciever;
bool manualControl;
bool manualOutput;
quint8 outputRate;
} SimulatorSettings;
class Simulator : public QObject
{
Q_OBJECT
public:
Simulator(const SimulatorSettings& params);
virtual ~Simulator();
bool isAutopilotConnected() const { return autopilotConnectionStatus; }
bool isSimulatorConnected() const { return simConnectionStatus; }
QString Name() const { return name; }
void setName(QString str) { name = str; }
QString SimulatorId() const { return simulatorId; }
void setSimulatorId(QString str) { simulatorId = str; }
static bool IsStarted() { return isStarted; }
static void setStarted(bool val) { isStarted = val; }
static QStringList& Instances() { return Simulator::instances; }
static void setInstance(const QString& str) { Simulator::instances.append(str); }
virtual void stopProcess() {}
virtual void setupUdpPorts(const QString& host, int inPort, int outPort) { Q_UNUSED(host) Q_UNUSED(inPort) Q_UNUSED(outPort)}
signals:
void processOutput(QString str);
void autopilotConnected();
void autopilotDisconnected();
void simulatorConnected();
void simulatorDisconnected();
void myStart();
public slots:
Q_INVOKABLE virtual bool setupProcess() { return true; }
private slots:
void onStart();
void receiveUpdate();
void onAutopilotConnect();
void onAutopilotDisconnect();
void onSimulatorConnectionTimeout();
void telStatsUpdated(UAVObject* obj);
Q_INVOKABLE void onDeleteSimulator(void);
virtual void transmitUpdate() = 0;
virtual void processUpdate(const QByteArray& data) = 0;
protected:
static const float GEE;
static const float FT2M;
static const float KT2MPS;
static const float INHG2KPA;
static const float FPS2CMPS;
static const float DEG2RAD;
static const float RAD2DEG;
#ifdef DBG_TIMERS
QTime timeRX;
QTime timeTX;
#endif
QUdpSocket* inSocket;
QUdpSocket* outSocket;
// ActuatorDesired* actDesired;
// ManualControlCommand* manCtrlCommand;
// VelocityActual* velActual;
// PositionActual* posActual;
// BaroAltitude* altActual;
// CameraDesired *camDesired;
// AccessoryDesired *acsDesired;
Accels *accels;
Gyros *gyros;
AttitudeActual *attActual;
HomeLocation *posHome;
FlightStatus *flightStatus;
GPSPosition *gpsPosition;
GCSReceiver *gcsReceiver;
ActuatorCommand *actCommand;
AttitudeSettings *attSettings;
SonarAltitude *sonarAlt;
GCSTelemetryStats* telStats;
SimulatorSettings settings;
QMutex lock;
private:
int updatePeriod;
int simTimeout;
volatile bool autopilotConnectionStatus;
volatile bool simConnectionStatus;
QTimer* txTimer;
QTimer* simTimer;
QString name;
QString simulatorId;
volatile static bool isStarted;
static QStringList instances;
void setupObjects();
void resetAllObjects();
void setupInputObject(UAVObject* obj, quint32 updateRate);
void setupOutputObject(UAVObject* obj);
void setupWatchedObject(UAVObject *obj);
void setupDefaultObject(UAVObject *obj);
};
class SimulatorCreator
{
public:
SimulatorCreator(QString id, QString descr) :
classId(id),
description(descr)
{}
virtual ~SimulatorCreator() {}
QString ClassId() const { return classId; }
QString Description() const { return description; }
virtual Simulator* createSimulator(const SimulatorSettings& params) = 0;
private:
QString classId;
QString description;
};
#endif // ISIMULATORV2_H

