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Code Issues Releases Activity

Merge remote-tracking branch 'origin/amorale/OP-1584_cc3d_ram_issue' into rel-14.10

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This commit is contained in:
Alessio Morale 2014-11-03 22:23:48 +01:00
commit 6681d54ca9
20 changed files with 108 additions and 408 deletions
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27
flight/modules/GPS/UBX.c
View File

@ -37,9 +37,12 @@
#include "inc/UBX.h"
#include "inc/GPS.h"
#include <string.h>
#ifndef PIOS_GPS_MINIMAL
#include <auxmagsupport.h>
static bool useMag = false;
#endif
static GPSPositionSensorSensorTypeOptions sensorType = GPSPOSITIONSENSOR_SENSORTYPE_UNKNOWN;
static bool usePvt = false;
@ -54,7 +57,6 @@ typedef struct {
} ubx_message_handler;
// parsing functions, roughly ordered by reception rate (higher rate messages on top)
static void parse_ubx_op_mag(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_pvt(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_nav_posllh(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
@ -66,31 +68,31 @@ static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, GPSPositionSensorData *
static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_op_sys(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
#endif
static void parse_ubx_op_mag(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_ack_ack(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_ack_nak(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
static void parse_ubx_mon_ver(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosition);
#endif
const ubx_message_handler ubx_handler_table[] = {
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG, .handler = &parse_ubx_op_mag },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_POSLLH, .handler = &parse_ubx_nav_posllh },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_VELNED, .handler = &parse_ubx_nav_velned },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SOL, .handler = &parse_ubx_nav_sol },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_DOP, .handler = &parse_ubx_nav_dop },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_PVT, .handler = &parse_ubx_nav_pvt },
#ifndef PIOS_GPS_MINIMAL
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_MAG, .handler = &parse_ubx_op_mag },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_SVINFO, .handler = &parse_ubx_nav_svinfo },
{ .msgClass = UBX_CLASS_NAV, .msgID = UBX_ID_NAV_TIMEUTC, .handler = &parse_ubx_nav_timeutc },
{ .msgClass = UBX_CLASS_OP_CUST, .msgID = UBX_ID_OP_SYS, .handler = &parse_ubx_op_sys },
#endif
{ .msgClass = UBX_CLASS_ACK, .msgID = UBX_ID_ACK_ACK, .handler = &parse_ubx_ack_ack },
{ .msgClass = UBX_CLASS_ACK, .msgID = UBX_ID_ACK_NAK, .handler = &parse_ubx_ack_nak },
{ .msgClass = UBX_CLASS_MON, .msgID = UBX_ID_MON_VER, .handler = &parse_ubx_mon_ver },
#endif
};
#define UBX_HANDLER_TABLE_SIZE NELEMENTS(ubx_handler_table)
@ -405,9 +407,7 @@ static void parse_ubx_nav_timeutc(struct UBXPacket *ubx, __attribute__((unused))
return;
}
}
#endif /* if !defined(PIOS_GPS_MINIMAL) */
#if !defined(PIOS_GPS_MINIMAL)
static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
uint8_t chan;
@ -434,7 +434,6 @@ static void parse_ubx_nav_svinfo(struct UBXPacket *ubx, __attribute__((unused))
GPSSatellitesSet(&svdata);
}
#endif /* if !defined(PIOS_GPS_MINIMAL) */
static void parse_ubx_ack_ack(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
@ -460,8 +459,6 @@ static void parse_ubx_mon_ver(struct UBXPacket *ubx, __attribute__((unused)) GPS
((ubxHwVersion >= 70000) ? GPSPOSITIONSENSOR_SENSORTYPE_UBX7 : GPSPOSITIONSENSOR_SENSORTYPE_UBX);
}
#if !defined(PIOS_GPS_MINIMAL)
static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
struct UBX_OP_SYSINFO *sysinfo = &ubx->payload.op_sysinfo;
@ -476,7 +473,7 @@ static void parse_ubx_op_sys(struct UBXPacket *ubx, __attribute__((unused)) GPSP
data.Status = GPSEXTENDEDSTATUS_STATUS_GPSV9;
GPSExtendedStatusSet(&data);
}
#endif
static void parse_ubx_op_mag(struct UBXPacket *ubx, __attribute__((unused)) GPSPositionSensorData *GpsPosition)
{
if (!useMag) {
@ -486,6 +483,7 @@ static void parse_ubx_op_mag(struct UBXPacket *ubx, __attribute__((unused)) GPSP
float mags[3] = { mag->x, mag->y, mag->z };
auxmagsupport_publish_samples(mags, AUXMAGSENSOR_STATUS_OK);
}
#endif /* if !defined(PIOS_GPS_MINIMAL) */
// UBX message parser
@ -531,6 +529,8 @@ uint32_t parse_ubx_message(struct UBXPacket *ubx, GPSPositionSensorData *GpsPosi
return id;
}
#if !defined(PIOS_GPS_MINIMAL)
void load_mag_settings()
{
auxmagsupport_reload_settings();
@ -544,4 +544,5 @@ void load_mag_settings()
useMag = true;
}
}
#endif
#endif // PIOS_INCLUDE_GPS_UBX_PARSER

