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Code Issues Releases Activity

OP-1309 integrated AltitudeHold into new Stabilization

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This commit is contained in:
Corvus Corax 2014-05-01 11:48:38 +02:00
parent 66f2f8e840
commit 6993570cc9
10 changed files with 124 additions and 253 deletions
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187
flight/modules/AltitudeHold/altitudehold.c → flight/modules/Stabilization/altitudeloop.c
View File

@ -1,8 +1,8 @@
/** /**
****************************************************************************** ******************************************************************************
* *
* @file guidance.c * @file altitudeloop.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint * @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
* and sets @ref AttitudeDesired. It only does this when the FlightMode field * and sets @ref AttitudeDesired. It only does this when the FlightMode field
* of @ref ManualControlCommand is Auto. * of @ref ManualControlCommand is Auto.
@ -26,89 +26,122 @@
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
/**
* Input object: ActiveWaypoint
* Input object: PositionState
* Input object: ManualControlCommand
* Output object: AttitudeDesired
*
* This module will periodically update the value of the AttitudeDesired object.
*
* The module executes in its own thread in this example.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include <openpilot.h> #include <openpilot.h>
#include <callbackinfo.h> #include <callbackinfo.h>
#include <math.h>
#include <pid.h> #include <pid.h>
#include <altitudeloop.h>
#include <CoordinateConversions.h> #include <CoordinateConversions.h>
#include <altitudeholdsettings.h> #include <altitudeholdsettings.h>
#include <altitudeholddesired.h> // object that will be updated by the module
#include <altitudeholdstatus.h> #include <altitudeholdstatus.h>
#include <flightstatus.h>
#include <stabilizationdesired.h>
#include <accelstate.h>
#include <pios_constants.h>
#include <velocitystate.h> #include <velocitystate.h>
#include <positionstate.h> #include <positionstate.h>
// Private constants // Private constants
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define STACK_SIZE_BYTES 1024 #ifdef REVOLUTION
#define DESIRED_UPDATE_RATE_MS 100 // milliseconds
#define UPDATE_EXPECTED (1.0f / 666.0f)
#define UPDATE_MIN 1.0e-6f
#define UPDATE_MAX 1.0f
#define UPDATE_ALPHA 1.0e-2f
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define STACK_SIZE_BYTES 512
// Private types // Private types
// Private variables // Private variables
static DelayedCallbackInfo *altitudeHoldCBInfo; static DelayedCallbackInfo *altitudeHoldCBInfo;
static AltitudeHoldSettingsData altitudeHoldSettings; static AltitudeHoldSettingsData altitudeHoldSettings;
static struct pid pid0, pid1; static struct pid pid0, pid1;
static ThrustModeType thrustMode;
static PiOSDeltatimeConfig timeval;
static float thrustSetpoint = 0.0f;
static float thrustDemand = 0.0f;
static float startThrust = 0.5f;
// Private functions // Private functions
static void altitudeHoldTask(void); static void altitudeHoldTask(void);
static void SettingsUpdatedCb(UAVObjEvent *ev); static void SettingsUpdatedCb(UAVObjEvent *ev);
static void VelocityStateUpdatedCb(UAVObjEvent *ev);
/** /**
* Initialise the module, called on startup * Setup mode and setpoint
* \returns 0 on success or -1 if initialisation failed
*/ */
int32_t AltitudeHoldStart() float stabilizationAltitudeHold(float setpoint, ThrustModeType mode, bool reinit)
{ {
// Start main task static bool newaltitude = true;
SettingsUpdatedCb(NULL);
PIOS_CALLBACKSCHEDULER_Dispatch(altitudeHoldCBInfo);
return 0; if (reinit) {
startThrust = setpoint;
pid_zero(&pid0);
pid_zero(&pid1);
newaltitude = true;
}
const float DEADBAND = 0.20f;
const float DEADBAND_HIGH = 1.0f / 2 + DEADBAND / 2;
const float DEADBAND_LOW = 1.0f / 2 - DEADBAND / 2;
// this is the max speed in m/s at the extents of thrust
float thrustRate;
uint8_t thrustExp;
AltitudeHoldSettingsThrustExpGet(&thrustExp);
AltitudeHoldSettingsThrustRateGet(&thrustRate);
PositionStateData posState;
PositionStateGet(&posState);
if (altitudeHoldSettings.CutThrustWhenZero && setpoint <= 0) {
// Cut thrust if desired
thrustSetpoint = 0.0f;
thrustDemand = 0.0f;
thrustMode = DIRECT;
newaltitude = true;
} else if (mode == ALTITUDEVARIO && setpoint > DEADBAND_HIGH) {
// being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
// then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255
thrustSetpoint = -((thrustExp * powf((setpoint - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - thrustExp) * (setpoint - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * thrustRate);
thrustMode = ALTITUDEVARIO;
newaltitude = true;
} else if (mode == ALTITUDEVARIO && setpoint < DEADBAND_LOW) {
thrustSetpoint = -(-(thrustExp * powf((DEADBAND_LOW - (setpoint < 0 ? 0 : setpoint)) / DEADBAND_LOW, 3) + (255 - thrustExp) * (DEADBAND_LOW - setpoint) / DEADBAND_LOW) / 255 * thrustRate);
thrustMode = ALTITUDEVARIO;
newaltitude = true;
} else if (newaltitude == true) {
