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Code Issues Releases Activity

Make autotuning module optional

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This commit is contained in:
James Cotton 2012-08-01 11:04:37 -05:00
parent d0ef95ff9a
commit 652647fc87
4 changed files with 28 additions and 10 deletions
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27
flight/Modules/Autotune/autotune.c
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@ -50,6 +50,7 @@
#include "pios.h" #include "pios.h"
#include "flightstatus.h" #include "flightstatus.h"
#include "hwsettings.h"
#include "manualcontrolcommand.h" #include "manualcontrolcommand.h"
#include "manualcontrolsettings.h" #include "manualcontrolsettings.h"
#include "relaytuning.h" #include "relaytuning.h"
@ -67,6 +68,7 @@ enum AUTOTUNE_STATE {AT_INIT, AT_START, AT_ROLL, AT_PITCH, AT_FINISHED, AT_SET};
// Private variables // Private variables
static xTaskHandle taskHandle; static xTaskHandle taskHandle;
static bool autotuneEnabled;
// Private functions // Private functions
static void AutotuneTask(void *parameters); static void AutotuneTask(void *parameters);
@ -79,6 +81,19 @@ static void update_stabilization_settings();
int32_t AutotuneInitialize(void) int32_t AutotuneInitialize(void)
{ {
// Create a queue, connect to manual control command and flightstatus // Create a queue, connect to manual control command and flightstatus
#ifdef MODULE_AUTOTUNE_BUILTIN
autotuneEnabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_AUTOTUNE] == HWSETTINGS_OPTIONALMODULES_ENABLED)
autotuneEnabled = true;
else
autotuneEnabled = false;
#endif
return 0; return 0;
} }
@ -89,13 +104,13 @@ int32_t AutotuneInitialize(void)
*/ */
int32_t AutotuneStart(void) int32_t AutotuneStart(void)
{ {
// Start main task if it is enabled
// Start main task if(autotuneEnabled) {
xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle); xTaskCreate(AutotuneTask, (signed char *)"Autotune", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
//TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle); TaskMonitorAdd(TASKINFO_RUNNING_AUTOTUNE, taskHandle);
//PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE); PIOS_WDG_RegisterFlag(PIOS_WDG_AUTOTUNE);
}
return 0; return 0;
} }
@ -113,6 +128,8 @@ static void AutotuneTask(void *parameters)
portTickType lastUpdateTime = xTaskGetTickCount(); portTickType lastUpdateTime = xTaskGetTickCount();
while(1) { while(1) {
PIOS_WDG_UpdateFlag(PIOS_WDG_AUTOTUNE);
// TODO: // TODO:
// 1. get from queue // 1. get from queue
// 2. based on whether it is flightstatus or manualcontrol // 2. based on whether it is flightstatus or manualcontrol

1
flight/PiOS/Boards/STM32103CB_CC_Rev1.h
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@ -74,6 +74,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_WDG_STABILIZATION 0x0002 #define PIOS_WDG_STABILIZATION 0x0002
#define PIOS_WDG_ATTITUDE 0x0004 #define PIOS_WDG_ATTITUDE 0x0004
#define PIOS_WDG_MANUAL 0x0008 #define PIOS_WDG_MANUAL 0x0008
#define PIOS_WDG_AUTOTUNE 0x0010
//------------------------ //------------------------
// TELEMETRY // TELEMETRY

2
shared/uavobjectdefinition/hwsettings.xml
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@ -18,7 +18,7 @@
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/> <field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/> <field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID" options="Disabled,Enabled" defaultvalue="Disabled"/> <field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID,Autotune" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/> <field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>

6
shared/uavobjectdefinition/taskinfo.xml
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@ -1,9 +1,9 @@
<xml> <xml>
<object name="TaskInfo" singleinstance="true" settings="false"> <object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description> <description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/> <field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/> <field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync"/> <field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,Com2UsbBridge,Usb2ComBridge,OveroSync,Autotune"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/> <telemetryflight acked="true" updatemode="periodic" period="10000"/>