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Code Issues Releases Activity

Merge branch 'bugfix-flight'

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This commit is contained in:
James Cotton 2011-05-11 20:10:38 -05:00
commit 612cd4ff55
5 changed files with 203 additions and 13 deletions
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6
flight/Bootloaders/BootloaderUpdater/main.c
View File

@ -39,9 +39,9 @@ void error(int);
* data. This is non-intuitive for _binary_size where you
* might expect its value to hold the size but you'd be wrong.
*/
extern void _binary_start;
extern void _binary_end;
extern void _binary_size;
extern uint32_t _binary_start;
extern uint32_t _binary_end;
extern uint32_t _binary_size;
const uint32_t * embedded_image_start = (uint32_t *) &(_binary_start);
const uint32_t * embedded_image_end = (uint32_t *) &(_binary_end);
const uint32_t embedded_image_size = (uint32_t) &(_binary_size);

10
flight/CopterControl/System/inc/pios_config.h
View File

@ -84,16 +84,16 @@
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 450
#define HEAP_LIMIT_CRITICAL 350
#define HEAP_LIMIT_WARNING 350
#define HEAP_LIMIT_CRITICAL 250
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 644
#define PIOS_SYSTEM_STACK_SIZE 644
#define PIOS_STABILIZATION_STACK_SIZE 624
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 504
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998

15
flight/Modules/Actuator/actuator.c
View File

@ -182,7 +182,7 @@ static void actuatorTask(void* parameters)
nMixers ++;
}
}
if(nMixers < 2) //Nothing can fly with less than two mixers.
if((nMixers < 2) && !ActuatorCommandReadOnly(dummy)) //Nothing can fly with less than two mixers.
{
setFailsafe(); // So that channels like PWM buzzer keep working
continue;
@ -198,8 +198,12 @@ static void actuatorTask(void* parameters)
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
{
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED)
if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
// Set to minimum if disabled. This is not the same as saying PWM pulse = 0 us
status[ct] = -1;
command.Channel[ct] = 0;
continue;
}
status[ct] = ProcessMixer(ct, curve1, curve2, &mixerSettings, &desired, dT);
@ -400,14 +404,19 @@ static void setFailsafe()
// Reset ActuatorCommand to safe values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_MOTOR)
{
command.Channel[n] = settings.ChannelMin[n];
}
else
else if(mixers[n].type == MIXERSETTINGS_MIXER1TYPE_SERVO)
{
command.Channel[n] = settings.ChannelNeutral[n];
}
else
{
command.Channel[n] = 0;
}
}
// Set alarm

4
flight/Modules/System/systemmod.c
View File

@ -59,8 +59,8 @@
// optimisation options are changed.
#endif
#if defined(PIOS_MANUAL_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
#if defined(PIOS_SYSTEM_STACK_SIZE)
#define STACK_SIZE_BYTES PIOS_SYSTEM_STACK_SIZE
#else
#define STACK_SIZE_BYTES 924
#endif

181
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -3125,6 +3125,52 @@
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65FF4BE913791C3300146BE4 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
65FF4BEA13791C3300146BE4 /* op_dfu.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = op_dfu.c; sourceTree = "<group>"; };
65FF4BEB13791C3300146BE4 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_board.c; sourceTree = "<group>"; };
/* End PBXFileReference section */
/* Begin PBXGroup section */
@ -3505,6 +3551,7 @@
657CEEB5121DBC49007A1FBE /* flight */ = {
isa = PBXGroup;
children = (
65FF4BB313791C3300146BE4 /* Bootloaders */,
65F93B9012EE09280047DB36 /* PipXtreme */,
65B7E6AC120DF1CD000C1123 /* AHRS */,
65E6DF7012E02E8E00058553 /* CopterControl */,
@ -8238,6 +8285,140 @@
path = inc;
sourceTree = "<group>";
};
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isa = PBXGroup;
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65FF4BB413791C3300146BE4 /* AHRS */,
65FF4BC413791C3300146BE4 /* BootloaderUpdater */,
65FF4BCB13791C3300146BE4 /* CopterControl */,
65FF4BD513791C3300146BE4 /* OpenPilot */,
65FF4BE213791C3300146BE4 /* PipXtreme */,
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65FF4BB913791C3300146BE4 /* bl_fsm.c */,
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65FF4BC313791C3300146BE4 /* pios_board.c */,
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