11
ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.cpp
View File

@ -256,7 +256,10 @@ void NotifyPluginOptionsPage::addDynamicField(UAVObjectField* objField)
_dynamicFieldCondition->removeItem(smaller); _dynamicFieldCondition->removeItem(smaller);
_dynamicFieldCondition->removeItem(bigger); _dynamicFieldCondition->removeItem(bigger);
} }
_dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(_selectedNotification->getCondition()))); int cond=_selectedNotification->getCondition();
if(cond<0)
return;
_dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(cond)));
connect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)), connect(_dynamicFieldCondition, SIGNAL(currentIndexChanged(QString)),
this, SLOT(on_changedIndex_rangeValue(QString))); this, SLOT(on_changedIndex_rangeValue(QString)));
@ -434,8 +437,10 @@ void NotifyPluginOptionsPage::updateConfigView(NotificationItem* notification)
_optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default")); _optionsPage->SoundCollectionList->setCurrentIndex(_optionsPage->SoundCollectionList->findText("default"));
_optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3())); _optionsPage->Sound3->setCurrentIndex(_optionsPage->Sound3->findText(notification->getSound3()));
} }
int cond=notification->getCondition();
_dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(notification->getCondition()))); if(cond<0)
return;
_dynamicFieldCondition->setCurrentIndex(_dynamicFieldCondition->findText(NotifyPluginOptionsPage::conditionValues.at(cond)));
_sayOrder->setCurrentIndex(notification->getSayOrder()); _sayOrder->setCurrentIndex(notification->getSayOrder());

18
ground/openpilotgcs/src/plugins/plugins.pro
View File

@ -140,13 +140,19 @@ plugin_ipconnection.subdir = ipconnection
plugin_ipconnection.depends = plugin_coreplugin plugin_ipconnection.depends = plugin_coreplugin
SUBDIRS += plugin_ipconnection SUBDIRS += plugin_ipconnection
# Disable until updated to the new sensor objects
#HITLNEW Simulation gadget #HITLNEW Simulation gadget
#plugin_hitlnew.subdir = hitlnew plugin_hitlnew.subdir = hitlnew
#plugin_hitlnew.depends = plugin_coreplugin plugin_hitlnew.depends = plugin_coreplugin
#plugin_hitlnew.depends += plugin_uavobjects plugin_hitlnew.depends += plugin_uavobjects
#plugin_hitlnew.depends += plugin_uavtalk plugin_hitlnew.depends += plugin_uavtalk
#SUBDIRS += plugin_hitlnew SUBDIRS += plugin_hitlnew
#HITLNEW Simulation gadget v2
plugin_hitl_v2.subdir = hitlv2
plugin_hitl_v2.depends = plugin_coreplugin
plugin_hitl_v2.depends += plugin_uavobjects
plugin_hitl_v2.depends += plugin_uavtalk
SUBDIRS += plugin_hitl_v2
# Export and Import GCS Configuration # Export and Import GCS Configuration
plugin_importexport.subdir = importexport plugin_importexport.subdir = importexport

17
ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h
View File

@ -12,18 +12,23 @@ public:
int boardRevision; int boardRevision;
static QString idToBoardName(int id) static QString idToBoardName(int id)
{ {
switch (id | 0x0011) { switch (id) {
case 0x0111://MB case 0x0101://MB
return QString("OpenPilot MainBoard"); return QString("OpenPilot MainBoard");
break; break;
case 0x0311://PipX case 0x0201://INS
return QString("OpenPilot INS");
break;
case 0x0301://PipX
return QString("PipXtreame"); return QString("PipXtreame");
break; break;
case 0x0411://Coptercontrol case 0x0401://Coptercontrol
return QString("CopterControl"); return QString("CopterControl");
break; break;
case 0x0211://INS case 0x0402://Coptercontrol
return QString("OpenPilot INS"); // It would be nice to say CC3D here but since currently we use string comparisons
// for firmware compatibility and the filename path that would break
return QString("CopterControl");
break; break;
default: default:
return QString(""); return QString("");