5
flight/modules/GPS/inc/UBX.h
View File

@ -33,7 +33,10 @@
#include "openpilot.h"
#include "gpspositionsensor.h"
#include "gpsextendedstatus.h"
#ifndef PIOS_GPS_MINIMAL
#include "auxmagsensor.h"
#endif
#include "GPS.h"
#define UBX_HW_VERSION_8 80000
@ -370,7 +373,6 @@ typedef union {
#if !defined(PIOS_GPS_MINIMAL)
struct UBX_NAV_TIMEUTC nav_timeutc;
struct UBX_NAV_SVINFO nav_svinfo;
#endif
// Ack Class
struct UBX_ACK_ACK ack_ack;
struct UBX_ACK_NAK ack_nak;
@ -378,6 +380,7 @@ typedef union {
struct UBX_MON_VER mon_ver;
struct UBX_OP_SYSINFO op_sysinfo;
struct UBX_OP_MAG op_mag;
#endif
} UBXPayload;
struct UBXHeader {

135
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -87,115 +87,80 @@ void takeOffLocationHandler();
*/
void takeOffLocationHandlerInit();
#define STABILIZATIONMODE_TABLE(ENTRY) \
ENTRY(MANUAL) \
ENTRY(RATE) \
ENTRY(ATTITUDE) \
ENTRY(AXISLOCK) \
ENTRY(WEAKLEVELING) \
ENTRY(VIRTUALBAR) \
ENTRY(ACRO) \
ENTRY(RATTITUDE) \
ENTRY(ALTITUDEHOLD) \
ENTRY(ALTITUDEVARIO) \
ENTRY(CRUISECONTROL)
#define EXPAND_FLIGHTSETTINGS_STAB1(x) ((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
#define EXPAND_FLIGHTSETTINGS_STAB2(x) ((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
#define EXPAND_FLIGHTSETTINGS_STAB3(x) ((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
#define EXPAND_FLIGHTSETTINGS_STAB4(x) ((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
#define EXPAND_FLIGHTSETTINGS_STAB5(x) ((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
#define EXPAND_FLIGHTSETTINGS_STAB6(x) ((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_##x == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_##x) &&
#define FLIGHTMODE_TABLE(ENTRY) \
ENTRY(MANUAL) \
ENTRY(STABILIZED1) \
ENTRY(STABILIZED2) \
ENTRY(STABILIZED3) \
ENTRY(STABILIZED4) \
ENTRY(STABILIZED5) \
ENTRY(STABILIZED6) \
ENTRY(AUTOTUNE) \
ENTRY(POSITIONHOLD) \
ENTRY(RETURNTOBASE) \
ENTRY(LAND) \
ENTRY(PATHPLANNER) \
ENTRY(POI)
#define EXPAND_FLIGHTMODE(x) ((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_##x == (int)FLIGHTSTATUS_FLIGHTMODE_##x) &&
/*
* These are assumptions we make in the flight code about the order of settings and their consistency between
* objects. Please keep this synchronized to the UAVObjects
*/
#define assumptions1 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB1) \
1 \
)
#define assumptions2 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB2) \
1 \
)
#define assumptions3 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB3) \
1 \
)
#define assumptions4 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB4) \
1 \
)
#define assumptions5 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB5) \
1 \
)
#define assumptions6 \
( \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_MANUAL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_VIRTUALBAR == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ACRO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
STABILIZATIONMODE_TABLE(EXPAND_FLIGHTSETTINGS_STAB6) \
1 \
)
@ -211,19 +176,7 @@ void takeOffLocationHandlerInit();
#define assumptions_flightmode \
( \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_MANUAL == (int)FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED4 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED4) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED5 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED5) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED6) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE == (int)FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE == (int)FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND == (int)FLIGHTSTATUS_FLIGHTMODE_LAND) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER == (int)FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) && \
((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI == (int)FLIGHTSTATUS_FLIGHTMODE_POI) && \
FLIGHTMODE_TABLE(EXPAND_FLIGHTMODE) \
1 \
)

