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Code Issues Releases Activity

First version. Passes simple tests.

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This commit is contained in:
Cliff Geerdes 2013-01-30 18:57:32 -05:00
parent f59bcd1949
commit 6806e895cc
7 changed files with 65 additions and 20 deletions
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16
flight/Modules/Actuator/actuator.c
View File

@ -206,7 +206,11 @@ static void actuatorTask(void* parameters)
// Check how long since last update
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
// reuse dt in case of wraparound
// todo (theothercliff thinks this might be needed):
// if dT actually matters...
// fix it to know max value and subtract for currently correct dT on wrap
if(thisSysTime > lastSysTime)
dT = (thisSysTime - lastSysTime) * (portTICK_RATE_MS * 0.001f);
lastSysTime = thisSysTime;
@ -328,17 +332,17 @@ static void actuatorTask(void* parameters)
status[ct] = -1;
}
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLL) &&
if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_CAMERAROLLORSERVO1) &&
(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_CAMERAYAW))
{
CameraDesiredData cameraDesired;
if( CameraDesiredGet(&cameraDesired) == 0 ) {
switch(mixers[ct].type) {
case MIXERSETTINGS_MIXER1TYPE_CAMERAROLL:
status[ct] = cameraDesired.Roll;
case MIXERSETTINGS_MIXER1TYPE_CAMERAROLLORSERVO1:
status[ct] = cameraDesired.RollOrServo1;
break;
case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCH:
status[ct] = cameraDesired.Pitch;
case MIXERSETTINGS_MIXER1TYPE_CAMERAPITCHORSERVO2:
status[ct] = cameraDesired.PitchOrServo2;
break;
case MIXERSETTINGS_MIXER1TYPE_CAMERAYAW:
status[ct] = cameraDesired.Yaw;

45
flight/Modules/CameraStab/camerastab.c
View File

@ -161,6 +161,12 @@ static void attitudeUpdated(UAVObjEvent* ev)
(float)SAMPLE_PERIOD_MS;
csd->lastSysTime = thisSysTime;
// storage for elevon roll component before the pitch component has been generated
// we are guaranteed that the iteration order of i is roll pitch yaw
// that guarnteees this won't be used uninited, but the compiler doesn't know that
// so we init it or turn the warning/error off for each compiler
float elevon_roll = 0.0;
// process axes
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
@ -212,14 +218,47 @@ static void attitudeUpdated(UAVObjEvent* ev)
applyFeedForward(i, dT_millis, &attitude, &cameraStab);
#endif
// set output channels
// bounding for elevon mixing occurs on the unmixed output
// to limit the range of the mixed output you must limit the range
// of both the unmixed pitch and unmixed roll
float output = bound((attitude + csd->inputs[i]) / cameraStab.OutputRange[i], 1.0f);
// set output channels
switch (i) {
case CAMERASTABSETTINGS_INPUT_ROLL:
CameraDesiredRollSet(&output);
// we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we simply grab the value for later use
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
elevon_roll = output;
}
else {
CameraDesiredRollOrServo1Set(&output);
}
break;
case CAMERASTABSETTINGS_INPUT_PITCH:
CameraDesiredPitchSet(&output);
// we are guaranteed that the iteration order of i is roll pitch yaw
// for elevon mixing we use the value we previously grabbed and set both s1 and s2
if (cameraStab.GimbalType == CAMERASTABSETTINGS_GIMBALTYPE_ELEVONSSGYAWPITCHROLL) {
float elevon_pitch;
elevon_pitch = output;
output = (elevon_pitch + elevon_roll) / 2;
CameraDesiredRollOrServo1Set(&output);
// elevon reversing works like this:
// first use the normal reversing facilities to get servo 1 working in the correct direction
// for both roll and pitch
// then use the new reversing switches to reverse servo 2 roll and/or pitch as needed
if (cameraStab.ElevonSSGServo2RollReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2ROLLREVERSE_TRUE) {
elevon_roll = 1.0 - elevon_roll;
}
if (cameraStab.ElevonSSGServo2PitchReverse == CAMERASTABSETTINGS_ELEVONSSGSERVO2PITCHREVERSE_TRUE) {
elevon_pitch = 1.0 - elevon_pitch;
}
output = (elevon_pitch - elevon_roll) / 2;
CameraDesiredPitchOrServo2Set(&output);
}
else {
CameraDesiredPitchOrServo2Set(&output);
}
break;
case CAMERASTABSETTINGS_INPUT_YAW:
CameraDesiredYawSet(&output);

