diff --git a/Makefile b/Makefile index 7184cfab2..04db0a97a 100644 --- a/Makefile +++ b/Makefile @@ -147,7 +147,11 @@ include $(ROOT_DIR)/make/tools.mk # We almost need to consider autoconf/automake instead of this ifeq ($(UNAME), Linux) - QT_SPEC := linux-g++ + ifeq ($(ARCH), x86_64) + QT_SPEC := linux-g++-64 + else + QT_SPEC := linux-g++-32 + endif UAVOBJGENERATOR := $(BUILD_DIR)/uavobjgenerator/uavobjgenerator else ifeq ($(UNAME), Darwin) QT_SPEC := macx-g++ diff --git a/flight/libraries/WorldMagModel.c b/flight/libraries/WorldMagModel.c index 262740e1b..cff140387 100644 --- a/flight/libraries/WorldMagModel.c +++ b/flight/libraries/WorldMagModel.c @@ -2,11 +2,12 @@ ****************************************************************************** * * @file WorldMagModel.c - * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. + * @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2015. + * The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @brief Source file for the World Magnetic Model * This is a port of code available from the US NOAA. * - * The hard coded coefficients should be valid until 2015. + * The hard coded coefficients should be valid until 2020. * * Updated coeffs from .. * http://www.ngdc.noaa.gov/geomag/WMM/wmm_ddownload.shtml @@ -60,96 +61,96 @@ // first column not used but it will be optimized out by compiler static const float CoeffFile[91][6] = { { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f }, - { 1.0f, 0.0f, -29496.6f, 0.0f, 11.6f, 0.0f }, - { 1.0f, 1.0f, -1586.3f, 4944.4f, 16.5f, -25.9f }, - { 2.0f, 0.0f, -2396.6f, 0.0f, -12.1f, 0.0f }, - { 2.0f, 1.0f, 3026.1f, -2707.7f, -4.4f, -22.5f }, - { 2.0f, 2.0f, 1668.6f, -576.1f, 1.9f, -11.8f }, - { 3.0f, 0.0f, 1340.1f, 0.0f, 0.4f, 0.0f }, - { 3.0f, 1.0f, -2326.2f, -160.2f, -4.1f, 7.3f }, - { 3.0f, 2.0f, 1231.9f, 251.9f, -2.9f, -3.9f }, - { 3.0f, 3.0f, 634.0f, -536.6f, -7.7f, -2.6f }, - { 4.0f, 0.0f, 912.6f, 0.0f, -1.8f, 0.0f }, - { 4.0f, 1.0f, 808.9f, 286.4f, 2.3f, 1.1f }, - { 4.0f, 2.0f, 166.7f, -211.2f, -8.7f, 2.7f }, - { 4.0f, 3.0f, -357.1f, 164.3f, 4.6f, 3.9f }, - { 4.0f, 4.0f, 89.4f, -309.1f, -2.1f, -0.8f }, - { 5.0f, 0.0f, -230.9f, 0.0f, -1.0f, 0.0f }, - { 5.0f, 1.0f, 357.2f, 44.6f, 0.6f, 0.4f }, - { 5.0f, 2.0f, 200.3f, 188.9f, -1.8f, 1.8f }, - { 5.0f, 3.0f, -141.1f, -118.2f, -1.0f, 1.2f }, - { 5.0f, 4.0f, -163.0f, 0.0f, 0.9f, 4.0f }, - { 5.0f, 5.0f, -7.8f, 100.9f, 1.0f, -0.6f }, - { 6.0f, 0.0f, 72.8f, 0.0f, -0.2f, 0.0f }, - { 6.0f, 1.0f, 68.6f, -20.8f, -0.2f, -0.2f }, - { 6.0f, 2.0f, 76.0f, 44.1f, -0.1f, -2.1f }, - { 6.0f, 3.0f, -141.4f, 61.5f, 2.0f, -0.4f }, - { 6.0f, 4.0f, -22.8f, -66.3f, -1.7f, -0.6f }, - { 6.0f, 5.0f, 13.2f, 3.1f, -0.3f, 0.5f }, - { 6.0f, 6.0f, -77.9f, 55.0f, 1.7f, 0.9f }, - { 7.0f, 0.0f, 80.5f, 0.0f, 0.1f, 0.0f }, - { 7.0f, 1.0f, -75.1f, -57.9f, -0.1f, 0.7f }, - { 7.0f, 2.0f, -4.7f, -21.1f, -0.6f, 0.3f }, - { 7.0f, 3.0f, 45.3f, 6.5f, 1.3f, -0.1f }, - { 7.0f, 4.0f, 13.9f, 24.9f, 0.4f, -0.1f }, - { 7.0f, 5.0f, 10.4f, 7.0f, 0.3f, -0.8f }, - { 7.0f, 6.0f, 1.7f, -27.7f, -0.7f, -0.3f }, - { 7.0f, 7.0f, 4.9f, -3.3f, 0.6f, 0.3f }, - { 8.0f, 0.0f, 24.4f, 0.0f, -0.1f, 0.0f }, - { 8.0f, 1.0f, 8.1f, 11.0f, 0.1f, -0.1f }, - { 8.0f, 2.0f, -14.5f, -20.0f, -0.6f, 0.2f }, - { 8.0f, 3.0f, -5.6f, 11.9f, 0.2f, 0.4f }, - { 8.0f, 4.0f, -19.3f, -17.4f, -0.2f, 0.4f }, - { 8.0f, 5.0f, 11.5f, 16.7f, 0.3f, 0.1f }, - { 8.0f, 6.0f, 10.9f, 7.0f, 0.3f, -0.1f }, - { 8.0f, 7.0f, -14.1f, -10.8f, -0.6f, 0.4f }, - { 8.0f, 8.0f, -3.7f, 1.7f, 0.2f, 0.3f }, + { 1.0f, 0.0f, -29438.5f, 0.0f, 10.7f, 0.0f }, + { 1.0f, 1.0f, -1501.1f, 4796.2f, 17.9f, -26.8f }, + { 2.0f, 0.0f, -2445.3f, 0.0f, -8.6f, 0.0f }, + { 2.0f, 1.0f, 3012.5f, -2845.6f, -3.3f, -27.1f }, + { 2.0f, 2.0f, 1676.6f, -642.0f, 2.4f, -13.3f }, + { 3.0f, 0.0f, 1351.1f, 0.0f, 3.1f, 0.0f }, + { 3.0f, 1.0f, -2352.3f, -115.3f, -6.2f, 8.4f }, + { 3.0f, 2.0f, 1225.6f, 245.0f, -0.4f, -0.4f }, + { 3.0f, 3.0f, 581.9f, -538.3f, -10.4f, 2.3f }, + { 4.0f, 0.0f, 907.2f, 0.0f, -0.4f, 0.0f }, + { 4.0f, 1.0f, 813.7f, 283.4f, 0.8f, -0.6f }, + { 4.0f, 2.0f, 120.3f, -188.6f, -9.2f, 5.3f }, + { 4.0f, 3.0f, -335.0f, 180.9f, 4.0f, 3.0f }, + { 4.0f, 4.0f, 70.3f, -329.5f, -4.2f, -5.3f }, + { 5.0f, 0.0f, -232.6f, 0.0f, -0.2f, 0.0f }, + { 5.0f, 1.0f, 360.1f, 47.4f, 0.1f, 0.4f }, + { 5.0f, 2.0f, 192.4f, 196.9f, -1.4f, 1.6f }, + { 5.0f, 3.0f, -141.0f, -119.4f, 0.0f, -1.1f }, + { 5.0f, 4.0f, -157.4f, 16.1f, 1.3f, 3.3f }, + { 5.0f, 5.0f, 4.3f, 100.1f, 3.8f, 0.1f }, + { 6.0f, 0.0f, 69.5f, 0.0f, -0.5f, 0.0f }, + { 6.0f, 1.0f, 67.4f, -20.7f, -0.2f, 0.0f }, + { 6.0f, 2.0f, 72.8f, 33.2f, -0.6f, -2.2f }, + { 6.0f, 3.0f, -129.8f, 58.8f, 2.4f, -0.7f }, + { 6.0f, 4.0f, -29.0f, -66.5f, -1.1f, 0.1f }, + { 6.0f, 5.0f, 13.2f, 7.3f, 0.3f, 1.0f }, + { 6.0f, 6.0f, -70.9f, 62.5f, 1.5f, 1.3f }, + { 7.0f, 0.0f, 81.6f, 0.0f, 0.2f, 0.0f }, + { 7.0f, 1.0f, -76.1f, -54.1f, -0.2f, 0.7f }, + { 7.0f, 2.0f, -6.8f, -19.4f, -0.4f, 0.5f }, + { 7.0f, 3.0f, 51.9f, 5.6f, 1.3f, -0.2f }, + { 7.0f, 4.0f, 15.0f, 24.4f, 0.2f, -0.1f }, + { 7.0f, 5.0f, 9.3f, 3.3f, -0.4f, -0.7f }, + { 7.0f, 6.0f, -2.8f, -27.5f, -0.9f, 0.1f }, + { 7.0f, 7.0f, 6.7f, -2.3f, 0.3f, 0.1f }, + { 8.0f, 0.0f, 24.0f, 0.0f, 0.0f, 0.0f }, + { 8.0f, 1.0f, 8.6f, 10.2f, 0.1f, -0.3f }, + { 8.0f, 2.0f, -16.9f, -18.1f, -0.5f, 0.3f }, + { 8.0f, 3.0f, -3.2f, 13.2f, 0.5f, 0.3f }, + { 8.0f, 4.0f, -20.6f, -14.6f, -0.2f, 0.6f }, + { 8.0f, 5.0f, 13.3f, 16.2f, 0.4f, -0.1f }, + { 8.0f, 6.0f, 11.7f, 5.7f, 0.2f, -0.2f }, + { 8.0f, 7.0f, -16.0f, -9.1f, -0.4f, 0.3f }, + { 8.0f, 8.0f, -2.0f, 2.2f, 0.3f, 0.0f }, { 9.0f, 0.0f, 5.4f, 0.0f, 0.0f, 0.0f }, - { 9.0f, 1.0f, 9.4f, -20.5f, -0.1f, 0.0f }, - { 9.0f, 2.0f, 3.4f, 11.5f, 0.0f, -0.2f }, - { 9.0f, 3.0f, -5.2f, 12.8f, 0.3f, 0.0f }, - { 9.0f, 4.0f, 3.1f, -7.2f, -0.4f, -0.1f }, - { 9.0f, 5.0f, -12.4f, -7.4f, -0.3f, 0.1f }, - { 9.0f, 6.0f, -0.7f, 8.0f, 0.1f, 0.0f }, - { 9.0f, 7.0f, 8.4f, 2.1f, -0.1f, -0.2f }, - { 9.0f, 8.0f, -8.5f, -6.1f, -0.4f, 0.3f }, - { 9.0f, 9.0f, -10.1f, 7.0f, -0.2f, 0.2f }, - { 10.0f, 0.0f, -2.0f, 0.0f, 0.0f, 0.0f }, - { 10.0f, 1.0f, -6.3f, 2.8f, 0.0f, 0.1f }, - { 10.0f, 2.0f, 0.9f, -0.1f, -0.1f, -0.1f }, - { 10.0f, 3.0f, -1.1f, 4.7f, 0.2f, 0.0f }, - { 10.0f, 4.0f, -0.2f, 4.4f, 