thrustSetpoint = posState.Down;
thrustMode = ALTITUDEHOLD;
newaltitude = false;
}
return thrustDemand;
} }
/** /**
* Initialise the module, called on startup * Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/ */
int32_t AltitudeHoldInitialize() void stabilizationAltitudeloopInit()
{ {
AltitudeHoldSettingsInitialize(); AltitudeHoldSettingsInitialize();
AltitudeHoldDesiredInitialize();
AltitudeHoldStatusInitialize(); AltitudeHoldStatusInitialize();
PositionStateInitialize();
VelocityStateInitialize();
PIOS_DELTATIME_Init(&timeval, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
// Create object queue // Create object queue
altitudeHoldCBInfo = PIOS_CALLBACKSCHEDULER_Create(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES); altitudeHoldCBInfo = PIOS_CALLBACKSCHEDULER_Create(&altitudeHoldTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_ALTITUDEHOLD, STACK_SIZE_BYTES);
AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb); AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
VelocityStateConnectCallback(&VelocityStateUpdatedCb);
return 0; // Start main task
SettingsUpdatedCb(NULL);
} }
MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart);
/** /**
@ -116,44 +149,25 @@ MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart);
*/ */
static void altitudeHoldTask(void) static void altitudeHoldTask(void)
{ {
static float startThrust = 0.5f;
// make sure we run only when we are supposed to run
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD:
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
break;
default:
pid_zero(&pid0);
pid_zero(&pid1);
StabilizationDesiredThrustGet(&startThrust);
PIOS_CALLBACKSCHEDULER_Schedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
return;
break;
}
AltitudeHoldStatusData altitudeHoldStatus; AltitudeHoldStatusData altitudeHoldStatus;
AltitudeHoldStatusGet(&altitudeHoldStatus); AltitudeHoldStatusGet(&altitudeHoldStatus);
// do the actual control loop(s) // do the actual control loop(s)
AltitudeHoldDesiredData altitudeHoldDesired;
AltitudeHoldDesiredGet(&altitudeHoldDesired);
float positionStateDown; float positionStateDown;
PositionStateDownGet(&positionStateDown); PositionStateDownGet(&positionStateDown);
float velocityStateDown; float velocityStateDown;
VelocityStateDownGet(&velocityStateDown); VelocityStateDownGet(&velocityStateDown);
switch (altitudeHoldDesired.ControlMode) { float dT;
case ALTITUDEHOLDDESIRED_CONTROLMODE_ALTITUDE: dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
switch (thrustMode) {
case ALTITUDEHOLD:
// altitude control loop // altitude control loop
altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, 1.0f, altitudeHoldDesired.SetPoint, positionStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS); altitudeHoldStatus.VelocityDesired = pid_apply_setpoint(&pid0, 1.0f, thrustSetpoint, positionStateDown, dT);
break; break;
case ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY: case ALTITUDEVARIO:
altitudeHoldStatus.VelocityDesired = altitudeHoldDesired.SetPoint; altitudeHoldStatus.VelocityDesired = thrustSetpoint;
break; break;
default: default:
altitudeHoldStatus.VelocityDesired = 0; altitudeHoldStatus.VelocityDesired = 0;
@ -162,37 +176,16 @@ static void altitudeHoldTask(void)
AltitudeHoldStatusSet(&altitudeHoldStatus); AltitudeHoldStatusSet(&altitudeHoldStatus);
float thrust; switch (thrustMode) {
switch (altitudeHoldDesired.ControlMode) { case DIRECT:
case ALTITUDEHOLDDESIRED_CONTROLMODE_THRUST: thrustDemand = thrustSetpoint;
thrust = altitudeHoldDesired.SetPoint;
break; break;
default: default:
// velocity control loop // velocity control loop
thrust = startThrust - pid_apply_setpoint(&pid1, 1.0f, altitudeHoldStatus.VelocityDesired, velocityStateDown, 1000.0f / DESIRED_UPDATE_RATE_MS); thrustDemand = startThrust - pid_apply_setpoint(&pid1, 1.0f, altitudeHoldStatus.VelocityDesired, velocityStateDown, dT);
if (thrust >= 1.0f) {
thrust = 1.0f;
}
if (thrust <= 0.0f) {
thrust = 0.0f;
}
break; break;
} }
StabilizationDesiredData stab;
StabilizationDesiredGet(&stab);
stab.Roll = altitudeHoldDesired.Roll;
stab.Pitch = altitudeHoldDesired.Pitch;
stab.Yaw = altitudeHoldDesired.Yaw;
stab.Thrust = thrust;
stab.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stab.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stab.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
StabilizationDesiredSet(&stab);
PIOS_CALLBACKSCHEDULER_Schedule(altitudeHoldCBInfo, DESIRED_UPDATE_RATE_MS, CALLBACK_UPDATEMODE_SOONER);
} }
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev) static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
@ -203,3 +196,11 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
pid_configure(&pid1, altitudeHoldSettings.VelocityPI.Kp, altitudeHoldSettings.VelocityPI.Ki, 0, altitudeHoldSettings.VelocityPI.Ilimit); pid_configure(&pid1, altitudeHoldSettings.VelocityPI.Kp, altitudeHoldSettings.VelocityPI.Ki, 0, altitudeHoldSettings.VelocityPI.Ilimit);
pid_zero(&pid1); pid_zero(&pid1);
} }
static void VelocityStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
PIOS_CALLBACKSCHEDULER_Dispatch(altitudeHoldCBInfo);
}
#endif /* ifdef REVOLUTION */

