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Code Issues Releases Activity

Merge remote branch 'origin/next' into os/TxPID-module

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This commit is contained in:
Oleg Semyonov 2012-01-02 14:49:54 +02:00
commit 77a459af5c
47 changed files with 1870 additions and 110 deletions
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162
flight/Modules/Attitude/attitude.c
View File

@ -54,6 +54,7 @@
#include "attitudeactual.h"
#include "attitudesettings.h"
#include "flightstatus.h"
#include "manualcontrolcommand.h"
#include "CoordinateConversions.h"
#include "pios_flash_w25x.h"
@ -91,18 +92,28 @@ static int8_t rotate = 0;
static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
// For running trim flights
static volatile bool trim_requested = false;
static volatile int32_t trim_accels[3];
static volatile int32_t trim_samples;
int32_t const MAX_TRIM_FLIGHT_SAMPLES = 65535;
#define GRAV 9.81f
#define ACCEL_SCALE (GRAV * 0.004f)
/* 0.004f is gravity / LSB */
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
@ -115,7 +126,7 @@ int32_t AttitudeInitialize(void)
AttitudeActualInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
// Initialize quaternion
AttitudeActualData attitude;
AttitudeActualGet(&attitude);
@ -124,12 +135,12 @@ int32_t AttitudeInitialize(void)
attitude.q3 = 0;
attitude.q4 = 0;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
gyro_correct_int[0] = 0;
gyro_correct_int[1] = 0;
gyro_correct_int[2] = 0;
q[0] = 1;
q[1] = 0;
q[2] = 0;
@ -137,17 +148,19 @@ int32_t AttitudeInitialize(void)
for(uint8_t i = 0; i < 3; i++)
for(uint8_t j = 0; j < 3; j++)
R[i][j] = 0;
trim_requested = false;
// Create queue for passing gyro data, allow 2 back samples in case
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
if(gyro_queue == NULL)
return -1;
PIOS_ADC_SetQueue(gyro_queue);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
return 0;
}
@ -160,9 +173,9 @@ static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
PIOS_ADC_Config((PIOS_ADC_RATE / 1000.0f) * UPDATE_RATE);
// Keep flash CS pin high while talking accel
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
@ -175,13 +188,13 @@ static void AttitudeTask(void *parameters)
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
@ -201,9 +214,9 @@ static void AttitudeTask(void *parameters)
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
AttitudeRawData attitudeRaw;
AttitudeRawGet(&attitudeRaw);
if(updateSensors(&attitudeRaw) != 0)
@ -214,7 +227,7 @@ static void AttitudeTask(void *parameters)
AttitudeRawSet(&attitudeRaw);
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
}
}
}
@ -227,22 +240,22 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
{
struct pios_adxl345_data accel_data;
float gyro[4];
// Only wait the time for two nominal updates before setting an alarm
if(xQueueReceive(gyro_queue, (void * const) gyro, UPDATE_RATE * 2) == errQUEUE_EMPTY) {
AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE, SYSTEMALARMS_ALARM_ERROR);
return -1;
}
// No accel data available
if(PIOS_ADXL345_FifoElements() == 0)
return -1;
// First sample is temperature
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] = -(gyro[1] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] = (gyro[2] - GYRO_NEUTRAL) * gyroGain;
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] = -(gyro[3] - GYRO_NEUTRAL) * gyroGain;
int32_t x = 0;
int32_t y = 0;
int32_t z = 0;
@ -257,9 +270,9 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
} while ( (i < 32) && (samples_remaining > 0) );
attitudeRaw->gyrotemp[0] = samples_remaining;
attitudeRaw->gyrotemp[1] = i;
float accel[3] = {(float) x / i, (float) y / i, (float) z / i};
if(rotate) {
// TODO: rotate sensors too so stabilization is well behaved
float vec_out[3];
@ -276,19 +289,37 @@ static int8_t updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->accels[1] = accel[1];
attitudeRaw->accels[2] = accel[2];
}
if (trim_requested) {
if (trim_samples >= MAX_TRIM_FLIGHT_SAMPLES) {
trim_requested = false;
} else {
uint8_t armed;
float throttle;
FlightStatusArmedGet(&armed);
ManualControlCommandThrottleGet(&throttle); // Until flight status indicates airborne
if ((armed == FLIGHTSTATUS_ARMED_ARMED) && (throttle > 0)) {