0.0f, -0.1f }, - { 10.0f, 5.0f, 2.5f, -7.2f, -0.1f, -0.1f }, - { 10.0f, 6.0f, -0.3f, -1.0f, -0.2f, 0.0f }, - { 10.0f, 7.0f, 2.2f, -3.9f, 0.0f, -0.1f }, - { 10.0f, 8.0f, 3.1f, -2.0f, -0.1f, -0.2f }, - { 10.0f, 9.0f, -1.0f, -2.0f, -0.2f, 0.0f }, - { 10.0f, 10.0f, -2.8f, -8.3f, -0.2f, -0.1f }, - { 11.0f, 0.0f, 3.0f, 0.0f, 0.0f, 0.0f }, - { 11.0f, 1.0f, -1.5f, 0.2f, 0.0f, 0.0f }, - { 11.0f, 2.0f, -2.1f, 1.7f, 0.0f, 0.1f }, - { 11.0f, 3.0f, 1.7f, -0.6f, 0.1f, 0.0f }, - { 11.0f, 4.0f, -0.5f, -1.8f, 0.0f, 0.1f }, - { 11.0f, 5.0f, 0.5f, 0.9f, 0.0f, 0.0f }, - { 11.0f, 6.0f, -0.8f, -0.4f, 0.0f, 0.1f }, - { 11.0f, 7.0f, 0.4f, -2.5f, 0.0f, 0.0f }, - { 11.0f, 8.0f, 1.8f, -1.3f, 0.0f, -0.1f }, - { 11.0f, 9.0f, 0.1f, -2.1f, 0.0f, -0.1f }, - { 11.0f, 10.0f, 0.7f, -1.9f, -0.1f, 0.0f }, - { 11.0f, 11.0f, 3.8f, -1.8f, 0.0f, -0.1f }, - { 12.0f, 0.0f, -2.2f, 0.0f, 0.0f, 0.0f }, - { 12.0f, 1.0f, -0.2f, -0.9f, 0.0f, 0.0f }, - { 12.0f, 2.0f, 0.3f, 0.3f, 0.1f, 0.0f }, - { 12.0f, 3.0f, 1.0f, 2.1f, 0.1f, 0.0f }, - { 12.0f, 4.0f, -0.6f, -2.5f, -0.1f, 0.0f }, - { 12.0f, 5.0f, 0.9f, 0.5f, 0.0f, 0.0f }, - { 12.0f, 6.0f, -0.1f, 0.6f, 0.0f, 0.1f }, - { 12.0f, 7.0f, 0.5f, 0.0f, 0.0f, 0.0f }, - { 12.0f, 8.0f, -0.4f, 0.1f, 0.0f, 0.0f }, - { 12.0f, 9.0f, -0.4f, 0.3f, 0.0f, 0.0f }, + { 9.0f, 1.0f, 8.8f, -21.6f, -0.1f, -0.2f }, + { 9.0f, 2.0f, 3.1f, 10.8f, -0.1f, -0.1f }, + { 9.0f, 3.0f, -3.1f, 11.7f, 0.4f, -0.2f }, + { 9.0f, 4.0f, 0.6f, -6.8f, -0.5f, 0.1f }, + { 9.0f, 5.0f, -13.3f, -6.9f, -0.2f, 0.1f }, + { 9.0f, 6.0f, -0.1f, 7.8f, 0.1f, 0.0f }, + { 9.0f, 7.0f, 8.7f, 1.0f, 0.0f, -0.2f }, + { 9.0f, 8.0f, -9.1f, -3.9f, -0.2f, 0.4f }, + { 9.0f, 9.0f, -10.5f, 8.5f, -0.1f, 0.3f }, + { 10.0f, 0.0f, -1.9f, 0.0f, 0.0f, 0.0f }, + { 10.0f, 1.0f, -6.5f, 3.3f, 0.0f, 0.1f }, + { 10.0f, 2.0f, 0.2f, -0.3f, -0.1f, -0.1f }, + { 10.0f, 3.0f, 0.6f, 4.6f, 0.3f, 0.0f }, + { 10.0f, 4.0f, -0.6f, 4.4f, -0.1f, 0.0f }, + { 10.0f, 5.0f, 1.7f, -7.9f, -0.1f, -0.2f }, + { 10.0f, 6.0f, -0.7f, -0.6f, -0.1f, 0.1f }, + { 10.0f, 7.0f, 2.1f, -4.1f, 0.0f, -0.1f }, + { 10.0f, 8.0f, 2.3f, -2.8f, -0.2f, -0.2f }, + { 10.0f, 9.0f, -1.8f, -1.1f, -0.1f, 0.1f }, + { 10.0f, 10.0f, -3.6f, -8.7f, -0.2f, -0.1f }, + { 11.0f, 0.0f, 3.1f, 0.0f, 0.0f, 0.0f }, + { 11.0f, 1.0f, -1.5f, -0.1f, 0.0f, 0.0f }, + { 11.0f, 2.0f, -2.3f, 2.1f, -0.1f, 0.1f }, + { 11.0f, 3.0f, 2.1f, -0.7f, 0.1f, 0.0f }, + { 11.0f, 4.0f, -0.9f, -1.1f, 0.0f, 0.1f }, + { 11.0f, 5.0f, 0.6f, 0.7f, 0.0f, 0.0f }, + { 11.0f, 6.0f, -0.7f, -0.2f, 0.0f, 0.0f }, + { 11.0f, 7.0f, 0.2f, -2.1f, 0.0f, 0.1f }, + { 11.0f, 8.0f, 1.7f, -1.5f, 0.0f, 0.0f }, + { 11.0f, 9.0f, -0.2f, -2.5f, 0.0f, -0.1f }, + { 11.0f, 10.0f, 0.4f, -2.0f, -0.1f, 0.0f }, + { 11.0f, 11.0f, 3.5f, -2.3f, -0.1f, -0.1f }, + { 12.0f, 0.0f, -2.0f, 0.0f, 0.1f, 0.0f }, + { 12.0f, 1.0f, -0.3f, -1.0f, 0.0f, 0.0f }, + { 12.0f, 2.0f, 0.4f, 0.5f, 0.0f, 0.0f }, + { 12.0f, 3.0f, 1.3f, 1.8f, 0.1f, -0.1f }, + { 12.0f, 4.0f, -0.9f, -2.2f, -0.1f, 0.0f }, + { 12.0f, 5.0f, 0.9f, 0.3f, 0.0f, 0.0f }, + { 12.0f, 6.0f, 0.1f, 0.7f, 0.1f, 0.0f }, + { 12.0f, 7.0f, 0.5f, -0.1f, 0.0f, 0.0f }, + { 12.0f, 8.0f, -0.4f, 0.3f, 0.0f, 0.0f }, + { 12.0f, 9.0f, -0.4f, 0.2f, 0.0f, 0.0f }, { 12.0f, 10.0f, 0.2f, -0.9f, 0.0f, 0.0f }, - { 12.0f, 11.0f, -0.8f, -0.2f, -0.1f, 0.0f }, - { 12.0f, 12.0f, 0.0f, 0.9f, 0.1f, 0.0f } + { 12.0f, 11.0f, -0.9f, -0.2f, 0.0f, 0.0f }, + { 12.0f, 12.0f, 0.0f, 0.7f, 0.0f, 0.0f } }; static WMMtype_Ellipsoid *Ellip = NULL; @@ -190,10 +191,10 @@ int WMM_Initialize() MagneticModel->nMaxSecVar = WMM_MAX_SECULAR_VARIATION_MODEL_DEGREES; MagneticModel->SecularVariationUsed = 0; - // Really, Really needs to be read from a file - out of date in 2015 at latest + // Really, Really needs to be read from a file - out of date in 2020 at latest MagneticModel->EditionDate = 0.0f; /* OP change. Originally 5.7863328170559505e-307, truncates to 0.0f */ - MagneticModel->epoch = 2010.0f; - sprintf(MagneticModel->ModelName, "WMM-2010"); + MagneticModel->epoch = 2015.0f; + sprintf(MagneticModel->ModelName, "WMM-2015"); return 0; // OK } diff --git a/flight/modules/Receiver/receiver.c b/flight/modules/Receiver/receiver.c index 4dfd26770..8f090368b 100644 --- a/flight/modules/Receiver/receiver.c +++ b/flight/modules/Receiver/receiver.c @@ -99,8 +99,8 @@ static uint8_t isAssistedFlightMode(uint8_t position); static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, uint8_t deadband, float dT); #endif -#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12 -#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 10 +#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 18 // Sbus max channel +#define RCVR_ACTIVITY_MONITOR_MIN_RANGE 15 struct rcvr_activity_fsm { ManualControlSettingsChannelGroupsOptions group; uint16_t prev[RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP]; diff --git a/flight/modules/Telemetry/telemetry.c b/flight/modules/Telemetry/telemetry.c index dad266505..7a3d4e998 100644 --- a/flight/modules/Telemetry/telemetry.c +++ b/flight/modules/Telemetry/telemetry.c @@ -114,8 +114,8 @@ typedef struct { #endif /* PIOS_TELEM_PRIORITY_QUEUE */ // Transmit/receive task handles - xTaskHandle txTaskHandle; - xTaskHandle rxTaskHandle; + xTaskHandle txTaskHandle; + xTaskHandle rxTaskHandle; // Telemetry stream UAVTalkConnection uavTalkCon; } channelContext; @@ -170,7 +170,6 @@ static void gcsTelemetryStatsUpdated(); */ int32_t TelemetryStart(void) { - #ifdef HAS_RADIO // Only start the local telemetry tasks if needed if (localPort()) { @@ -623,7 +622,6 @@ static void telemetryTxTask(void *parameters) processObjEvent(channel, &ev); } #endif /* PIOS_TELEM_PRIORITY_QUEUE */ - } } diff --git a/flight/pios/common/libraries/msheap/pios_msheap.c b/flight/pios/common/libraries/msheap/pios_msheap.c index 9ce9f7b8a..e7e03f8c6 100644 --- a/flight/pios/common/libraries/msheap/pios_msheap.c +++ b/flight/pios/common/libraries/msheap/pios_msheap.c @@ -62,7 +62,7 @@ extern char _efastheap; #undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE heap_handle_t sram_heap; -#if PIOS_TARGET_PROVIDES_FAST_HEAP +#ifdef PIOS_TARGET_PROVIDES_FAST_HEAP heap_handle_t fast_heap; #else #define fast_heap sram_heap @@ -131,7 +131,7 @@ void vPortInitialiseBlocks(void) { msheap_init(&sram_heap, &_sheap, &_eheap); -#if