133
flight/modules/Stabilization/altitudeloop.c.old
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@ -1,133 +0,0 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControl
* @brief Interpretes the control input in ManualControlCommand
* @{
*
* @file altitudehandler.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @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 "inc/manualcontrol.h"
#include <manualcontrolcommand.h>
#include <stabilizationbank.h>
#include <altitudeholddesired.h>
#include <altitudeholdsettings.h>
#include <positionstate.h>
#if defined(REVOLUTION)
// Private constants
// Private types
// Private functions
/**
* @brief Handler to control deprecated flight modes controlled by AltitudeHold module
* @input: ManualControlCommand
* @output: AltitudeHoldDesired
*/
void altitudeHandler(bool newinit)
{
const float DEADBAND = 0.20f;
const float DEADBAND_HIGH = 1.0f / 2 + DEADBAND / 2;
const float DEADBAND_LOW = 1.0f / 2 - DEADBAND / 2;
if (newinit) {
StabilizationBankInitialize();
AltitudeHoldDesiredInitialize();
AltitudeHoldSettingsInitialize();
PositionStateInitialize();
}
// this is the max speed in m/s at the extents of thrust
float thrustRate;
uint8_t thrustExp;
static uint8_t flightMode;
static bool newaltitude = true;
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
FlightStatusFlightModeGet(&flightMode);
AltitudeHoldDesiredData altitudeHoldDesiredData;
AltitudeHoldDesiredGet(&altitudeHoldDesiredData);
AltitudeHoldSettingsThrustExpGet(&thrustExp);
AltitudeHoldSettingsThrustRateGet(&thrustRate);
StabilizationBankData stabSettings;
StabilizationBankGet(&stabSettings);
PositionStateData posState;
PositionStateGet(&posState);
altitudeHoldDesiredData.Roll = cmd.Roll * stabSettings.RollMax;
altitudeHoldDesiredData.Pitch = cmd.Pitch * stabSettings.PitchMax;
altitudeHoldDesiredData.Yaw = cmd.Yaw * stabSettings.ManualRate.Yaw;
if (newinit) {
newaltitude = true;
}
uint8_t cutOff;
AltitudeHoldSettingsCutThrustWhenZeroGet(&cutOff);
if (cutOff && cmd.Thrust < 0) {
// Cut thrust if desired
altitudeHoldDesiredData.SetPoint = cmd.Thrust;
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_THRUST;
newaltitude = true;
} else if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO && cmd.Thrust > DEADBAND_HIGH) {
// being the two band symmetrical I can divide by DEADBAND_LOW to scale it to a value betweeon 0 and 1
// then apply an "exp" f(x,k) = (k*x*x*x + (255-k)*x) / 255
altitudeHoldDesiredData.SetPoint = -((thrustExp * powf((cmd.Thrust - DEADBAND_HIGH) / (DEADBAND_LOW), 3) + (255 - thrustExp) * (cmd.Thrust - DEADBAND_HIGH) / DEADBAND_LOW) / 255 * thrustRate);
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY;
newaltitude = true;
} else if (flightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO && cmd.Thrust < DEADBAND_LOW) {
altitudeHoldDesiredData.SetPoint = -(-(thrustExp * powf((DEADBAND_LOW - (cmd.Thrust < 0 ? 0 : cmd.Thrust)) / DEADBAND_LOW, 3) + (255 - thrustExp) * (DEADBAND_LOW - cmd.Thrust) / DEADBAND_LOW) / 255 * thrustRate);
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_VELOCITY;
newaltitude = true;
} else if (newaltitude == true) {
altitudeHoldDesiredData.SetPoint = posState.Down;
altitudeHoldDesiredData.ControlMode = ALTITUDEHOLDDESIRED_CONTROLMODE_ALTITUDE;
newaltitude = false;
}
AltitudeHoldDesiredSet(&altitudeHoldDesiredData);
}
#else /* if defined(REVOLUTION) */
void altitudeHandler(__attribute__((unused)) bool newinit)
{
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
}
#endif // REVOLUTION
/**
* @}
* @}
*/