trim_samples++;
// Store the digitally scaled version since that is what we use for bias
trim_accels[0] += attitudeRaw->accels[ATTITUDERAW_ACCELS_X];
trim_accels[1] += attitudeRaw->accels[ATTITUDERAW_ACCELS_Y];
trim_accels[2] += attitudeRaw->accels[ATTITUDERAW_ACCELS_Z];
}
}
}
// Scale accels and correct bias
attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_X] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_X] - accelbias[0]) * ACCEL_SCALE;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * ACCEL_SCALE;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * ACCEL_SCALE;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
@ -301,45 +332,45 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
float dT;
portTickType thisSysTime = xTaskGetTickCount();
static portTickType lastSysTime = 0;
dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory
float gyro[3];
gyro[0] = attitudeRaw->gyros[0];
gyro[1] = attitudeRaw->gyros[1];
gyro[2] = attitudeRaw->gyros[2];
{
float * accels = attitudeRaw->accels;
float grot[3];
float accel_err[3];
// Rotate gravity to body frame and cross with accels
grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
CrossProduct((const float *) accels, (const float *) grot, accel_err);
// Account for accel magnitude
float accel_mag = sqrt(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
accel_err[0] /= accel_mag;
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
//gyro_correct_int[2] += accel_err[2] * accelKi;
// Correct rates based on error, integral component dealt with in updateSensors
gyro[0] += accel_err[0] * accelKp / dT;
gyro[1] += accel_err[1] * accelKp / dT;
gyro[2] += accel_err[2] * accelKp / dT;
}
{ // scoping variables to save memory
// Work out time derivative from INSAlgo writeup
// Also accounts for the fact that gyros are in deg/s
@ -348,7 +379,7 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
qdot[1] = (q[0] * gyro[0] - q[3] * gyro[1] + q[2] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[2] = (q[3] * gyro[0] + q[0] * gyro[1] - q[1] * gyro[2]) * dT * M_PI / 180 / 2;
qdot[3] = (-q[2] * gyro[0] + q[1] * gyro[1] + q[0] * gyro[2]) * dT * M_PI / 180 / 2;
// Take a time step
q[0] = q[0] + qdot[0];
q[1] = q[1] + qdot[1];
@ -362,14 +393,14 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
q[3] = -q[3];
}
}
// Renomalize
float qmag = sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
q[0] = q[0] / qmag;
q[1] = q[1] / qmag;
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
@ -378,44 +409,44 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
q[2] = 0;
q[3] = 0;
}
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
quat_copy(q, &attitudeActual.q1);
// Convert into eueler degrees (makes assumptions about RPY order)
Quaternion2RPY(&attitudeActual.q1,&attitudeActual.Roll);
AttitudeActualSet(&attitudeActual);
}
static void settingsUpdatedCb(UAVObjEvent * objEv) {
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
accelKp = attitudeSettings.AccelKp;
accelKi = attitudeSettings.AccelKi;
yawBiasRate = attitudeSettings.YawBiasRate;
gyroGain = attitudeSettings.GyroGain;
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
// Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
attitudeSettings.BoardRotation[2] == 0) {
rotate = 0;
// Shouldn't be used but to be safe
float rotationQuat[4] = {1,0,0,0};
Quaternion2R(rotationQuat, R);
@ -428,8 +459,25 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
Quaternion2R(rotationQuat, R);
rotate = 1;
}
if (attitudeSettings.TrimFlight == ATTITUDESETTINGS_TRIMFLIGHT_START) {
trim_accels[0] = 0;
trim_accels[1] = 0;
trim_accels[2] = 0;
trim_samples = 0;
trim_requested = true;
} else if (attitudeSettings.TrimFlight == ATTITUDESETTINGS_TRIMFLIGHT_LOAD) {
trim_requested = false;
attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X] = trim_accels[0] / trim_samples;
attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y] = trim_accels[1] / trim_samples;
// Z should average -grav
attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z] = trim_accels[2] / trim_samples + GRAV / ACCEL_SCALE;
attitudeSettings.TrimFlight = ATTITUDESETTINGS_TRIMFLIGHT_NORMAL;
AttitudeSettingsSet(&attitudeSettings);
} else
trim_requested = false;
}
/**
* @}
* @}
*/
* @}
* @}
*/