6
flight/modules/ManualControl/stabilizedhandler.c
View File

@ -128,8 +128,6 @@ void stabilizedHandler(bool newinit)
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Roll * stabSettings.RollMax :
0; // this is an invalid mode
stabilization.Pitch =
@ -141,8 +139,6 @@ void stabilizedHandler(bool newinit)
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
@ -164,8 +160,6 @@ void stabilizedHandler(bool newinit)
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ACRO) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
0; // this is an invalid mode
}

39
flight/modules/Stabilization/inc/relay_tuning.h
View File

@ -1,39 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup StabilizationModule Stabilization Module
* @brief Relay tuning controller
* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeState "Attitude State"
* @{
*
* @file relay_tuning.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 RELAY_TUNING_H
#define RELAY_TUNING_H
int stabilization_relay_rate(float err, float *output, int axis, bool reinit);
#endif

8
flight/modules/Stabilization/innerloop.c
View File

@ -47,7 +47,6 @@
#include <actuatordesired.h>
#include <stabilization.h>
#include <relay_tuning.h>
#include <virtualflybar.h>
#include <cruisecontrol.h>
@ -254,13 +253,6 @@ static void stabilizationInnerloopTask()
case STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR:
stabilization_virtual_flybar(gyro_filtered[t], rate[t], &actuatorDesiredAxis[t], dT, reinit, t, &stabSettings.settings);
break;
case STABILIZATIONSTATUS_INNERLOOP_RELAYTUNING:
rate[t] = boundf(rate[t],
-StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t],
StabilizationBankMaximumRateToArray(stabSettings.stabBank.MaximumRate)[t]
);
stabilization_relay_rate(rate[t] - gyro_filtered[t], &actuatorDesiredAxis[t], t, reinit);
break;
case STABILIZATIONSTATUS_INNERLOOP_AXISLOCK:
if (fabsf(rate[t]) > stabSettings.settings.MaxAxisLockRate) {
// While getting strong commands act like rate mode

150
flight/modules/Stabilization/relay_tuning.c
View File

@ -1,150 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup StabilizationModule Stabilization Module
* @brief Relay tuning controller
* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeState "Attitude State"
* @{
*
* @file stabilization.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* 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 "openpilot.h"
#include "stabilization.h"
#include "relaytuning.h"
#include "relaytuningsettings.h"
#include "sin_lookup.h"
/**
* Apply a step function for the stabilization controller and monitor the
* result
*
* Used to Replace the rate PID with a relay to measure the critical properties of this axis
* i.e. period and gain
*/
int stabilization_relay_rate(float error, float *output, int axis, bool reinit)
{
RelayTuningData relay;
RelayTuningGet(&relay);
static portTickType lastHighTime;
static portTickType lastLowTime;
static float accum_sin, accum_cos;
static uint32_t accumulated = 0;
const uint16_t DEGLITCH_TIME = 20; // ms
const float AMPLITUDE_ALPHA = 0.95f;
const float PERIOD_ALPHA = 0.95f;
portTickType thisTime = xTaskGetTickCount();
static bool rateRelayRunning[3];
// This indicates the current estimate of the smoothed error. So when it is high
// we are waiting for it to go low.
static bool high = false;
// On first run initialize estimates to something reasonable
if (reinit) {
rateRelayRunning[axis] = false;
RelayTuningPeriodToArray(relay.Period)[axis] = 200;
RelayTuningGainToArray(relay.Gain)[axis] = 0;
accum_sin = 0;
accum_cos = 0;
accumulated = 0;
// These should get reinitialized anyway
high = true;
lastHighTime = thisTime;
lastLowTime = thisTime;
RelayTuningSet(&relay);
}
RelayTuningSettingsData relaySettings;
RelayTuningSettingsGet(&relaySettings);
// Compute output, simple threshold on error
*output = high ? relaySettings.Amplitude : -relaySettings.Amplitude;
/**** The code below here is to estimate the properties of the oscillation ****/
// Make sure the period can't go below limit
if (RelayTuningPeriodToArray(relay.Period)[axis] < DEGLITCH_TIME) {
RelayTuningPeriodToArray(relay.Period)[axis] = DEGLITCH_TIME;
}
// Project the error onto a sine and cosine of the same frequency
// to accumulate the average amplitude
int32_t dT = thisTime - lastHighTime;
float phase = ((float)360 * (float)dT) / RelayTuningPeriodToArray(relay.Period)[axis];
if (phase >= 360) {
phase = 0;
}
accum_sin += sin_lookup_deg(phase) * error;
accum_cos += cos_lookup_deg(phase) * error;
accumulated++;
// Make sure we've had enough time since last transition then check for a change in the output
bool time_hysteresis = (high ? (thisTime - lastHighTime) : (thisTime - lastLowTime)) > DEGLITCH_TIME;
if (!high && time_hysteresis && error > relaySettings.HysteresisThresh) {
/* POSITIVE CROSSING DETECTED */
float this_amplitude = 2 * sqrtf(accum_sin * accum_sin + accum_cos * accum_cos) / accumulated;
float this_gain = this_amplitude / relaySettings.Amplitude;
accumulated = 0;
accum_sin = 0;
accum_cos = 0;
if (rateRelayRunning[axis] == false) {
rateRelayRunning[axis] = true;
RelayTuningPeriodToArray(relay.Period)[axis] = 200;
RelayTuningGainToArray(relay.Gain)[axis] = 0;
} else {
// Low pass filter each amplitude and period
RelayTuningGainToArray(relay.Gain)[axis] =
RelayTuningGainToArray(relay.Gain)[axis] *
AMPLITUDE_ALPHA + this_gain * (1 - AMPLITUDE_ALPHA);
RelayTuningPeriodToArray(relay.Period)[axis] =
RelayTuningPeriodToArray(relay.Period)[axis] *
PERIOD_ALPHA + dT * (1 - PERIOD_ALPHA);
}
lastHighTime = thisTime;
high = true;
RelayTuningSet(&relay);
} else if (high && time_hysteresis && error < -relaySettings.HysteresisThresh) {
/* FALLING CROSSING DETECTED */
lastLowTime = thisTime;
high = false;
}
return 0;
}