26
flight/modules/AltitudeHold/inc/altitudehold.h → flight/modules/Stabilization/inc/altitudeloop.h
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@ -1,9 +1,15 @@
/** /**
****************************************************************************** ******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup StabilizationModule Stabilization Module
* @brief altitudeloop mode
* @note This file implements the logic for a altitudeloop
* @{
* *
* @file examplemodperiodic.c * @file altitudeloop.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Example module to be used as a template for actual modules. * @brief Attitude stabilization module.
* *
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
@ -23,9 +29,13 @@
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
#ifndef EXAMPLEMODPERIODIC_H
#define EXAMPLEMODPERIODIC_H
int32_t ExampleModPeriodicInitialize(); #ifndef ALTITUDELOOP_H
int32_t GuidanceInitialize(void); #define ALTITUDELOOP_H
#endif // EXAMPLEMODPERIODIC_H
typedef enum { ALTITUDEHOLD = 0, ALTITUDEVARIO = 1, DIRECT = 2 } ThrustModeType;
void stabilizationAltitudeloopInit();
float stabilizationAltitudeHold(float setpoint, ThrustModeType mode, bool reinit);
#endif /* ALTITUDELOOP_H */

8
flight/modules/Stabilization/outerloop.c
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@ -46,6 +46,7 @@
#include <stabilization.h> #include <stabilization.h>
#include <cruisecontrol.h> #include <cruisecontrol.h>
#include <altitudeloop.h>
#include <CoordinateConversions.h> #include <CoordinateConversions.h>
// Private constants // Private constants
@ -228,6 +229,13 @@ static void stabilizationOuterloopTask()
} }
} else { } else {
switch (cast_struct_to_array(enabled, enabled.Roll)[t]) { switch (cast_struct_to_array(enabled, enabled.Roll)[t]) {
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY:
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit);
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default: default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t]; rateDesiredAxis[t] = stabilizationDesiredAxis[t];
break; break;

4
flight/modules/Stabilization/stabilization.c
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@ -50,6 +50,7 @@
#include <stabilization.h> #include <stabilization.h>
#include <innerloop.h> #include <innerloop.h>
#include <outerloop.h> #include <outerloop.h>
#include <altitudeloop.h>
// Public variables // Public variables
@ -109,6 +110,9 @@ int32_t StabilizationInitialize()
stabilizationOuterloopInit(); stabilizationOuterloopInit();
stabilizationInnerloopInit(); stabilizationInnerloopInit();
#ifdef REVOLUTION
stabilizationAltitudeloopInit();
#endif
pid_zero(&stabSettings.outerPids[0]); pid_zero(&stabSettings.outerPids[0]);
pid_zero(&stabSettings.outerPids[1]); pid_zero(&stabSettings.outerPids[1]);
pid_zero(&stabSettings.outerPids[2]); pid_zero(&stabSettings.outerPids[2]);

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
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@ -106,7 +106,6 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += oplinksettings UAVOBJSRCFILENAMES += oplinksettings
UAVOBJSRCFILENAMES += oplinkstatus UAVOBJSRCFILENAMES += oplinkstatus
UAVOBJSRCFILENAMES += altitudefiltersettings UAVOBJSRCFILENAMES += altitudefiltersettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += altitudeholdstatus UAVOBJSRCFILENAMES += altitudeholdstatus
UAVOBJSRCFILENAMES += waypoint UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive UAVOBJSRCFILENAMES += waypointactive