4
ground/openpilotgcs/src/plugins/config/camerastabilization.ui
View File

@ -340,7 +340,7 @@ font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Pitch</string>
<string>Pitch Or Servo2</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
@ -369,7 +369,7 @@ font: bold 12px;
margin:1px;</string>
</property>
<property name="text">
<string>Roll</string>
<string>Roll Or Servo1</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>

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

@ -155,7 +155,7 @@ void ConfigCameraStabilizationWidget::refreshWidgetsValues(UAVObject *obj)
// Then search for any mixer channels set to this
outputs[i]->setCurrentIndex(0);
for (int j = 0; j < NUM_MIXERS; j++)
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i) &&
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i) &&
outputs[i]->currentIndex() != (j + 1))
outputs[i]->setCurrentIndex(j + 1);
}
@ -219,7 +219,7 @@ void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
if ((mixerNum >= 0) && // Short circuit in case of none
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_DISABLED) &&
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLL + i) ) {
(*mixerTypes[mixerNum] != MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i) ) {
// If the mixer channel already mapped to something, it should not be
// used for camera output, we reset it to none
outputs[i]->setCurrentIndex(0);
@ -230,13 +230,13 @@ void ConfigCameraStabilizationWidget::updateObjectsFromWidgets()
} else {
// Make sure no other channels have this output set
for (int j = 0; j < NUM_MIXERS; j++)
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLL + i))
if (*mixerTypes[j] == (MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i))
*mixerTypes[j] = MixerSettings::MIXER1TYPE_DISABLED;
// If this channel is assigned to one of the outputs that is not disabled
// set it
if ((mixerNum >= 0) && (mixerNum < NUM_MIXERS))
*mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLL + i;
*mixerTypes[mixerNum] = MixerSettings::MIXER1TYPE_CAMERAROLLORSERVO1 + i;
}
}
} while(widgetUpdated);

4
shared/uavobjectdefinition/cameradesired.xml
View File

@ -1,8 +1,8 @@
<xml>
<object name="CameraDesired" singleinstance="true" settings="false">
<description>Desired camera outputs. Comes from @ref CameraStabilization module.</description>
<field name="Roll" units="" type="float" elements="1"/>
<field name="Pitch" units="" type="float" elements="1"/>
<field name="RollOrServo1" units="" type="float" elements="1"/>
<field name="PitchOrServo2" units="" type="float" elements="1"/>
<field name="Yaw" units="" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

4
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -8,11 +8,13 @@
<field name="MaxAxisLockRate" units="deg/s" type="float" elements="1" defaultvalue="1"/>
<field name="OutputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<field name="ResponseTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="GimbalType" units="" type="enum" elements="1" options="Generic,Yaw-Roll-Pitch,Yaw-Pitch-Roll" defaultvalue="Generic"/>
<field name="GimbalType" units="" type="enum" elements="1" options="Generic,Yaw-Roll-Pitch,Yaw-Pitch-Roll,ElevonSSG(Yaw-Pitch-Roll)" defaultvalue="Generic"/>
<field name="FeedForward" units="" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="0"/>
<field name="MaxAccel" units="units/sec" type="uint16" elements="1" defaultvalue="500"/>
<field name="AccelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
<field name="DecelTime" units="ms" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="5"/>
<field name="ElevonSSGServo2RollReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ElevonSSGServo2PitchReverse" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

4
shared/uavobjectdefinition/mixersettings.xml
View File

@ -27,8 +27,8 @@
<option>Disabled</option>
<option>Motor</option>
<option>Servo</option>
<option>CameraRoll</option>
<option>CameraPitch</option>
<option>CameraRollOrServo1</option>
<option>CameraPitchOrServo2</option>
<option>CameraYaw</option>
<option>Accessory0</option>
<option>Accessory1</option>