PIOS_TARGET_PROVIDES_FAST_HEAP +#ifdef PIOS_TARGET_PROVIDES_FAST_HEAP msheap_init(&fast_heap, &_sfastheap, &_efastheap); #endif } diff --git a/flight/pios/stm32f4xx/library.mk b/flight/pios/stm32f4xx/library.mk index 7094a2b3f..669c8c08a 100644 --- a/flight/pios/stm32f4xx/library.mk +++ b/flight/pios/stm32f4xx/library.mk @@ -16,12 +16,26 @@ LINKER_SCRIPTS_COMPAT = $(PIOS_DEVLIB)link_$(BOARD)_fw_memory.ld \ # Compiler options implied by the F4xx CDEFS += -DSTM32F4XX +ifeq ($(CHIPFAMILY),STM32F427_437xx) +CDEFS += -DPIOS_TARGET_PROVIDES_FAST_HEAP +#large heap support must be enabled if SRAM > 128K +CDEFS += -DHEAP_SUPPORT_LARGE +CDEFS += -DSTM32F427_437xx +else +ifeq ($(CHIPFAMILY),STM32F429_439xx) +CDEFS += -DPIOS_TARGET_PROVIDES_FAST_HEAP +#large heap support must be enabled if SRAM > 128K +CDEFS += -DHEAP_SUPPORT_LARGE +CDEFS += -DSTM32F429_439xx +else ifneq ($(CHIPFAMILY),STM32F411xx) CDEFS += -DPIOS_TARGET_PROVIDES_FAST_HEAP CDEFS += -DSTM32F40_41xxx else CDEFS += -DSTM32F411xE endif +endif #STM32F429_439xx +endif #STM32F427_437xx CDEFS += -DSYSCLK_FREQ=$(SYSCLK_FREQ) CDEFS += -DHSE_VALUE=$(OSCILLATOR_FREQ) CDEFS += -DUSE_STDPERIPH_DRIVER diff --git a/flight/pios/stm32f4xx/link_STM32F4xx_RQ_bl_memory.ld b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_bl_memory.ld new file mode 100644 index 000000000..7aa493e0f --- /dev/null +++ b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_bl_memory.ld @@ -0,0 +1,9 @@ +MEMORY +{ + FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 0x008000 - 0x000080 + BD_INFO (r) : ORIGIN = 0x08008000 - 0x80, LENGTH = 0x000080 + RSVD (rx) : ORIGIN = 0x08008000, LENGTH = 0x020000 - 0x008000 + FW (rx) : ORIGIN = 0x08020000, LENGTH = 0x1e0000 + CCSRAM (rw) : ORIGIN = 0x10000000, LENGTH = 0x010000 + SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x030000 +} diff --git a/flight/pios/stm32f4xx/link_STM32F4xx_RQ_fw_memory.ld b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_fw_memory.ld new file mode 100644 index 000000000..cb693c543 --- /dev/null +++ b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_fw_memory.ld @@ -0,0 +1,9 @@ +MEMORY +{ + BL (rx) : ORIGIN = 0x08000000, LENGTH = 0x008000 - 0x000080 + BD_INFO (r) : ORIGIN = 0x08008000 - 0x80, LENGTH = 0x000080 + RSVD (rx) : ORIGIN = 0x08008000, LENGTH = 0x020000 - 0x008000 + FLASH (rx) : ORIGIN = 0x08020000, LENGTH = 0x1e0000 + CCSRAM (rw) : ORIGIN = 0x10000000, LENGTH = 0x010000 + SRAM (rwx) : ORIGIN = 0x20000000, LENGTH = 0x030000 +} diff --git a/flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections.ld b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections.ld new file mode 100644 index 000000000..41644bacb --- /dev/null +++ b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections.ld @@ -0,0 +1,193 @@ + +/* Section Definitions */ +SECTIONS +{ + /* + * Vectors, code and constant data. + */ + .text : + { + PROVIDE (pios_isr_vector_table_base = .); + KEEP(*(.cpu_vectors)) /* CPU exception vectors */ + KEEP(*(.io_vectors)) /* I/O interrupt vectors */ + *(.text .text.* .gnu.linkonce.t.*) + *(.glue_7t) *(.glue_7) + *(.rodata .rodata* .gnu.linkonce.r.*) + } > FLASH + + /* + * Init section for UAVObjects. + */ + .initcalluavobj.init : + { + . = ALIGN(4); + __uavobj_initcall_start = .; + KEEP(*(.initcalluavobj.init)) + . = ALIGN(4); + __uavobj_initcall_end = .; + } >FLASH + + /* + * Module init section section + */ + .initcallmodule.init : + { + . = ALIGN(4); + __module_initcall_start = .; + KEEP(*(.initcallmodule.init)) + . = ALIGN(4); + __module_initcall_end = .; + } >FLASH + + /* + * C++ exception handling. + */ + .ARM.extab : + { + *(.ARM.extab* .gnu.linkonce.armextab.*) + } > FLASH + .ARM.exidx : + { + __exidx_start = .; + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __exidx_end = .; + } > FLASH + + /* + * Markers for the end of the 'text' section and the in-flash start of + * non-constant data + */ + . = ALIGN(4); + _etext = .; + _sidata = .; + + /* + * Board info structure, normally only generated by the bootloader but can + * be read by the application. + */ + PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO)); + .boardinfo : + { + . = ALIGN(4); + KEEP(*(.boardinfo)) + . = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO)); + } > BD_INFO + + /* + * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow + * results in a hard fault. + */ + .istack (NOLOAD) : + { + . = ALIGN(4); + _irq_stack_end = . ; + *(.irqstack) + _irq_stack_top = . ; + } > CCSRAM + + + /* + * Non-const initialised data. + */ + .data : AT (_sidata) + { + . = ALIGN(4); + _sdata = .; + *(.data .data.*) + . = ALIGN(4); + _edata = . ; + } > SRAM + + /* + * Uninitialised data (BSS + commons). + */ + .bss (NOLOAD) : + { + _sbss = . ; + *(.bss .bss.*) + *(COMMON) + _ebss = . ; + PROVIDE ( _end = _ebss ) ; + } > SRAM + + /* + * The heap consumes the remainder of the SRAM. + */ + .heap (NOLOAD) : + { + . = ALIGN(4); + _sheap = . ; + + /* + * This allows us to declare an object or objects up to the minimum acceptable + * heap size and receive a linker error if the space available for the heap is + * not sufficient. + */ + *(.heap) + + /* extend the heap up to the top of SRAM */ + . = ORIGIN(SRAM) + LENGTH(SRAM) - ABSOLUTE(_sheap); + _eheap = .; + } > SRAM + + /* + * 'Fast' memory goes in the CCM SRAM + */ + .fast (NOLOAD) : + { + _sfast = . ; + *(.fast) + _efast = . ; + } > CCSRAM + + .fastheap (NOLOAD) : + { + . = ALIGN(4); + _sfastheap = . ; + + /* + * This allows us to declare an object or objects up to the minimum acceptable + * heap size and receive a linker error if the space available for the heap is + * not sufficient. + */ + *(.fastheap) + + /* extend the fastheap up to the top of CCSRAM */ + . = ORIGIN(CCSRAM) + LENGTH(CCSRAM) - ABSOLUTE(_sfastheap); + _efastheap = .; + } > CCSRAM + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + /* DWARF debug sections. + Symbols in the DWARF debugging sections are relative to the beginning + of the section so we begin them at 0. */ + /* DWARF 1 */ + .debug 0 : { *(.debug) } + .line 0 : { *(.line) } + /* GNU DWARF 1 extensions */ + .debug_srcinfo 0 : { *(.debug_srcinfo) } + .debug_sfnames 0 : { *(.debug_sfnames) } + /* DWARF 1.1 and DWARF 2 */ + .debug_aranges 0 : { *(.debug_aranges) } + .debug_pubnames 0 : { *(.debug_pubnames) } + /* DWARF 2 */ + .