144
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -35,6 +35,7 @@
#include <QEventLoop> #include <QEventLoop>
#include <QTimer> #include <QTimer>
#include <objectpersistence.h> #include <objectpersistence.h>
#include <firmwareiapobj.h>
// ****************************** // ******************************
// constructor/destructor // constructor/destructor
@ -199,25 +200,63 @@ void UAVObjectUtilManager::objectPersistenceOperationFailed()
*/ */
void UAVObjectUtilManager::objectPersistenceUpdated(UAVObject * obj) void UAVObjectUtilManager::objectPersistenceUpdated(UAVObject * obj)
{ {
qDebug() << "objectPersistenceUpdated: " << obj->getField("Operation")->getValue().toString(); Q_ASSERT(obj);
Q_ASSERT(obj->getName().compare("ObjectPersistence") == 0); Q_ASSERT(obj->getObjID() == ObjectPersistence::OBJID);
if(saveState == AWAITING_COMPLETED) { ObjectPersistence::DataFields objectPersistence = ((ObjectPersistence *)obj)->getData();
failureTimer.stop();
// Check flight is saying it completed. This is the only thing flight should do to trigger an update.
Q_ASSERT( obj->getField("Operation")->getValue().toString().compare(QString("Completed")) == 0 );
if(saveState == AWAITING_COMPLETED && objectPersistence.Operation == ObjectPersistence::OPERATION_ERROR) {
failureTimer.stop();
objectPersistenceOperationFailed();
} else if (saveState == AWAITING_COMPLETED &&
objectPersistence.Operation == ObjectPersistence::OPERATION_COMPLETED) {
failureTimer.stop();
// Check right object saved // Check right object saved
UAVObject* savingObj = queue.head(); UAVObject* savingObj = queue.head();
Q_ASSERT( obj->getField("ObjectID")->getValue() == savingObj->getObjID() ); if(objectPersistence.ObjectID != savingObj->getObjID() ) {
objectPersistenceOperationFailed();
return;
}
obj->disconnect(this); obj->disconnect(this);
queue.dequeue(); // We can now remove the object, it's done. queue.dequeue(); // We can now remove the object, it's done.
saveState = IDLE; saveState = IDLE;
emit saveCompleted(obj->getField("ObjectID")->getValue().toInt(), true);
emit saveCompleted(objectPersistence.ObjectID, true);
saveNextObject(); saveNextObject();
} }
} }
/**
* Helper function that makes sure FirmwareIAP is updated and then returns the data
*/
FirmwareIAPObj::DataFields UAVObjectUtilManager::getFirmwareIap()
{
FirmwareIAPObj::DataFields dummy;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
Q_ASSERT(pm);
if (!pm)
return dummy;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
Q_ASSERT(om);
if (!om)
return dummy;
FirmwareIAPObj *firmwareIap = FirmwareIAPObj::GetInstance(om);
Q_ASSERT(firmwareIap);
if (!firmwareIap)
return dummy;
// The code below will ask for the object update and wait for the updated to be received,
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(firmwareIap, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
firmwareIap->requestUpdate();
loop.exec();
return firmwareIap->getData();
}
/** /**
* Get the UAV Board model, for anyone interested. Return format is: * Get the UAV Board model, for anyone interested. Return format is:
@ -225,25 +264,8 @@ void UAVObjectUtilManager::objectPersistenceUpdated(UAVObject * obj)
*/ */
int UAVObjectUtilManager::getBoardModel() int UAVObjectUtilManager::getBoardModel()
{ {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