3
ground/openpilotgcs/share/openpilotgcs/sounds/Complete sound set.txt
View File

@ -65,7 +65,8 @@ magic
manual flight
maxium
meters
minimum
minimum
minus
mode
moved
MPH

BIN
ground/openpilotgcs/share/openpilotgcs/sounds/default/minus.wav Normal file
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Binary file not shown.

14
ground/openpilotgcs/src/plugins/serialconnection/serialconnection.pro
View File

@ -3,11 +3,13 @@ TARGET = Serial
include(../../openpilotgcsplugin.pri)
include(serial_dependencies.pri)
INCLUDEPATH += ../../libs/qextserialport/src
HEADERS += serialplugin.h
#HEADERS += serialplugin.h \
# serial_global.h
SOURCES += serialplugin.cpp
FORMS +=
HEADERS += serialplugin.h \
serialpluginconfiguration.h \
serialpluginoptionspage.h
SOURCES += serialplugin.cpp \
serialpluginconfiguration.cpp \
serialpluginoptionspage.cpp
FORMS += \
serialpluginoptions.ui
RESOURCES +=
#DEFINES += SERIAL_LIBRARY
OTHER_FILES += Serial.pluginspec

45
ground/openpilotgcs/src/plugins/serialconnection/serialplugin.cpp
View File

@ -76,6 +76,11 @@ SerialConnection::SerialConnection()
: enablePolling(true), m_enumerateThread(this)
{
serialHandle = NULL;
m_config = new SerialPluginConfiguration("Serial Telemetry", NULL, this);
m_config->restoresettings();
m_optionspage = new SerialPluginOptionsPage(m_config,this);
// Experimental: enable polling on all OS'es since there
// were reports that autodetect does not work on XP amongst
@ -142,7 +147,8 @@ QIODevice *SerialConnection::openDevice(const QString &deviceName)
{
//we need to handle port settings here...
PortSettings set;
set.BaudRate = BAUD57600;
set.BaudRate = stringToBaud(m_config->speed());
qDebug()<<"Serial telemetry running at "<<m_config->speed();
set.DataBits = DATA_8;
set.Parity = PAR_NONE;
set.StopBits = STOP_1;
@ -198,6 +204,33 @@ void SerialConnection::resumePolling()
enablePolling = true;
}
BaudRateType SerialConnection::stringToBaud(QString str)
{
if(str=="1200")
return BAUD1200;
else if(str=="2400")
return BAUD1200;
else if(str== "4800")
return BAUD2400;
else if(str== "9600")
return BAUD9600;
else if(str== "19200")
return BAUD19200;
else if(str== "38400")
return BAUD38400;
else if(str== "57600")
return BAUD56000;
else if(str== "115200")
return BAUD115200;
else if(str== "230400")
return BAUD230400;
else if(str== "460800")
return BAUD460800;
else if(str== "921600")
return BAUD921600;
else
return BAUD56000;
}
SerialPlugin::SerialPlugin()
{
@ -205,19 +238,23 @@ SerialPlugin::SerialPlugin()
SerialPlugin::~SerialPlugin()
{
removeObject(m_connection->Optionspage());
}
void SerialPlugin::extensionsInitialized()
{
addAutoReleasedObject(new SerialConnection);
addAutoReleasedObject(m_connection);
}
bool SerialPlugin::initialize(const QStringList &arguments, QString *errorString)
{
Q_UNUSED(arguments);
Q_UNUSED(errorString);
m_connection = new SerialConnection();
//must manage this registration of child object ourselves
//if we use an autorelease here it causes the GCS to crash
//as it is deleting objects as the app closes...
addObject(m_connection->Optionspage());
return true;
}

10
ground/openpilotgcs/src/plugins/serialconnection/serialplugin.h
View File

@ -33,6 +33,8 @@
#include <qextserialenumerator.h>
#include "coreplugin/iconnection.h"
#include <extensionsystem/iplugin.h>
#include "serialpluginconfiguration.h"
#include "serialpluginoptionspage.h"
#include <QThread>
class IConnection;
@ -87,12 +89,16 @@ public:
virtual void resumePolling();
bool deviceOpened() {return m_deviceOpened;}
SerialPluginConfiguration * Config() const { return m_config; }
SerialPluginOptionsPage * Optionspage() const { return m_optionspage; }
private:
QextSerialPort* serialHandle;
bool enablePolling;
SerialPluginConfiguration *m_config;
SerialPluginOptionsPage *m_optionspage;
BaudRateType stringToBaud(QString str);
protected slots:
void onEnumerationChanged();
@ -116,6 +122,8 @@ public:
virtual bool initialize(const QStringList &arguments, QString *error_message);
virtual void extensionsInitialized();
private:
SerialConnection *m_connection;
};

81
ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.cpp Normal file
View File

@ -0,0 +1,81 @@
/**
******************************************************************************
*
* @file serialpluginconfiguration.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SerialPlugin Serial Connection Plugin
* @{
* @brief Impliments serial connection to the flight hardware for Telemetry
*****************************************************************************/
/*
* 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 "serialpluginconfiguration.h"
#include "utils/pathutils.h"
#include <coreplugin/icore.h>
/**
* Loads a saved configuration or defaults if non exist.
*
*/
SerialPluginConfiguration::SerialPluginConfiguration(QString classId, QSettings* qSettings, QObject *parent) :
IUAVGadgetConfiguration(classId, parent),
m_speed("57600")
{
settings = Core::ICore::instance()->settings();
}
/**
* Clones a configuration.
*
*/
IUAVGadgetConfiguration *SerialPluginConfiguration::clone()
{
SerialPluginConfiguration *m = new SerialPluginConfiguration(this->classId());
m->m_speed=m_speed;
return m;
}
/**
* Saves a configuration.
*
*/
void SerialPluginConfiguration::saveConfig(QSettings* settings) const {
settings->setValue("speed", m_speed);
}
void SerialPluginConfiguration::restoresettings()
{
settings->beginGroup(QLatin1String("SerialConnection"));
QString str=(settings->value(QLatin1String("speed"), tr("")).toString());
if(str.isEmpty())
m_speed="57600";
else
m_speed=str;
settings->endGroup();
}
void SerialPluginConfiguration::savesettings() const
{
settings->beginGroup(QLatin1String("SerialConnection"));
settings->setValue(QLatin1String("speed"), m_speed);
settings->endGroup();
}
SerialPluginConfiguration::~SerialPluginConfiguration()
{
}

58
ground/openpilotgcs/src/plugins/serialconnection/serialpluginconfiguration.h Normal file
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@ -0,0 +1,58 @@
/**
******************************************************************************
*
* @file serialpluginconfiguration.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SerialPlugin Serial Connection Plugin
* @{
* @brief Impliments serial connection to the flight hardware for Telemetry
*****************************************************************************/
/*
* 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 SERIALPLUGINCONFIGURATION_H
#define SERIALPLUGINCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
using namespace Core;
/* Despite its name, this is actually a generic analog Serial
supporting up to two rotating "needle" indicators.
*/
class SerialPluginConfiguration : public IUAVGadgetConfiguration
{
Q_OBJECT
public:
explicit SerialPluginConfiguration(QString classId, QSettings* qSettings = 0, QObject *parent = 0);
QString speed() {return m_speed;}
void saveConfig(QSettings* settings) const;
IUAVGadgetConfiguration *clone();
void savesettings() const;
void restoresettings();
virtual ~SerialPluginConfiguration();
private:
QString m_speed;
QSettings* settings;
public slots:
void setSpeed(QString speed) { m_speed = speed; }
};
#endif // SERIALPLUGINCONFIGURATION_H