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + /* SGI/MIPS DWARF 2 extensions */ + .debug_weaknames 0 : { *(.debug_weaknames) } + .debug_funcnames 0 : { *(.debug_funcnames) } + .debug_typenames 0 : { *(.debug_typenames) } + .debug_varnames 0 : { *(.debug_varnames) } +} diff --git a/flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections_compat.ld b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections_compat.ld new file mode 100644 index 000000000..2f4300f4b --- /dev/null +++ b/flight/pios/stm32f4xx/link_STM32F4xx_RQ_sections_compat.ld @@ -0,0 +1,176 @@ + +/* Section Definitions */ +SECTIONS +{ + /* + * Vectors, code and constant data. + */ + .text : + { + PROVIDE (pios_isr_vector_table_base = .); + KEEP(*(.cpu_vectors)) /* CPU exception vectors */ + KEEP(*(.io_vectors)) /* I/O interrupt vectors */ + *(.text .text.* .gnu.linkonce.t.*) + *(.glue_7t) *(.glue_7) + *(.rodata .rodata* .gnu.linkonce.r.*) + } > FLASH + + /* + * Init section for UAVObjects. + */ + .initcalluavobj.init : + { + . = ALIGN(4); + __uavobj_initcall_start = .; + KEEP(*(.initcalluavobj.init)) + . = ALIGN(4); + __uavobj_initcall_end = .; + } >FLASH + + /* + * Module init section section + */ + .initcallmodule.init : + { + . = ALIGN(4); + __module_initcall_start = .; + KEEP(*(.initcallmodule.init)) + . = ALIGN(4); + __module_initcall_end = .; + } >FLASH + + /* + * C++ exception handling. + */ + .ARM.extab : + { + *(.ARM.extab* .gnu.linkonce.armextab.*) + } > FLASH + .ARM.exidx : + { + __exidx_start = .; + *(.ARM.exidx* .gnu.linkonce.armexidx.*) + __exidx_end = .; + } > FLASH + + /* + * Markers for the end of the 'text' section and the in-flash start of + * non-constant data + */ + . = ALIGN(4); + _etext = .; + _sidata = .; + + /* + * Board info structure, normally only generated by the bootloader but can + * be read by the application. + */ + PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO)); + .boardinfo : + { + . = ALIGN(4); + KEEP(*(.boardinfo)) + . = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO)); + } > BD_INFO + + /* + * Place the IRQ/bootstrap stack at the bottom of SRAM so that an overflow + * results in a hard fault. + */ + .istack (NOLOAD) : + { + . = ALIGN(4); + _irq_stack_end = . ; + *(.irqstack) + _irq_stack_top = . ; + } > SRAM + + + /* + * Non-const initialised data. + */ + .data : AT (_sidata) + { + . = ALIGN(4); + _sdata = .; + *(.data .data.*) + . = ALIGN(4); + _edata = . ; + } > SRAM + + /* + * Uninitialised data (BSS + commons). + */ + .bss (NOLOAD) : + { + _sbss = . ; + *(.bss .bss.*) + *(COMMON) + _ebss = . ; + PROVIDE ( _end = _ebss ) ; + } > SRAM + + /* + * The heap consumes the remainder of the SRAM. + */ + .heap (NOLOAD) : + { + . = ALIGN(4); + _sheap = . ; + + /* + * This allows us to declare an object or objects up to the minimum acceptable + * heap size and receive a linker error if the space available for the heap is + * not sufficient. + */ + *(.heap) + + /* extend the heap up to the top of SRAM */ + . = ORIGIN(SRAM) + LENGTH(SRAM) - ABSOLUTE(_sheap); + _eheap = .; + } > SRAM + + /* + * 'Fast' memory goes in the CCM SRAM + */ + .fast (NOLOAD) : + { + _sfast = . ; + *(.fast) + _efast = . ; + } > CCSRAM + + /* Stabs debugging sections. */ + .stab 0 : { *(.stab) } + .stabstr 0 : { *(.stabstr) } + .stab.excl 0 : { *(.stab.excl) } + .stab.exclstr 0 : { *(.stab.exclstr) } + .stab.index 0 : { *(.stab.index) } + .stab.indexstr 0 : { *(.stab.indexstr) } + .comment 0 : { *(.comment) } + /* DWARF debug sections. + Symbols in the DWARF debugging sections are relative to the beginning + of the section so we begin them at 0. */ + /* DWARF 1 */ + .debug 0 : { *(.debug) } + .line 0 : { *(.line) } + /* GNU DWARF 1 extensions */ + .debug_srcinfo 0 : { *(.debug_srcinfo) } + .debug_sfnames 0 : { *(.debug_sfnames) } + /* DWARF 1.1 and DWARF 2 */ + .debug_aranges 0 : { *(.debug_aranges) } + .debug_pubnames 0 : { *(.debug_pubnames) } + /* DWARF 2 */ + .debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) } + .debug_abbrev 0 : { *(.debug_abbrev) } + .debug_line 0 : { *(.debug_line) } + .debug_frame 0 : { *(.debug_frame) } + .debug_str 0 : { *(.debug_str) } + .debug_loc 0 : { *(.debug_loc) } + .debug_macinfo 0 : { *(.debug_macinfo) } + /* SGI/MIPS DWARF 2 extensions */ + .debug_weaknames 0 : { *(.debug_weaknames) } + .debug_funcnames 0 : { *(.debug_funcnames) } + .debug_typenames 0 : { *(.debug_typenames) } + .debug_varnames 0 : { *(.debug_varnames) } +} diff --git a/flight/pios/stm32f4xx/pios_bl_helper.c b/flight/pios/stm32f4xx/pios_bl_helper.c index 045779245..8b2150450 100644 --- a/flight/pios/stm32f4xx/pios_bl_helper.c +++ b/flight/pios/stm32f4xx/pios_bl_helper.c @@ -119,6 +119,66 @@ static struct device_flash_sector flash_sectors[] = { .size = 128 * 1024, .st_sector = FLASH_Sector_11, }, + [12] = { + .start = 0x08100000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_12, + }, + [13] = { + .start = 0x08104000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_13, + }, + [14] = { + .start = 0x08108000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_14, + }, + [15] = { + .start = 0x0810C000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_15, + }, + [16] = { + .start = 0x08110000, + .size = 64 * 1024, + .st_sector = FLASH_Sector_16, + }, + [17] = { + .start = 0x08120000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_17, + }, + [18] = { + .start = 0x08140000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_18, + }, + [19] = { + .start = 0x08160000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_19, + }, + [20] = { + .start = 0x08180000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_20, + }, + [21] = { + .start = 0x081A0000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_21, + }, + [22] = { + .start = 0x081C0000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_22, + }, + [23] = { + .start = 0x081E0000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_23, + }, }; static bool PIOS_BL_HELPER_FLASH_GetSectorInfo(uint32_t address, uint8_t *sector_number, uint32_t *sector_start, uint32_t *sector_size) @@ -178,7 +238,19 @@ static bool erase_flash(uint32_t startAddress, uint32_t endAddress) PIOS_Assert(0); } for (int retry = 0; retry < MAX_DEL_RETRYS; ++retry) { - if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) { + // if erasing area contain whole bank2 area, using bank erase + // bank2: sector 12 to sector 23 + if (sector_start == flash_sectors[12].start && + endAddress >= (flash_sectors[23].start + flash_sectors[23].size)) { + if (FLASH_EraseAllBank2Sectors(VoltageRange_3) == FLASH_COMPLETE) { + fail = false; + // using bank2 total size substitute sector_size + sector_size = flash_sectors[23].start - flash_sectors[12].start + flash_sectors[23].size; + break; + } else { + fail = true; + } + } else if (FLASH_EraseSector(sector_number, VoltageRange_3) == FLASH_COMPLETE) { fail = false; break; } else { diff --git a/flight/pios/stm32f4xx/pios_flash_internal.c b/flight/pios/stm32f4xx/pios_flash_internal.c index 18e66bf17..2c65a3e7a 100644 --- a/flight/pios/stm32f4xx/pios_flash_internal.c +++ b/flight/pios/stm32f4xx/pios_flash_internal.c @@ -100,6 +100,66 @@ static struct device_flash_sector flash_sectors[] = { .size = 128 * 1024, .st_sector = FLASH_Sector_11, }, + [12] = { + .start = 0x08100000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_12, + }, + [13] = { + .start = 0x08104000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_13, + }, + [14] = { + .start = 0x08108000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_14, + }, + [15] = { + .start = 0x0810C000, + .size = 16 * 1024, + .st_sector = FLASH_Sector_15, + }, + [16] = { + .start = 0x08110000, + .size = 64 * 1024, + .st_sector = FLASH_Sector_16, + }, + [17] = { + .start = 0x08120000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_17, + }, + [18] = { + .start = 0x08140000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_18, + }, + [19] = { + .start = 0x08160000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_19, + }, + [20] = { + .start = 0x08180000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_20, + }, + [21] = { + .start = 0x081A0000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_21, + }, + [22] = { + .start = 0x081C0000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_22, + }, + [23] = { + .start = 0x081E0000, + .size = 128 * 1024, + .st_sector = FLASH_Sector_23, + }, }; static bool PIOS_Flash_Internal_GetSectorInfo(uint32_t address, uint8_t *sector_number, uint32_t *sector_start, uint32_t *sector_size) diff --git a/flight/pios/stm32f4xx/pios_sys.c b/flight/pios/stm32f4xx/pios_sys.c index 1572697aa..ab6759fe9 100644 --- a/flight/pios/stm32f4xx/pios_sys.c +++ b/flight/pios/stm32f4xx/pios_sys.c @@ -74,7 +74,7 @@ void PIOS_SYS_Init(void) RCC_AHB1Periph_GPIOC | RCC_AHB1Periph_GPIOD | RCC_AHB1Periph_GPIOE | -#ifdef STM32F40_41xxx +#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) RCC_AHB1Periph_GPIOF | RCC_AHB1Periph_GPIOG | RCC_AHB1Periph_GPIOH | @@ -85,6 +85,9 @@ void PIOS_SYS_Init(void) RCC_AHB1Periph_SRAM1 | RCC_AHB1Periph_SRAM2 | RCC_AHB1Periph_BKPSRAM | +#if defined(STM32F427_437xx) || defined(STM32F429_439xx) + RCC_AHB1Periph_SRAM3 | +#endif RCC_AHB1Periph_DMA1 | RCC_AHB1Periph_DMA2 | // RCC_AHB1Periph_ETH_MAC | No ethernet @@ -171,7 +174,7 @@ void PIOS_SYS_Init(void) GPIO_Init(GPIOD, &GPIO_InitStructure); GPIO_Init(GPIOE, &GPIO_InitStructure); -#ifdef STM32F40_41xxx +#if defined(STM32F40_41xxx) || defined(STM32F427_437xx) || defined(STM32F429_439xx) GPIO_Init(GPIOF, &GPIO_InitStructure); GPIO_Init(GPIOG, &GPIO_InitStructure); GPIO_Init(GPIOH, &GPIO_InitStructure); diff --git a/ground/gcs/copydata.pro b/ground/gcs/copydata.pro index 957b81363..4fb80f27c 100644 --- a/ground/gcs/copydata.pro +++ b/ground/gcs/copydata.pro @@ -28,10 +28,12 @@ equals(copyqt, 1) { libQt5QuickParticles.so.5 \ libQt5XcbQpa.so.5 \ libQt5X11Extras.so.5 \ - libqgsttools_p.so.1 \ libicui18n.so.54 \ libicuuc.so.54 \ libicudata.so.54 + *-64 { + QT_LIBS += libqgsttools_p.so.1 + } for(lib, QT_LIBS) { addCopyFileTarget($${lib},$$[QT_INSTALL_LIBS],$${GCS_QT_LIBRARY_PATH}) } @@ -43,11 +45,16 @@ equals(copyqt, 1) { imageformats/libqmng.so \ imageformats/libqsvg.so \ imageformats/libqtiff.so \ - mediaservice/libgstaudiodecoder.so \ - mediaservice/libgstmediaplayer.so \ platforms/libqxcb.so \ xcbglintegrations/libqxcb-glx-integration.so \ sqldrivers/libqsqlite.so + *-32 { + QT_PLUGINS += mediaservice/libqtmedia_audioengine.so + } + *-64 { + QT_PLUGINS += mediaservice/libgstaudiodecoder.so \ + mediaservice/libgstmediaplayer.so + } } win32 { diff --git a/ground/gcs/src/app/main.cpp b/ground/gcs/src/app/main.cpp index c8260c953..d6a44f2e6 100644 --- a/ground/gcs/src/app/main.cpp +++ b/ground/gcs/src/app/main.cpp @@ -209,6 +209,11 @@ inline QString msgSendArgumentFailed() "Unable to send command line arguments to the already running instance. It appears to be not responding."); } +inline QString msgLogfileOpenFailed(const QString &fileName) +{ + return QCoreApplication::translate("Application", "Failed to open log file %1").arg(fileName); +} + // Prepare a remote argument: If it is a relative file, add the current directory // since the the central instance might be running in a different directory. inline QString prepareRemoteArgument(const QString &arg) @@ -313,7 +318,7 @@ void logInit(QString fileName) logStream = new QTextStream(file); qInstallMessageHandler(mainMessageOutput); } else { - // TODO error popup + displayError(msgLogfileOpenFailed(fileName)); } } @@ -426,16 +431,19 @@ void loadTranslators(QString language, QTranslator &translator, QTranslator &qtT const QString &creatorTrPath = Utils::GetDataPath() + QLatin1String("translations"); if (translator.load(QLatin1String("gcs_") + language, creatorTrPath)) { + // Install gcs_xx.qm translation file + QCoreApplication::installTranslator(&translator); + const QString &qtTrPath = QLibraryInfo::location(QLibraryInfo::TranslationsPath); const QString &qtTrFile = QLatin1String("qt_") + language; // Binary installer puts Qt tr files into creatorTrPath if (qtTranslator.load(qtTrFile, qtTrPath) || qtTranslator.load(qtTrFile, creatorTrPath)) { - QCoreApplication::installTranslator(&translator); + // Install