if (!pm) return (firmwareIapData.BoardType << 8) + firmwareIapData.BoardRevision;
return 0;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om)
return 0;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
// The code below will ask for the object update and wait for the updated to be received,
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
obj->requestUpdate();
loop.exec();
int boardType = (obj->getField("BoardType")->getValue().toInt()) << 8;
boardType += obj->getField("BoardRevision")->getValue().toInt();
return boardType;
} }
/** /**
@ -252,54 +274,18 @@ int UAVObjectUtilManager::getBoardModel()
QByteArray UAVObjectUtilManager::getBoardCPUSerial() QByteArray UAVObjectUtilManager::getBoardCPUSerial()
{ {
QByteArray cpuSerial; QByteArray cpuSerial;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
if (!pm)
return 0;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om)
return 0;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj"))); for (int i = 0; i < FirmwareIAPObj::CPUSERIAL_NUMELEM; i++)
// The code below will ask for the object update and wait for the updated to be received, cpuSerial.append(firmwareIapData.CPUSerial[i]);
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
obj->requestUpdate();
loop.exec();
UAVObjectField* cpuField = obj->getField("CPUSerial");
for (uint i = 0; i < cpuField->getNumElements(); ++i) {
cpuSerial.append(cpuField->getValue(i).toUInt());
}
return cpuSerial; return cpuSerial;
} }
quint32 UAVObjectUtilManager::getFirmwareCRC() quint32 UAVObjectUtilManager::getFirmwareCRC()
{ {
quint32 fwCRC; FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); return firmwareIapData.crc;
if (!pm)
return 0;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om)
return 0;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj")));
obj->getField("crc")->setValue(0);
obj->updated();
// The code below will ask for the object update and wait for the updated to be received,
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
obj->requestUpdate();
loop.exec();
UAVObjectField* fwCRCField = obj->getField("crc");
fwCRC=(quint32)fwCRCField->getValue().toLongLong();
return fwCRC;
} }
/** /**
@ -308,27 +294,11 @@ quint32 UAVObjectUtilManager::getFirmwareCRC()
QByteArray UAVObjectUtilManager::getBoardDescription() QByteArray UAVObjectUtilManager::getBoardDescription()
{ {
QByteArray ret; QByteArray ret;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance(); FirmwareIAPObj::DataFields firmwareIapData = getFirmwareIap();
if (!pm)
return 0;
UAVObjectManager *om = pm->getObject<UAVObjectManager>();
if (!om)
return 0;
UAVDataObject *obj = dynamic_cast<UAVDataObject *>(om->getObject(QString("FirmwareIAPObj"))); for (int i = 0; i < FirmwareIAPObj::DESCRIPTION_NUMELEM; i++)
// The code below will ask for the object update and wait for the updated to be received, ret.append(firmwareIapData.Description[i]);
// or the timeout of the timer, set to 1 second.
QEventLoop loop;
connect(obj, SIGNAL(objectUpdated(UAVObject*)), &loop, SLOT(quit()));
QTimer::singleShot(1000, &loop, SLOT(quit())); // Create a timeout
obj->requestUpdate();
loop.exec();
UAVObjectField* descriptionField = obj->getField("Description");
// Description starts with an offset of
for (uint i = 0; i < descriptionField->getNumElements(); ++i) {
ret.append(descriptionField->getValue(i).toInt());
}
return ret; return ret;
} }