100
ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptions.ui Normal file
View File

@ -0,0 +1,100 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>SerialPluginOptionsPage</class>
<widget class="QWidget" name="SerialPluginOptionsPage">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Serial telemetry speed:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="cb_speed">
<item>
<property name="text">
<string>1200</string>
</property>
</item>
<item>
<property name="text">
<string>2400</string>
</property>
</item>
<item>
<property name="text">
<string>4800</string>
</property>
</item>
<item>
<property name="text">
<string>9600</string>
</property>
</item>
<item>
<property name="text">
<string>19200</string>
</property>
</item>
<item>
<property name="text">
<string>38400</string>
</property>
</item>
<item>
<property name="text">
<string>57600</string>
</property>
</item>
<item>
<property name="text">
<string>115200</string>
</property>
</item>
<item>
<property name="text">
<string>230400</string>
</property>
</item>
<item>
<property name="text">
<string>460800</string>
</property>
</item>
<item>
<property name="text">
<string>921600</string>
</property>
</item>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
<resources/>
<connections/>
</ui>

71
ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.cpp Normal file
View File

@ -0,0 +1,71 @@
/**
******************************************************************************
*
* @file serialpluginoptionspage.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SerialPlugin Serial Connection Plugin
* @{
* @brief Impliments serial connection to the flight hardware for Telemetry
*****************************************************************************/
/*
* 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 "serialpluginoptionspage.h"
#include "serialpluginconfiguration.h"
#include "ui_serialpluginoptions.h"
#include "extensionsystem/pluginmanager.h"
SerialPluginOptionsPage::SerialPluginOptionsPage(SerialPluginConfiguration *config, QObject *parent) :
IOptionsPage(parent),
m_config(config)
{
}
//creates options page widget (uses the UI file)
QWidget *SerialPluginOptionsPage::createPage(QWidget *parent)
{
Q_UNUSED(parent);
options_page = new Ui::SerialPluginOptionsPage();
//main widget
QWidget *optionsPageWidget = new QWidget;
//main layout
options_page->setupUi(optionsPageWidget);
options_page->cb_speed->setCurrentIndex(options_page->cb_speed->findText(m_config->speed()));
return optionsPageWidget;
}
/**
* Called when the user presses apply or OK.
*
* Saves the current values
*
*/
void SerialPluginOptionsPage::apply()
{
m_config->setSpeed(options_page->cb_speed->currentText());
m_config->savesettings();
}
void SerialPluginOptionsPage::finish()
{
delete options_page;
}

71
ground/openpilotgcs/src/plugins/serialconnection/serialpluginoptionspage.h Normal file
View File

@ -0,0 +1,71 @@
/**
******************************************************************************
*
* @file serialpluginoptionspage.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup SerialPlugin Serial Connection Plugin
* @{
* @brief Impliments serial connection to the flight hardware for Telemetry
*****************************************************************************/
/*
* 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 SERIALpluginOPTIONSPAGE_H
#define SERIALpluginOPTIONSPAGE_H
#include "coreplugin/dialogs/ioptionspage.h"
#include "QString"
#include <QStringList>
#include <QDebug>
#include <QFont>
namespace Core {
class IUAVpluginConfiguration;
}
class SerialPluginConfiguration;
namespace Ui {
class SerialPluginOptionsPage;
}
using namespace Core;
class SerialPluginOptionsPage : public IOptionsPage
{
Q_OBJECT
public:
explicit SerialPluginOptionsPage(SerialPluginConfiguration *config, QObject *parent = 0);
QString id() const { return QLatin1String("settings"); }
QString trName() const { return tr("settings"); }
QString category() const { return "Serial Telemetry"; }
QString trCategory() const { return "Serial Telemetry"; }
QWidget *createPage(QWidget *parent);
void apply();
void finish();
private:
Ui::SerialPluginOptionsPage *options_page;
SerialPluginConfiguration *m_config;
};
#endif // SERIALpluginOPTIONSPAGE_H