12
flight/modules/Stabilization/stabilization.c
View File

@ -43,8 +43,6 @@
#include <stabilizationsettingsbank1.h>
#include <stabilizationsettingsbank2.h>
#include <stabilizationsettingsbank3.h>
#include <relaytuning.h>
#include <relaytuningsettings.h>
#include <ratedesired.h>
#include <sin_lookup.h>
#include <stabilization.h>
@ -106,8 +104,6 @@ int32_t StabilizationInitialize()
ManualControlCommandInitialize(); // only used for PID bank selection based on flight mode switch
// Code required for relay tuning
sin_lookup_initalize();
RelayTuningSettingsInitialize();
RelayTuningInitialize();
stabilizationOuterloopInit();
stabilizationInnerloopInit();
@ -166,14 +162,6 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_RATTITUDE;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RELAYTUNING;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RELAYTUNING;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL;

6
flight/targets/boards/coptercontrol/firmware/Makefile
View File

@ -77,8 +77,7 @@ ifndef TESTAPP
SRC += $(OPUAVOBJ)/uavobjectmanager.c
SRC += $(OPUAVOBJ)/uavobjectpersistence.c
SRC += $(OPUAVOBJ)/eventdispatcher.c
SRC += $(FLIGHTLIB)/auxmagsupport.c
## UAVObjects
SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
@ -119,8 +118,6 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
SRC += $(OPUAVSYNTHDIR)/relaytuningsettings.c
SRC += $(OPUAVSYNTHDIR)/relaytuning.c
SRC += $(OPUAVSYNTHDIR)/taskinfo.c
SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
@ -130,7 +127,6 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/airspeedstate.c
SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
SRC += $(OPUAVSYNTHDIR)/perfcounter.c
SRC += $(OPUAVSYNTHDIR)/auxmagsensor.c
else
## Test Code
SRC += $(OPTESTS)/test_common.c

2
flight/targets/boards/coptercontrol/pios_board.h
View File

@ -75,7 +75,7 @@
// ------------------------
// TELEMETRY
// ------------------------
#define TELEM_QUEUE_SIZE 20
#define TELEM_QUEUE_SIZE 10
// ------------------------
// PIOS_LED

2
flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
View File

@ -78,8 +78,6 @@ UAVOBJSRCFILENAMES += pathplan
UAVOBJSRCFILENAMES += pathstatus
UAVOBJSRCFILENAMES += positionstate
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += relaytuning
UAVOBJSRCFILENAMES += relaytuningsettings
UAVOBJSRCFILENAMES += ekfconfiguration
UAVOBJSRCFILENAMES += ekfstatevariance
UAVOBJSRCFILENAMES += revocalibration