4
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -43,6 +43,8 @@
#include <QQueue> #include <QQueue>
#include <QComboBox> #include <QComboBox>
#include <QDateTime> #include <QDateTime>
#include <firmwareiapobj.h>
class UAVOBJECTUTIL_EXPORT UAVObjectUtilManager: public QObject class UAVOBJECTUTIL_EXPORT UAVObjectUtilManager: public QObject
{ {
Q_OBJECT Q_OBJECT
@ -69,6 +71,8 @@ public:
static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc); static bool descriptionToStructure(QByteArray desc,deviceDescriptorStruct * struc);
UAVObjectManager* getObjectManager(); UAVObjectManager* getObjectManager();
void saveObjectToSD(UAVObject *obj); void saveObjectToSD(UAVObject *obj);
protected:
FirmwareIAPObj::DataFields getFirmwareIap();
signals: signals:
void saveCompleted(int objectID, bool status); void saveCompleted(int objectID, bool status);

14
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp
View File

@ -32,7 +32,7 @@
/** /**
* Constructor * Constructor
*/ */
ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL) ConfigTaskWidget::ConfigTaskWidget(QWidget *parent) : QWidget(parent),isConnected(false),smartsave(NULL),dirty(false),outOfLimitsStyle("background-color: rgb(255, 0, 0);"),timeOut(NULL),allowWidgetUpdates(true)
{ {
pm = ExtensionSystem::PluginManager::instance(); pm = ExtensionSystem::PluginManager::instance();
objManager = pm->getObject<UAVObjectManager>(); objManager = pm->getObject<UAVObjectManager>();
@ -127,7 +127,7 @@ void ConfigTaskWidget::addUAVObjectToWidgetRelation(QString object, QString fiel
Q_ASSERT(obj); Q_ASSERT(obj);
objectUpdates.insert(obj,true); objectUpdates.insert(obj,true);
connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*))); connect(obj, SIGNAL(objectUpdated(UAVObject*)),this, SLOT(objectUpdated(UAVObject*)));
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*))); connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
} }
if(!field.isEmpty() && obj) if(!field.isEmpty() && obj)
_field = obj->getField(QString(field)); _field = obj->getField(QString(field));
@ -258,6 +258,9 @@ void ConfigTaskWidget::populateWidgets()
*/ */
void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj) void ConfigTaskWidget::refreshWidgetsValues(UAVObject * obj)
{ {
if (!allowWidgetUpdates)
return;
bool dirtyBack=dirty; bool dirtyBack=dirty;
emit refreshWidgetsValuesRequested(); emit refreshWidgetsValuesRequested();
foreach(objectToWidget * ow,objOfInterest) foreach(objectToWidget * ow,objOfInterest)
@ -452,10 +455,10 @@ bool ConfigTaskWidget::isDirty()
*/ */
void ConfigTaskWidget::disableObjUpdates() void ConfigTaskWidget::disableObjUpdates()
{ {
allowWidgetUpdates = false;
foreach(objectToWidget * obj,objOfInterest) foreach(objectToWidget * obj,objOfInterest)
{ {
if(obj->object) if(obj->object)disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)));
disconnect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues()));
} }
} }
/** /**
@ -463,10 +466,11 @@ void ConfigTaskWidget::disableObjUpdates()
*/ */
void ConfigTaskWidget::enableObjUpdates() void ConfigTaskWidget::enableObjUpdates()
{ {
allowWidgetUpdates = true;
foreach(objectToWidget * obj,objOfInterest) foreach(objectToWidget * obj,objOfInterest)
{ {
if(obj->object) if(obj->object)
connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*))); connect(obj->object, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshWidgetsValues(UAVObject*)), Qt::UniqueConnection);
} }
} }
/** /**

1
ground/openpilotgcs/src/plugins/uavobjectwidgetutils/configtaskwidget.h
View File

@ -145,6 +145,7 @@ private slots:
void reloadButtonClicked(); void reloadButtonClicked();
private: private:
bool isConnected; bool isConnected;
bool allowWidgetUpdates;
QStringList objectsList; QStringList objectsList;
QList <objectToWidget*> objOfInterest; QList <objectToWidget*> objOfInterest;
ExtensionSystem::PluginManager *pm; ExtensionSystem::PluginManager *pm;

28
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -78,27 +78,6 @@ void deviceWidget::setDfu(DFUObject *dfu)
m_dfu = dfu; m_dfu = dfu;
} }
QString deviceWidget::idToBoardName(int id)
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("PipXtreme");
break;
case 0x0411://Coptercontrol
return QString("CopterControl");
break;
case 0x0211://INS
return QString("OpenPilot INS");
break;
default:
return QString("");
break;
}
}
/** /**
Fills the various fields for the device Fills the various fields for the device
*/ */
@ -125,6 +104,9 @@ void deviceWidget::populate()
case 0x0401: case 0x0401:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg")); devicePic->renderer()->load(QString(":/uploader/images/deviceID-0401.svg"));
break; break;
case 0x0402:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0402.svg"));
break;
case 0x0201: case 0x0201:
devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg")); devicePic->renderer()->load(QString(":/uploader/images/deviceID-0201.svg"));
break; break;
@ -200,7 +182,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build")); myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
} }
myDevice->lblBrdName->setText(idToBoardName(onBoardDescription.boardType<<8)); myDevice->lblBrdName->setText(deviceDescriptorStruct::idToBoardName(onBoardDescription.boardType << 8 | onBoardDescription.boardRevision));
return true; return true;
} }
@ -230,7 +212,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
myDevice->lblCertifiedL->setPixmap(pix); myDevice->lblCertifiedL->setPixmap(pix);
myDevice->lblCertifiedL->setToolTip(tr("Untagged or custom firmware build")); myDevice->lblCertifiedL->setToolTip(tr("Untagged or custom firmware build"));
} }
myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescription.boardType<<8)); myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescription.boardType << 8 | LoadedDescription.boardRevision));
return true; return true;
} }