79
ground/openpilotgcs/src/plugins/uavobjects/uavobjecttemplate.m
View File

@ -1,39 +1,54 @@
function [] = OPLogConvert(logfile)
function [] = OPLogConvert(varargin)
%% Define indices and arrays of structures to hold data
% THIS FILE IS AUTOMATICALLY GENERATED.
$(ALLOCATIONCODE)
outputType='mat'; %Default output is a .mat file
if nargin==0
%%
if (exist('uigetfile'))
[FileName, PathName]=uigetfile;
[FileName, PathName]=uigetfile('*.opl');
logfile=fullfile(PathName, FileName);
else
error('Your technical computing program does not support file choosers. Please input the file name in the argument. ')
end
elseif nargin>0
logfile=varargin{1};
if nargin>1
outputType=varargin{2};
end
end
if ~strcmpi(outputType,'mat') && ~strcmpi(outputType,'csv')
error('Incorrect file format specified. Second argument must be ''mat'' or ''csv''.');
end
$(ALLOCATIONCODE)
fid = fopen(logfile);
correctMsgByte=hex2dec('20');
correctSyncByte=hex2dec('3C');
% Parse log file, entry by entry
while (1)
%% Read logging header
timestamp = fread(fid, 1, 'uint32');
timestamp = fread(fid, 1, '*uint32');
if (feof(fid)); break; end
datasize = fread(fid, 1, 'int64');
datasize = fread(fid, 1, '*int64');
%% Read message header
% get sync field (0x3C, 1 byte)
sync = fread(fid, 1, 'uint8');
if sync ~= hex2dec('3C')
if sync ~= correctSyncByte
disp ('Wrong sync byte');
return
end
% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
msgType = fread(fid, 1, 'uint8');
if msgType ~= hex2dec('20')
if msgType ~= correctMsgByte
disp ('Wrong msgType');
return
end
@ -42,12 +57,15 @@ while (1)
% get obj id (quint32 4 bytes)
objID = fread(fid, 1, 'uint32');
if (isempty(objID)) %End of file
break;
end
%% Read object
switch objID
$(SWITCHCODE)
otherwise
disp(['Unknown object ID: 0x' dec2hex(objID)]);
disp(['Unknown object ID: 0x' dec2hex(objID)]);
msgBytesLeft = datasize - 1 - 1 - 2 - 4;
fread(fid, msgBytesLeft, 'uint8');
end
@ -60,13 +78,52 @@ fclose(fid);
% Trim output structs
$(CLEANUPCODE)
matfile = strrep(logfile,'opl','mat');
save(matfile $(SAVEOBJECTSCODE));
if strcmpi(outputType,'mat')
matfile = strrep(logfile,'opl','mat');
save(matfile $(SAVEOBJECTSCODE));
else
$(EXPORTCSVCODE);
end
%% Object reading functions
$(FUNCTIONSCODE)
% This function prunes the excess pre-allocated space
function [structOut]=PruneStructOfArrays(structIn, lastIndex)
fieldNames = fieldnames(structIn);
for i=1:length(fieldNames)
structOut.(fieldNames{i})=structIn.(fieldNames{i})(1:lastIndex);
end
function OPLog2csv(structIn, structName, logfile)
%Get each field name from the structure
fieldNames = fieldnames(structIn);
%Create a text string with the field names
headerOut=sprintf('%s,',fieldNames{:});
headerOut=headerOut(1:end-1); %Trim off last `,` and `\t`
%Assign the structure arrays to a matrix.
matOut=zeros(max(size(structIn.(fieldNames{1}))), length(fieldNames));
if isempty(structIn.(fieldNames{1}));
matOut=[];
else
for i=1:length(fieldNames)
matOut(:,i)=structIn.(fieldNames{i});
end
end
% Create filename by replacing opl by csv
[path, name] = fileparts(logfile);
csvDirName=[name '_csv'];
[dummyA, dummyB]=mkdir(fullfile(path, csvDirName)); %Dummy outputs so the program doens't throw warnings about "Directory already exists"
csvfile=fullfile(path, csvDirName , [name '.csv']);
%Write to csv.
dlmwrite(csvfile, headerOut, '');
dlmwrite(csvfile, matOut, '-append');