main qt_xx.qm translation file QCoreApplication::installTranslator(&qtTranslator); - } else { - // unload() - translator.load(QString()); } + } else { + // unload(), no gcs translation found + translator.load(QString()); } } } // namespace anonymous diff --git a/ground/gcs/src/app/splash.png b/ground/gcs/src/app/splash.png index 304b6ef3a..01b165757 100644 Binary files a/ground/gcs/src/app/splash.png and b/ground/gcs/src/app/splash.png differ diff --git a/ground/gcs/src/libs/osgearth/copydata.pro b/ground/gcs/src/libs/osgearth/copydata.pro index 70a8e6899..e28e3d7b9 100644 --- a/ground/gcs/src/libs/osgearth/copydata.pro +++ b/ground/gcs/src/libs/osgearth/copydata.pro @@ -9,10 +9,10 @@ equals(copyosg, 1) { # copy osg libraries data_copy.commands += $(MKDIR) $${GCS_LIBRARY_PATH}/osg $$addNewline() - exists( $${OSG_SDK_DIR}/lib64 ) { + *-64 { data_copy.commands += $(COPY_DIR) $$shell_quote($$OSG_SDK_DIR/lib64/)* $$shell_quote($$GCS_LIBRARY_PATH/osg/) } - else { + *-32 { data_copy.commands += $(COPY_DIR) $$shell_quote($$OSG_SDK_DIR/lib/)* $$shell_quote($$GCS_LIBRARY_PATH/osg/) } diff --git a/ground/gcs/src/plugins/config/configccattitudewidget.h b/ground/gcs/src/plugins/config/configccattitudewidget.h index b4d84a5b9..658d3d6bb 100644 --- a/ground/gcs/src/plugins/config/configccattitudewidget.h +++ b/ground/gcs/src/plugins/config/configccattitudewidget.h @@ -65,7 +65,6 @@ private: QList x_accum, y_accum, z_accum; QList x_gyro_accum, y_gyro_accum, z_gyro_accum; - static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1; static const int NUM_SENSOR_UPDATES = 300; protected: virtual void enableControls(bool enable); diff --git a/ground/gcs/src/plugins/config/configstabilizationwidget.cpp b/ground/gcs/src/plugins/config/configstabilizationwidget.cpp index 827b2125e..519bc842b 100644 --- a/ground/gcs/src/plugins/config/configstabilizationwidget.cpp +++ b/ground/gcs/src/plugins/config/configstabilizationwidget.cpp @@ -275,7 +275,7 @@ void ConfigStabilizationWidget::updateThrottleCurveFromObject() field = stabBank->getField("EnableThrustPIDScaling"); Q_ASSERT(field); - bool enabled = field->getValue() == "TRUE"; + bool enabled = field->getValue() == "True"; ui->enableThrustPIDScalingCheckBox->setChecked(enabled); ui->thrustPIDScalingCurve->setEnabled(enabled); setDirty(dirty); @@ -297,7 +297,7 @@ void ConfigStabilizationWidget::updateObjectFromThrottleCurve() field = stabBank->getField("EnableThrustPIDScaling"); Q_ASSERT(field); - field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "TRUE" : "FALSE"); + field->setValue(ui->enableThrustPIDScalingCheckBox->isChecked() ? "True" : "False"); } void ConfigStabilizationWidget::setupExpoPlot() @@ -371,7 +371,7 @@ void ConfigStabilizationWidget::resetThrottleCurveToDefault() field = defaultStabBank->getField("EnableThrustPIDScaling"); Q_ASSERT(field); - bool enabled = field->getValue() == "TRUE"; + bool enabled = field->getValue() == "True"; ui->enableThrustPIDScalingCheckBox->setChecked(enabled); ui->thrustPIDScalingCurve->setEnabled(enabled); diff --git a/ground/gcs/src/plugins/config/images/AHRS-v1.3.png b/ground/gcs/src/plugins/config/images/AHRS-v1.3.png index a12089c6f..7fff066e5 100644 Binary files a/ground/gcs/src/plugins/config/images/AHRS-v1.3.png and b/ground/gcs/src/plugins/config/images/AHRS-v1.3.png differ diff --git a/ground/gcs/src/plugins/config/images/Airframe.png b/ground/gcs/src/plugins/config/images/Airframe.png index b2a181c94..b338a0974 100644 Binary files a/ground/gcs/src/plugins/config/images/Airframe.png and b/ground/gcs/src/plugins/config/images/Airframe.png differ diff --git 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a/ground/gcs/src/plugins/config/inputchannelform.cpp b/ground/gcs/src/plugins/config/inputchannelform.cpp index 165241842..a96cb7365 100644 --- a/ground/gcs/src/plugins/config/inputchannelform.cpp +++ b/ground/gcs/src/plugins/config/inputchannelform.cpp @@ -143,10 +143,10 @@ void InputChannelForm::groupUpdated() count = 0; break; case ManualControlSettings::CHANNELGROUPS_PWM: + case ManualControlSettings::CHANNELGROUPS_OPLINK: count = 8; // Need to make this 6 for CC break; case ManualControlSettings::CHANNELGROUPS_PPM: - case ManualControlSettings::CHANNELGROUPS_OPLINK: case ManualControlSettings::CHANNELGROUPS_DSMMAINPORT: case ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT: count = 12; diff --git a/ground/gcs/src/plugins/coreplugin/core.qrc b/ground/gcs/src/plugins/coreplugin/core.qrc index 35744c4dc..0a7e4c4a4 100644 --- a/ground/gcs/src/plugins/coreplugin/core.qrc +++ b/ground/gcs/src/plugins/coreplugin/core.qrc @@ -64,6 +64,5 @@ qml/images/tab.png qml/AboutDialog.qml 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a/ground/gcs/src/plugins/coreplugin/qml/AboutDialog.qml +++ b/ground/gcs/src/plugins/coreplugin/qml/AboutDialog.qml @@ -57,17 +57,6 @@ Rectangle { } } } - AnimatedImage { - id: opie - anchors.left: parent.left - anchors.leftMargin: 10 - anchors.top: logo.bottom - anchors.topMargin: 10 - source: "../images/opie_90x120.gif" - z: 100 - fillMode: Image.PreserveAspectFit - visible: false - } Rectangle { anchors.left: logo.right @@ -87,15 +76,6 @@ Rectangle { Layout.fillWidth: true font.pixelSize: 14 font.bold: true - MouseArea { - id: easter_egg - anchors.fill: parent - hoverEnabled: true - cursorShape: Qt.PointingHandCursor - onClicked: { - opie.visible = !opie.visible - } - } } Text { id: versionLabel diff --git a/ground/gcs/src/plugins/coreplugin/qml/images/tab.png b/ground/gcs/src/plugins/coreplugin/qml/images/tab.png index ad8021605..88c422f7f 100644 Binary files a/ground/gcs/src/plugins/coreplugin/qml/images/tab.png and b/ground/gcs/src/plugins/coreplugin/qml/images/tab.png differ 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b/ground/gcs/src/plugins/setupwizard/resources/not-connected.png differ diff --git a/ground/gcs/src/plugins/setupwizard/resources/wizard.png b/ground/gcs/src/plugins/setupwizard/resources/wizard.png index 59bcdba13..d9fdb9258 100644 Binary files a/ground/gcs/src/plugins/setupwizard/resources/wizard.png and b/ground/gcs/src/plugins/setupwizard/resources/wizard.png differ diff --git a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp index 56dd61fd9..91217fbee 100644 --- a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp +++ b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp @@ -679,7 +679,6 @@ void VehicleConfigurationHelper::applySensorBiasConfiguration() Q_ASSERT(copterControlCalibration); AttitudeSettings::DataFields data = copterControlCalibration->getData(); - data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU; data.