2
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -78,8 +78,6 @@ UAVOBJSRCFILENAMES += pathplan
UAVOBJSRCFILENAMES += pathstatus
UAVOBJSRCFILENAMES += positionstate
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += relaytuning
UAVOBJSRCFILENAMES += relaytuningsettings
UAVOBJSRCFILENAMES += ekfconfiguration
UAVOBJSRCFILENAMES += ekfstatevariance
UAVOBJSRCFILENAMES += revocalibration

2
flight/targets/boards/revoproto/firmware/UAVObjects.inc
View File

@ -78,8 +78,6 @@ UAVOBJSRCFILENAMES += pathplan
UAVOBJSRCFILENAMES += pathstatus
UAVOBJSRCFILENAMES += positionstate
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += relaytuning
UAVOBJSRCFILENAMES += relaytuningsettings
UAVOBJSRCFILENAMES += ekfconfiguration
UAVOBJSRCFILENAMES += ekfstatevariance
UAVOBJSRCFILENAMES += revocalibration

2
flight/targets/boards/simposix/firmware/UAVObjects.inc
View File

@ -80,8 +80,6 @@ UAVOBJSRCFILENAMES += pathstatus
UAVOBJSRCFILENAMES += positionstate
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += revocalibration
UAVOBJSRCFILENAMES += relaytuning
UAVOBJSRCFILENAMES += relaytuningsettings
UAVOBJSRCFILENAMES += sonaraltitude
UAVOBJSRCFILENAMES += stabilizationdesired
UAVOBJSRCFILENAMES += stabilizationsettings

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -94,8 +94,6 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowersettings.h \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowerstatus.h \
$$UAVOBJECT_SYNTHETICS/vtolpathfollowersettings.h \
$$UAVOBJECT_SYNTHETICS/relaytuning.h \
$$UAVOBJECT_SYNTHETICS/relaytuningsettings.h \
$$UAVOBJECT_SYNTHETICS/ratedesired.h \
$$UAVOBJECT_SYNTHETICS/firmwareiapobj.h \
$$UAVOBJECT_SYNTHETICS/i2cstats.h \
@ -200,8 +198,6 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowersettings.cpp \
$$UAVOBJECT_SYNTHETICS/fixedwingpathfollowerstatus.cpp \
$$UAVOBJECT_SYNTHETICS/vtolpathfollowersettings.cpp \
$$UAVOBJECT_SYNTHETICS/relaytuningsettings.cpp \
$$UAVOBJECT_SYNTHETICS/relaytuning.cpp \
$$UAVOBJECT_SYNTHETICS/ratedesired.cpp \
$$UAVOBJECT_SYNTHETICS/firmwareiapobj.cpp \
$$UAVOBJECT_SYNTHETICS/i2cstats.cpp \

84
shared/uavobjectdefinition/flightmodesettings.xml
View File

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

11
shared/uavobjectdefinition/relaytuning.xml
View File

@ -1,11 +0,0 @@
<xml>
<object name="RelayTuning" singleinstance="true" settings="false" category="Control">
<description>The input to the relay tuning.</description>
<field name="Period" units="ms" type="float" elementnames="Roll,Pitch,Yaw"/>
<field name="Gain" units="(deg/s)/output" type="float" elementnames="Roll,Pitch,Yaw"/>
<access gcs="readonly" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

15
shared/uavobjectdefinition/relaytuningsettings.xml
View File

@ -1,15 +0,0 @@
<xml>
<object name="RelayTuningSettings" singleinstance="true" settings="true" category="Control">
<description>Setting to run a relay tuning algorithm</description>
<field name="RateGain" units="" type="float" elements="1" defaultvalue="0.3333"/>
<field name="AttitudeGain" units="" type="float" elements="1" defaultvalue="0.2"/>
<field name="Amplitude" units="" type="float" elements="1" defaultvalue="0.25"/>
<field name="HysteresisThresh" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<field name="Mode" units="" type="enum" elements="1" options="Rate,Attitude" defaultvalue="Attitude"/>
<field name="Behavior" units="" type="enum" elements="1" options="Measure,Compute,Save" defaultvalue="Compute"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

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

2
shared/uavobjectdefinition/stabilizationstatus.xml
View File

@ -11,7 +11,7 @@
<elementname>Thrust</elementname>
</elementnames>
</field>
<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,Acro+,RelayTuning,AxisLock,Rate,CruiseControl">
<field name="InnerLoop" units="" type="enum" options="Direct,VirtualFlyBar,Acro+,AxisLock,Rate,CruiseControl">
<elementnames>
<elementname>Roll</elementname>
<elementname>Pitch</elementname>