69
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.cpp
View File

@ -54,6 +54,7 @@ bool UAVObjectGeneratorMatlab::generate(UAVObjectParser* parser,QString template
matlabCodeTemplate.replace( QString("$(CLEANUPCODE)"), matlabCleanupCode);
matlabCodeTemplate.replace( QString("$(SAVEOBJECTSCODE)"), matlabSaveObjectsCode);
matlabCodeTemplate.replace( QString("$(FUNCTIONSCODE)"), matlabFunctionsCode);
matlabCodeTemplate.replace( QString("$(EXPORTCSVCODE)"), matlabExportCsvCode);
bool res = writeFile( matlabOutputPath.absolutePath() + "/OPLogConvert.m", matlabCodeTemplate );
if (!res) {
@ -78,7 +79,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
QString objectTableName(objectName);
QString tableIdxName(objectName.toLower() + "Idx");
QString functionName("Read" + info->name + "Object");
QString functionCall(functionName + "(fid, timestamp)");
QString functionCall(functionName + "(fid, timestamp, ");
QString objectID(QString().setNum(info->id));
QString isSingleInst = boolTo01String( info->isSingleInst );
@ -87,7 +88,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
// Generate allocation code (will replace the $(ALLOCATIONCODE) tag) //
//===================================================================//
// matlabSwitchCode.append("\t\tcase " + objectID + "\n");
matlabAllocationCode.append("\n\t" + tableIdxName + " = 1;\n");
matlabAllocationCode.append("\n\t" + tableIdxName + " = 0;\n");
QString type;
QString allocfields;
if (0){
@ -97,7 +98,7 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(1," + QString::number(info->fields[n]->numElements, 10) + ");\n");
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1);\n");
else
allocfields.append("\t" + objectTableName + "(1)." + info->fields[n]->name + " = 0;\n");
}
@ -112,52 +113,64 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(1," + QString::number(info->fields[n]->numElements, 10) + ")");
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', zeros(" + QString::number(info->fields[n]->numElements, 10) + ",1)");
else
allocfields.append(",...\n\t\t '" + info->fields[n]->name + "', 0");
}
allocfields.append(");\n");
}
}
matlabAllocationCode.append(allocfields);
matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
matlabAllocationCode.append("\t" + objectTableName.toUpper() + "_OBJID=" + objectID + ";\n");
//=============================================================//
//==============================================================//
// Generate 'Switch:' code (will replace the $(SWITCHCODE) tag) //
//=============================================================//
//==============================================================//
matlabSwitchCode.append("\t\tcase " + objectTableName.toUpper() + "_OBJID\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " > length(" + objectTableName +")\n");
matlabSwitchCode.append("\t\t\t\t" + objectTableName + "(" + tableIdxName + "*2+1) = " + objectTableName +"(end);\n");
matlabSwitchCode.append("\t\t\t\t" + objectTableName +"(end)=[];\n");
// matlabSwitchCode.append("\t\t\t" + objectTableName + "(" + tableIdxName +") = " + functionCall + ";\n");
matlabSwitchCode.append("\t\t\t" + tableIdxName + " = " + tableIdxName +" + 1;\n");
matlabSwitchCode.append("\t\t\t" + objectTableName + "= " + functionCall + objectTableName + ", " + tableIdxName + ");\n");
matlabSwitchCode.append("\t\t\tif " + tableIdxName + " >= length(" + objectTableName +") %Check to see if pre-allocated memory is exhausted\n");
matlabSwitchCode.append("\t\t\t\tFieldNames= fieldnames(" + objectTableName +");\n");
matlabSwitchCode.append("\t\t\t\tfor i=1:length(FieldNames) %Grow structure\n");
matlabSwitchCode.append("\t\t\t\t\t" + objectTableName + ".(FieldNames{i})(:," + tableIdxName + "*2+1) = 0;\n");
matlabSwitchCode.append("\t\t\t\tend;\n");
matlabSwitchCode.append("\t\t\tend\n");
//=============================================================//
//============================================================//
// Generate 'Cleanup:' code (will replace the $(CLEANUP) tag) //
//=============================================================//
matlabCleanupCode.append(objectTableName + "(" + tableIdxName +":end) = [];\n");
//============================================================//
matlabCleanupCode.append(objectTableName + "=PruneStructOfArrays(" + objectTableName + "," + tableIdxName +"); %#ok<NASGU>\n" );
//=============================================================================//
// Generate objects saving code code (will replace the $(SAVEOBJECTSCODE) tag) //
//=============================================================================//
//========================================================================//
// Generate objects saving code (will replace the $(SAVEOBJECTSCODE) tag) //
//========================================================================//
matlabSaveObjectsCode.append(",'"+objectTableName+"'");
matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
//==========================================================================//
// Generate objects csv export code (will replace the $(EXPORTCSVCODE) tag) //
//==========================================================================//
matlabExportCsvCode.append("\tOPLog2csv(" + objectTableName + ", '"+objectTableName+"', logfile);\n");
// OPLog2csv(ActuatorCommand, 'ActuatorCommand', logfile)
//=================================================================//
// Generate functions code (will replace the $(FUNCTIONSCODE) tag) //
//=================================================================//
//Generate function description comment
matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + "\n");
matlabFunctionsCode.append("\t" + objectName + ".timestamp = timestamp;\n");
//Generate function description comment
matlabFunctionsCode.append("%%\n% " + objectName + " read function\n");
matlabFunctionsCode.append("function [" + objectName + "] = " + functionCall + objectTableName + ", " + tableIdxName + ")" + "\n");
matlabFunctionsCode.append("\t" + objectName + ".timestamp(" + tableIdxName + ")= timestamp;\n");
matlabFunctionsCode.append("\tif " + isSingleInst + "\n");
matlabFunctionsCode.append("\t\theaderSize = 8;\n");
matlabFunctionsCode.append("\telse\n");
matlabFunctionsCode.append("\t\t" + objectName + ".instanceID = fread(fid, 1, 'uint16');\n");
matlabFunctionsCode.append("\t\t" + objectName + ".instanceID(" + tableIdxName + ") = (fread(fid, 1, 'uint16'));\n");
matlabFunctionsCode.append("\t\theaderSize = 10;\n");
matlabFunctionsCode.append("\tend\n\n");
@ -169,14 +182,14 @@ bool UAVObjectGeneratorMatlab::process_object(ObjectInfo* info)
type = fieldTypeStrMatlab[info->fields[n]->type];
// Append field
if ( info->fields[n]->numElements > 1 )
funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(:," + tableIdxName + ") = double(fread(fid, " + QString::number(info->fields[n]->numElements, 10) + ", '" + type + "'));\n");
else
funcfields.append("\t" + objectName + "." + info->fields[n]->name + " = double(fread(fid, 1, '" + type + "'));\n");
funcfields.append("\t" + objectName + "." + info->fields[n]->name + "(" + tableIdxName + ") = double(fread(fid, 1, '" + type + "'));\n");
}
matlabFunctionsCode.append(funcfields);
matlabFunctionsCode.append("\t% read CRC\n");
matlabFunctionsCode.append("\tfread(fid, 1, 'uint8');\n");
matlabFunctionsCode.append("\tfread(fid, 1, '*uint8');\n");
matlabFunctionsCode.append("\n\n");

1
ground/uavobjgenerator/generators/matlab/uavobjectgeneratormatlab.h
View File

@ -40,6 +40,7 @@ private:
QString matlabSwitchCode;
QString matlabCleanupCode;
QString matlabSaveObjectsCode;
QString matlabExportCsvCode;
QString matlabFunctionsCode;
QStringList fieldTypeStrMatlab;