1
ground/openpilotgcs/src/plugins/uploader/devicewidget.h
View File

@ -59,7 +59,6 @@ private:
deviceDescriptorStruct onBoardDescription; deviceDescriptorStruct onBoardDescription;
deviceDescriptorStruct LoadedDescription; deviceDescriptorStruct LoadedDescription;
QByteArray loadedFW; QByteArray loadedFW;
QString idToBoardName(int id);
Ui_deviceWidget *myDevice; Ui_deviceWidget *myDevice;
int deviceID; int deviceID;
DFUObject *m_dfu; DFUObject *m_dfu;

2389
ground/openpilotgcs/src/plugins/uploader/images/deviceID-0402.svg Normal file
View File

@ -0,0 +1,2389 @@
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xmlns:dc="http://purl.org/dc/elements/1.1/"
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xmlns:svg="http://www.w3.org/2000/svg"
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rdf:about=""><dc:format>image/svg+xml</dc:format><dc:type
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d="M 0,0 662,0 662,675 0,675 0,0 z"
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inkscape:groupmode="layer"
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Side by Side

After

Width:  |  Height:  |  Size: 120 KiB

1
ground/openpilotgcs/src/plugins/uploader/uploader.qrc
View File

@ -12,5 +12,6 @@
<file>images/application-certificate.svg</file> <file>images/application-certificate.svg</file>
<file>images/warning.svg</file> <file>images/warning.svg</file>
<file>images/error.svg</file> <file>images/error.svg</file>
<file>images/deviceID-0402.svg</file>
</qresource> </qresource>
</RCC> </RCC>

14
ground/openpilotgcs/src/plugins/welcome/qml/main.qml
View File

@ -51,37 +51,37 @@ Rectangle {
WelcomePageButton { WelcomePageButton {
baseIconName: "flightdata" baseIconName: "flightdata"
label: "Flight Data" label: "Flight Data"
onClicked: welcomePlugin.openPage("Mode1") onClicked: welcomePlugin.openPage("Flight data")
} }
WelcomePageButton { WelcomePageButton {
baseIconName: "config" baseIconName: "config"
label: "Configuration" label: "Configuration"
onClicked: welcomePlugin.openPage("Mode2") onClicked: welcomePlugin.openPage("Configuration")
} }
WelcomePageButton { WelcomePageButton {
baseIconName: "planner" baseIconName: "planner"
label: "Flight Planner" label: "Flight Planner"
onClicked: welcomePlugin.openPage("Mode3") onClicked: welcomePlugin.openPage("Flight Planner")
} }
WelcomePageButton { WelcomePageButton {
baseIconName: "scopes" baseIconName: "scopes"
label: "Scopes" label: "Scopes"
onClicked: welcomePlugin.openPage("Mode4") onClicked: welcomePlugin.openPage("Scopes")
} }
WelcomePageButton { WelcomePageButton {
baseIconName: "hitl" baseIconName: "hitl"
label: "HIL" label: "HITL"
onClicked: welcomePlugin.openPage("Mode5") onClicked: welcomePlugin.openPage("HITL")
} }
WelcomePageButton { WelcomePageButton {
baseIconName: "firmware" baseIconName: "firmware"
label: "Firmware" label: "Firmware"
onClicked: welcomePlugin.openPage("Mode6") onClicked: welcomePlugin.openPage("Firmware")
} }
} //icons grid } //icons grid
} // images row } // images row