1
flight/targets/boards/revoproto/firmware/UAVObjects.inc
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@ -106,7 +106,6 @@ UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += oplinksettings UAVOBJSRCFILENAMES += oplinksettings
UAVOBJSRCFILENAMES += oplinkstatus UAVOBJSRCFILENAMES += oplinkstatus
UAVOBJSRCFILENAMES += altitudefiltersettings UAVOBJSRCFILENAMES += altitudefiltersettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += altitudeholdstatus UAVOBJSRCFILENAMES += altitudeholdstatus
UAVOBJSRCFILENAMES += waypoint UAVOBJSRCFILENAMES += waypoint
UAVOBJSRCFILENAMES += waypointactive UAVOBJSRCFILENAMES += waypointactive

1
flight/targets/boards/simposix/firmware/UAVObjects.inc
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@ -108,7 +108,6 @@ UAVOBJSRCFILENAMES += camerastabsettings
UAVOBJSRCFILENAMES += altitudeholdsettings UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += altitudefiltersettings UAVOBJSRCFILENAMES += altitudefiltersettings
UAVOBJSRCFILENAMES += revosettings UAVOBJSRCFILENAMES += revosettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += altitudeholdstatus UAVOBJSRCFILENAMES += altitudeholdstatus
UAVOBJSRCFILENAMES += ekfconfiguration UAVOBJSRCFILENAMES += ekfconfiguration
UAVOBJSRCFILENAMES += ekfstatevariance UAVOBJSRCFILENAMES += ekfstatevariance

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -35,7 +35,6 @@ HEADERS += \
$$UAVOBJECT_SYNTHETICS/airspeedstate.h \ $$UAVOBJECT_SYNTHETICS/airspeedstate.h \
$$UAVOBJECT_SYNTHETICS/attitudestate.h \ $$UAVOBJECT_SYNTHETICS/attitudestate.h \
$$UAVOBJECT_SYNTHETICS/attitudesimulated.h \ $$UAVOBJECT_SYNTHETICS/attitudesimulated.h \
$$UAVOBJECT_SYNTHETICS/altitudeholddesired.h \
$$UAVOBJECT_SYNTHETICS/altitudeholdsettings.h \ $$UAVOBJECT_SYNTHETICS/altitudeholdsettings.h \
$$UAVOBJECT_SYNTHETICS/altitudeholdstatus.h \ $$UAVOBJECT_SYNTHETICS/altitudeholdstatus.h \
$$UAVOBJECT_SYNTHETICS/altitudefiltersettings.h \ $$UAVOBJECT_SYNTHETICS/altitudefiltersettings.h \
@ -137,7 +136,6 @@ SOURCES += \
$$UAVOBJECT_SYNTHETICS/airspeedstate.cpp \ $$UAVOBJECT_SYNTHETICS/airspeedstate.cpp \
$$UAVOBJECT_SYNTHETICS/attitudestate.cpp \ $$UAVOBJECT_SYNTHETICS/attitudestate.cpp \
$$UAVOBJECT_SYNTHETICS/attitudesimulated.cpp \ $$UAVOBJECT_SYNTHETICS/attitudesimulated.cpp \
$$UAVOBJECT_SYNTHETICS/altitudeholddesired.cpp \
$$UAVOBJECT_SYNTHETICS/altitudeholdsettings.cpp \ $$UAVOBJECT_SYNTHETICS/altitudeholdsettings.cpp \
$$UAVOBJECT_SYNTHETICS/altitudeholdstatus.cpp \ $$UAVOBJECT_SYNTHETICS/altitudeholdstatus.cpp \
$$UAVOBJECT_SYNTHETICS/debuglogsettings.cpp \ $$UAVOBJECT_SYNTHETICS/debuglogsettings.cpp \

14
shared/uavobjectdefinition/altitudeholddesired.xml
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@ -1,14 +0,0 @@
<xml>
<object name="AltitudeHoldDesired" singleinstance="true" settings="false" category="Control">
<description>Holds the desired altitude (from manual control) as well as the desired attitude to pass through</description>
<field name="SetPoint" units="" type="float" elements="1"/>
<field name="ControlMode" units="" type="enum" elements="1" options="Altitude,Velocity,Thrust" />
<field name="Roll" units="deg" type="float" elements="1"/>
<field name="Pitch" units="deg" type="float" elements="1"/>
<field name="Yaw" units="deg/s" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>