70
package/Makefile.linux
View File

@ -2,9 +2,75 @@
# Linux-specific packaging
#
define CP_DEB_FILES_TEMPLATE
.PHONY: $(2)/$(1)
$(2)/$(1): $(3)/$(1)
$(V1)cp -a $$< $$@
endef
# Update this number for every formal release. The Deb packaging system relies on this to know to update a
# package or not. Otherwise, the user has to uninstall first.
VERNUM := 0.1.0
VERSION_FULL := $(VERNUM)-$(PACKAGE_LBL)
FLIGHT_FW := coptercontrol revolution
DEB_BUILD_DIR := $(ROOT_DIR)/debian
SED_DATE_STRG = $(shell date -R)
SED_SCRIPT = s/<VERSION>/$(VERSION_FULL)/;s/<DATE>/$(SED_DATE_STRG)/
DEB_CFG_CMN := $(ROOT_DIR)/package/linux/deb_common
DEB_CFG_CMN_FILES := $(shell ls $(DEB_CFG_CMN))
DEB_CFG_I386_DIR := $(ROOT_DIR)/package/linux/deb_i386
DEB_CFG_I386_FILES := $(shell ls $(DEB_CFG_I386_DIR))
DEB_CFG_AMD64_DIR := $(ROOT_DIR)/package/linux/deb_amd64
DEB_CFG_AMD64_FILES := $(shell ls $(DEB_CFG_AMD64_DIR))
DEB_PLATFORM := amd64
DEB_MACHINE_DIR := $(DEB_CFG_AMD64_DIR)
DEB_MACHINE_FILES := $(DEB_CFG_AMD64_FILES)
MACHINE_TYPE := $(shell uname -m)
ifneq ($(MACHINE_TYPE), x86_64)
DEB_PLATFORM := i386
DEB_MACHINE_DIR := $(DEB_CFG_I386_DIR)
DEB_MACHINE_FILES := $(DEB_CFG_I386_FILES)
endif
ALL_DEB_FILES = $(foreach f, $(DEB_CFG_CMN_FILES), $(DEB_BUILD_DIR)/$(f))
ALL_DEB_FILES += $(foreach f, $(DEB_MACHINE_FILES), $(DEB_BUILD_DIR)/$(f))
DEB_PACKAGE_NAME := openpilot_$(VERSION_FULL)_$(DEB_PLATFORM)
linux_deb_package: deb_build gcs
@echo $@ starting
cd .. && dpkg-buildpackage -b
$(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR)
$(V1)mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).changes $(BUILD_DIR)
$(V1)rm -rf $(DEB_BUILD_DIR)
deb_build: | $(DEB_BUILD_DIR) $(ALL_DEB_FILES) $(BUILD_DIR)/build
@echo $@ starting
$(V1)$(shell echo $(PACKAGE_DIR) > $(BUILD_DIR)/package_dir)
$(V1)sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog
$(BUILD_DIR)/build: package_flight
$(DEB_BUILD_DIR):
@echo $@ starting
$(V1)mkdir -p $(DEB_BUILD_DIR)
$(foreach cpfile, $(DEB_CFG_CMN_FILES), $(eval $(call CP_DEB_FILES_TEMPLATE,$(cpfile),$(DEB_BUILD_DIR),$(DEB_CFG_CMN))))
$(foreach cpfile, $(DEB_MACHINE_FILES), $(eval $(call CP_DEB_FILES_TEMPLATE,$(cpfile),$(DEB_BUILD_DIR),$(DEB_MACHINE_DIR))))
gcs: uavobjects
@echo "Linux Package Make of GCS."
$(V1) $(MAKE) -C $(ROOT_DIR) GCS_BUILD_CONF=release $@
ground_package: | gcs
identify:
@echo ""
@echo "We are in the Linux Package Make system."
@echo ""
.PHONY: gcs ground_package
ground_package: | identify linux_deb_package
.PHONY: identify gcs ground_package linux_deb_package deb_build $(DEB_BUILD_DIR)

13
package/linux/45-openpilot-permissions.rules Normal file
View File

@ -0,0 +1,13 @@
# OpenPilot openpilot flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4117", MODE="0664", GROUP="plugdev"
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415a", MODE="0664", GROUP="plugdev"
# OpenPilot coptercontrol flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415b", MODE="0664", GROUP="plugdev"
# OpenPilot Pipx radio modem board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", MODE="0664", GROUP="plugdev"
# unprogrammed openpilot flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5750", MODE="0664", GROUP="plugdev"
# FTDI FT2232C Dual USB-UART/FIFO IC
SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0664", GROUP="plugdev"
# Olimex Ltd. OpenOCD JTAG TINY
SUBSYSTEM=="usb", ATTRS{idVendor}=="15ba", ATTRS{idProduct}=="0004", MODE="0664", GROUP="plugdev"

15
package/linux/deb_amd64/control Normal file
View File

@ -0,0 +1,15 @@
Source: openpilot
Section: unknown
Priority: extra
Maintainer: naiiawah <naiiawah@openpilot.org>
Build-Depends: debhelper (>= 7.0.50~)
Standards-Version: 3.8.4
Homepage: http://www.openpilot.org
Vcs-Git: git://git.openpilot.org/OpenPilot.git
Vcs-Browser: http://git.openpilot.org/changelog/OpenPilot
Package: openpilot
Architecture: amd64
Depends: ${shlibs:Depends}, ${misc:Depends}
Description: OpenPilot GCS & FW
OpenPilot GCS and Firmware for CopterControl (CC) board.