2
ground/openpilotgcs/src/plugins/welcome/welcomemode.cpp
View File

@ -124,7 +124,7 @@ void WelcomeMode::openUrl(const QString &url)
void WelcomeMode::openPage(const QString &page) void WelcomeMode::openPage(const QString &page)
{ {
Core::ModeManager::instance()->activateMode(page); Core::ModeManager::instance()->activateModeByWorkspaceName(page);
} }
} // namespace Welcome } // namespace Welcome

2
overo

@ -1 +1 @@
Subproject commit 8381aa124feafbb268c4d87d569a8185765f4297 Subproject commit 335a3486dd41e48345209d0a65d49a8cc8b442a1

4
shared/uavobjectdefinition/gcsreceiver.xml
View File

@ -1,8 +1,8 @@
<xml> <xml>
<object name="GCSReceiver" singleinstance="true" settings="false"> <object name="GCSReceiver" singleinstance="true" settings="false">
<description>A receiver channel group carried over the telemetry link.</description> <description>A receiver channel group carried over the telemetry link.</description>
<field name="Channel" units="us" type="uint16" elements="6"/> <field name="Channel" units="us" type="uint16" elements="8"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readonly"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/> <telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/> <telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/> <logging updatemode="manual" period="0"/>

6
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -18,9 +18,9 @@
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/> <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- 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" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
<!-- Note these options values should be identical to those defined in FlightMode --> <!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/> <field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>

2
shared/uavobjectdefinition/objectpersistence.xml
View File

@ -1,7 +1,7 @@
<xml> <xml>
<object name="ObjectPersistence" singleinstance="true" settings="false"> <object name="ObjectPersistence" singleinstance="true" settings="false">
<description>Someone who knows please enter this</description> <description>Someone who knows please enter this</description>
<field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed"/> <field name="Operation" units="" type="enum" elements="1" options="NOP,Load,Save,Delete,FullErase,Completed,Error"/>
<field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/> <field name="Selection" units="" type="enum" elements="1" options="SingleObject,AllSettings,AllMetaObjects,AllObjects"/>
<field name="ObjectID" units="" type="uint32" elements="1"/> <field name="ObjectID" units="" type="uint32" elements="1"/>
<field name="InstanceID" units="" type="uint32" elements="1"/> <field name="InstanceID" units="" type="uint32" elements="1"/>

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="Throttle" units="%" type="float" elements="1"/> <field name="Throttle" units="%" type="float" elements="1"/>
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings --> <!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/> <field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar"/>
<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"/>

9
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -14,6 +14,15 @@
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarPitchPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarYawPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
<field name="VbarTau" units="sec" type="float" elements="1" defaultvalue="0.5"/>
<field name="VbarGyroSuppress" units="%" type="int8" elements="1" defaultvalue="30"/>
<field name="VbarPiroComp" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="VbarMaxAngle" units="deg" type="uint8" elements="1" defaultvalue="10"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/> <field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/> <field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="15"/>

3
shared/uavobjectdefinition/txpidsettings.xml
View File

@ -16,7 +16,8 @@
Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit, Roll Rate.ILimit, Pitch Rate.ILimit, Roll+Pitch Rate.ILimit, Yaw Rate.ILimit,
Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp, Roll Attitude.Kp, Pitch Attitude.Kp, Roll+Pitch Attitude.Kp, Yaw Attitude.Kp,
Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki, Roll Attitude.Ki, Pitch Attitude.Ki, Roll+Pitch Attitude.Ki, Yaw Attitude.Ki,
Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit" Roll Attitude.ILimit, Pitch Attitude.ILimit, Roll+Pitch Attitude.ILimit, Yaw Attitude.ILimit,
GyroTau"
defaultvalue="Disabled"/> defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/> <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/> <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>