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE; copterControlCalibration->setData(data); @@ -771,30 +770,30 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch case VehicleConfigurationSource::MULTI_ROTOR_HEXA: case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H: case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(100); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)100); break; case VehicleConfigurationSource::MULTI_ROTOR_QUAD_X: - mSettings->setMixerValueRoll(50); - mSettings->setMixerValuePitch(50); - mSettings->setMixerValueYaw(50); + mSettings->setMixerValueRoll((qint8)50); + mSettings->setMixerValuePitch((qint8)50); + mSettings->setMixerValueYaw((qint8)50); break; case VehicleConfigurationSource::MULTI_ROTOR_QUAD_PLUS: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(50); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)50); break; case VehicleConfigurationSource::MULTI_ROTOR_HEXA_COAX_Y: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(50); - mSettings->setMixerValueYaw(66); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)50); + mSettings->setMixerValueYaw((qint8)66); break; case VehicleConfigurationSource::MULTI_ROTOR_OCTO: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_X: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(100); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)100); break; case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS: @@ -806,9 +805,9 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch break; } case VehicleConfigurationSource::VEHICLE_FIXEDWING: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(100); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)100); maxThrottle = 1; break; case VehicleConfigurationSource::VEHICLE_HELI: @@ -817,22 +816,22 @@ void VehicleConfigurationHelper::applyMixerConfiguration(mixerChannelSettings ch { switch (m_configSource->getVehicleSubType()) { case VehicleConfigurationSource::GROUNDVEHICLE_MOTORCYCLE: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(100); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)100); maxThrottle = 1; break; case VehicleConfigurationSource::GROUNDVEHICLE_CAR: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(100); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)100); maxThrottle = 1; minThrottle = 0; break; case VehicleConfigurationSource::GROUNDVEHICLE_DIFFERENTIAL: - mSettings->setMixerValueRoll(100); - mSettings->setMixerValuePitch(100); - mSettings->setMixerValueYaw(100); + mSettings->setMixerValueRoll((qint8)100); + mSettings->setMixerValuePitch((qint8)100); + mSettings->setMixerValueYaw((qint8)100); maxThrottle = 0.8; minThrottle = 0; break; diff --git a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h index 002518bf0..9b89c0ab9 100644 --- a/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h +++ b/ground/gcs/src/plugins/setupwizard/vehicleconfigurationhelper.h @@ -73,8 +73,6 @@ signals: void saveProgress(int total, int current, QString description); private: - static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1; - VehicleConfigurationSource *m_configSource; UAVObjectManager *m_uavoManager; diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png b/ground/gcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png index 72edb6b70..6eaf00ed3 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/1343241276_eye.png differ diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/64 bit.png b/ground/gcs/src/plugins/uavobjectbrowser/images/64 bit.png index 749b17620..532f598cb 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/64 bit.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/64 bit.png differ diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/down_alt.png b/ground/gcs/src/plugins/uavobjectbrowser/images/down_alt.png index b77135526..8b92d013a 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/down_alt.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/down_alt.png differ diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/install.png b/ground/gcs/src/plugins/uavobjectbrowser/images/install.png index 355de1294..c0ce548f4 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/install.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/install.png differ diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/remove.png b/ground/gcs/src/plugins/uavobjectbrowser/images/remove.png index 9aef8c8ab..0b259ab59 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/remove.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/remove.png differ diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/trash.png b/ground/gcs/src/plugins/uavobjectbrowser/images/trash.png index 418d62910..ab126fec4 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/trash.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/trash.png differ diff --git a/ground/gcs/src/plugins/uavobjectbrowser/images/up_alt.png b/ground/gcs/src/plugins/uavobjectbrowser/images/up_alt.png index 4d8b67f59..4384307f8 100644 Binary files a/ground/gcs/src/plugins/uavobjectbrowser/images/up_alt.png and b/ground/gcs/src/plugins/uavobjectbrowser/images/up_alt.png differ diff --git a/ground/gcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp b/ground/gcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp index 57ca3968c..312789479 100644 --- a/ground/gcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp +++ b/ground/gcs/src/plugins/uavobjectwidgetutils/configtaskwidget.cpp @@ -912,7 +912,7 @@ QVariant ConfigTaskWidget::getVariantFromWidget(QWidget *widget, WidgetBinding * } else if (QSlider * cb = qobject_cast(widget)) { return (double)(cb->value() * scale); } else if (QCheckBox * cb = qobject_cast(widget)) { - return (QString)(cb->isChecked() ? "TRUE" : "FALSE"); + return (QString)(cb->isChecked() ? "True" : "False"); } else if (QLineEdit * cb = qobject_cast(widget)) { QString value = (QString)cb->displayText(); if (binding->units() == "hex") { @@ -955,7 +955,7 @@ bool ConfigTaskWidget::setWidgetFromVariant(QWidget *widget, QVariant value, Wid cb->setValue((int)qRound(value.toDouble() / scale)); return true; } else if (QCheckBox * cb = qobject_cast(widget)) { - bool bvalue = value.toString() == "TRUE"; + bool bvalue = value.toString() == "True"; cb->setChecked(bvalue); return true; } else if (QLineEdit * cb = qobject_cast(widget)) { diff --git a/ground/gcs/src/plugins/uploader/images/gcs-board-cc.png b/ground/gcs/src/plugins/uploader/images/gcs-board-cc.png index ee6affc3c..4bafdda0a 100644 Binary files a/ground/gcs/src/plugins/uploader/images/gcs-board-cc.png and b/ground/gcs/src/plugins/uploader/images/gcs-board-cc.png differ diff --git a/ground/gcs/src/plugins/uploader/images/gcs-board-cc3d.png b/ground/gcs/src/plugins/uploader/images/gcs-board-cc3d.png index 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a/ground/gcs/src/plugins/welcome/qml/images/wizard-off.png and b/ground/gcs/src/plugins/welcome/qml/images/wizard-off.png differ diff --git a/ground/gcs/src/plugins/welcome/qml/images/wizard-on.png b/ground/gcs/src/plugins/welcome/qml/images/wizard-on.png index d8798469a..392f259f6 100644 Binary files a/ground/gcs/src/plugins/welcome/qml/images/wizard-on.png and b/ground/gcs/src/plugins/welcome/qml/images/wizard-on.png differ diff --git a/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp b/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp index 33a52cc9d..6b566af28 100644 --- a/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp +++ b/ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp @@ -496,12 +496,18 @@ void generateIndexedProperty(Context &ctxt, FieldContext &fieldCtxt) for (int elementIndex = 0; elementIndex < fieldCtxt.field->numElements; elementIndex++) { QString elementName = fieldCtxt.field->elementNames[elementIndex]; + QString sep; + if (fieldCtxt.propName.right(1)[0].isDigit() && elementName[0].isDigit()) { + info(ctxt.object, "Property \"" + fieldCtxt.propName + "\" and element \"" + elementName + "\" have digit conflict, consider fixing it."); + sep = "_"; + } + FieldContext elementCtxt; elementCtxt.field = fieldCtxt.field; elementCtxt.fieldName = fieldCtxt.fieldName + "_" + elementName; elementCtxt.fieldType = fieldCtxt.fieldType; - elementCtxt.propName = fieldCtxt.propName + elementName; - elementCtxt.ucPropName = fieldCtxt.ucPropName + elementName; + elementCtxt.propName = fieldCtxt.propName + sep + elementName; + elementCtxt.ucPropName = fieldCtxt.ucPropName + sep + elementName; elementCtxt.propType = fieldCtxt.propType; elementCtxt.propRefType = fieldCtxt.propRefType; // deprecation @@ -621,21 +627,25 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *object) // field context FieldContext fieldCtxt; - fieldCtxt.field = field; + fieldCtxt.field = field; // field properties - fieldCtxt.fieldName = field->name; - fieldCtxt.fieldType = fieldTypeStrCPP(field->type); + fieldCtxt.fieldName = field->name; + fieldCtxt.fieldType = fieldTypeStrCPP(field->type); - fieldCtxt.ucPropName = toPropertyName(field->name); - fieldCtxt.propName = toLowerCamelCase(fieldCtxt.ucPropName); - fieldCtxt.propType = fieldCtxt.fieldType; - fieldCtxt.propRefType = fieldCtxt.fieldType; - if (field->type == FIELDTYPE_ENUM) { + fieldCtxt.ucPropName = toPropertyName(field->name); + fieldCtxt.propName = toLowerCamelCase(fieldCtxt.ucPropName); + fieldCtxt.propType = fieldCtxt.fieldType; + if (field->type == FIELDTYPE_INT8) { + fieldCtxt.propType = fieldTypeStrCPP(FIELDTYPE_INT16); + } else if (field->type == FIELDTYPE_UINT8) { + fieldCtxt.propType = fieldTypeStrCPP(FIELDTYPE_UINT16); + } else if (field->type == FIELDTYPE_ENUM) { QString enumClassName = object->name + "_" + fieldCtxt.ucPropName; - fieldCtxt.propType = enumClassName + "::Enum"; - fieldCtxt.propRefType = fieldCtxt.propType; + fieldCtxt.propType = enumClassName + "::Enum"; } + // reference type + fieldCtxt.propRefType = fieldCtxt.propType; // deprecation fieldCtxt.hasDeprecatedProperty = (fieldCtxt.fieldName != fieldCtxt.propName) && DEPRECATED; diff --git a/make/tools.mk b/make/tools.mk index dfefe7ab5..881813c99 100644 --- a/make/tools.mk +++ b/make/tools.mk @@ -166,9 +166,9 @@ QT_SDK_PREFIX := $(QT_SDK_DIR) # ############################## -BUILD_SDK_TARGETS := arm_sdk qt_sdk +BUILD_SDK_TARGETS := arm_sdk qt_sdk osg ifeq ($(UNAME), Windows) - BUILD_SDK_TARGETS += osg sdl nsis mesawin openssl ccache + BUILD_SDK_TARGETS += sdl nsis mesawin openssl ccache endif ALL_SDK_TARGETS := $(BUILD_SDK_TARGETS) gtest uncrustify doxygen diff --git a/package/Darwin.mk b/package/Darwin.mk index 4df9f8f1e..bb37f397f 100644 --- a/package/Darwin.mk +++ b/package/Darwin.mk @@ -17,6 +17,7 @@ endif BUILD_DIR="$(BUILD_DIR)" \ GCS_BIG_NAME="$(GCS_BIG_NAME)" \ GCS_SMALL_NAME="$(GCS_SMALL_NAME)" \ + WIKI_URL_ROOT="${WIKI_URL_ROOT}" \ PACKAGE_LBL="$(PACKAGE_LBL)" \ PACKAGE_DIR="$(PACKAGE_DIR)" \ PACKAGE_NAME="$(PACKAGE_NAME)" \ diff --git a/package/osx/dmg/Getting Started.webloc b/package/osx/dmg/Getting Started.webloc index 330e929d0..232b07451 100644 --- a/package/osx/dmg/Getting Started.webloc +++ b/package/osx/dmg/Getting Started.webloc @@ -3,6 +3,6 @@ URL - http://wiki.openpilot.org/display/Doc/Getting+Started+Guide + @URL@ diff --git a/package/osx/package b/package/osx/package index 80de04875..3fb8f3012 100755 --- a/package/osx/package +++ b/package/osx/package @@ -16,6 +16,7 @@ rm -rf "${OUT_FILE}" # copy base dmg structure cp -r "${ROOT_DIR}/package/osx/dmg/" "${SRC_DIR}" +sed -i '' s/@URL@/$(echo ${WIKI_URL_ROOT} | sed -e 's/\\/\\\\/g' -e 's/\//\\\//g' -e 's/&/\\\&/g')/ "${SRC_DIR}/Getting Started.webloc" # packaging goes here cp -a "${APP_PATH}" "${SRC_DIR}" diff --git a/shared/uavobjectdefinition/attitudesettings.xml b/shared/uavobjectdefinition/attitudesettings.xml index caa4d955b..2fb8857c1 100644 --- a/shared/uavobjectdefinition/attitudesettings.xml +++ b/shared/uavobjectdefinition/attitudesettings.xml @@ -7,7 +7,7 @@ - +