5
package/linux/deb_common/changelog Normal file
View File

@ -0,0 +1,5 @@
openpilot (<VERSION>) unstable; urgency=low
* Initial release (testing - unstable)
-- naiiawah <naiiawah@openpilot.org> <DATE>

1
package/linux/deb_common/compat Normal file
View File

@ -0,0 +1 @@
7

37
package/linux/deb_common/copyright Normal file
View File

@ -0,0 +1,37 @@
This work was packaged for Debian by:
naiiawah <naiiawah@none> on Thu, 27 Oct 2011 01:35:37 -0600
It was downloaded from:
<url://example.com>
Upstream Author(s):
<put author's name and email here>
<likewise for another author>
Copyright:
<Copyright (C) YYYY Firstname Lastname>
<likewise for another author>
License:
<Put the license of the package here indented by 4 spaces>
The Debian packaging is:
Copyright (C) 2011 naiiawah <naiiawah@none>
# Please chose a license for your packaging work. If the program you package
# uses a mainstream license, using the same license is the safest choice.
# Please avoid to pick license terms that are more restrictive than the
# packaged work, as it may make Debian's contributions unacceptable upstream.
# If you just want it to be GPL version 3, leave the following lines in.
and is licensed under the GPL version 3,
see "/usr/share/common-licenses/GPL-3".
# Please also look if there are files or directories which have a
# different copyright/license attached and list them here.

0
package/linux/deb_common/docs Normal file
View File

154
package/linux/deb_common/init.d.ex Normal file
View File

@ -0,0 +1,154 @@
#!/bin/sh
### BEGIN INIT INFO
# Provides: openpilot
# Required-Start: $network $local_fs
# Required-Stop:
# Default-Start: 2 3 4 5
# Default-Stop: 0 1 6
# Short-Description: <Enter a short description of the sortware>
# Description: <Enter a long description of the software>
# <...>
# <...>
### END INIT INFO
# Author: naiiawah <naiiawah@none>
# PATH should only include /usr/* if it runs after the mountnfs.sh script
PATH=/sbin:/usr/sbin:/bin:/usr/bin
DESC=openpilot # Introduce a short description here
NAME=openpilot # Introduce the short server's name here
DAEMON=/usr/sbin/openpilot # Introduce the server's location here
DAEMON_ARGS="" # Arguments to run the daemon with
PIDFILE=/var/run/$NAME.pid
SCRIPTNAME=/etc/init.d/$NAME
# Exit if the package is not installed
[ -x $DAEMON ] || exit 0
# Read configuration variable file if it is present
[ -r /etc/default/$NAME ] && . /etc/default/$NAME
# Load the VERBOSE setting and other rcS variables
. /lib/init/vars.sh
# Define LSB log_* functions.
# Depend on lsb-base (>= 3.0-6) to ensure that this file is present.
. /lib/lsb/init-functions
#
# Function that starts the daemon/service
#
do_start()
{
# Return
# 0 if daemon has been started
# 1 if daemon was already running
# 2 if daemon could not be started
start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON --test > /dev/null \
|| return 1
start-stop-daemon --start --quiet --pidfile $PIDFILE --exec $DAEMON -- \
$DAEMON_ARGS \
|| return 2
# Add code here, if necessary, that waits for the process to be ready
# to handle requests from services started subsequently which depend
# on this one. As a last resort, sleep for some time.
}
#
# Function that stops the daemon/service
#
do_stop()
{
# Return
# 0 if daemon has been stopped
# 1 if daemon was already stopped
# 2 if daemon could not be stopped
# other if a failure occurred
start-stop-daemon --stop --quiet --retry=TERM/30/KILL/5 --pidfile $PIDFILE --name $NAME
RETVAL="$?"
[ "$RETVAL" = 2 ] && return 2
# Wait for children to finish too if this is a daemon that forks
# and if the daemon is only ever run from this initscript.
# If the above conditions are not satisfied then add some other code
# that waits for the process to drop all resources that could be
# needed by services started subsequently. A last resort is to
# sleep for some time.
start-stop-daemon --stop --quiet --oknodo --retry=0/30/KILL/5 --exec $DAEMON
[ "$?" = 2 ] && return 2
# Many daemons don't delete their pidfiles when they exit.
rm -f $PIDFILE
return "$RETVAL"
}
#
# Function that sends a SIGHUP to the daemon/service
#
do_reload() {
#
# If the daemon can reload its configuration without
# restarting (for example, when it is sent a SIGHUP),
# then implement that here.
#
start-stop-daemon --stop --signal 1 --quiet --pidfile $PIDFILE --name $NAME
return 0
}
case "$1" in
start)
[ "$VERBOSE" != no ] && log_daemon_msg "Starting $DESC " "$NAME"
do_start
case "$?" in
0|1) [ "$VERBOSE" != no ] && log_end_msg 0 ;;
2) [ "$VERBOSE" != no ] && log_end_msg 1 ;;
esac
;;
stop)
[ "$VERBOSE" != no ] && log_daemon_msg "Stopping $DESC" "$NAME"
do_stop
case "$?" in
0|1) [ "$VERBOSE" != no ] && log_end_msg 0 ;;
2) [ "$VERBOSE" != no ] && log_end_msg 1 ;;
esac
;;
status)
status_of_proc "$DAEMON" "$NAME" && exit 0 || exit $?
;;
#reload|force-reload)
#
# If do_reload() is not implemented then leave this commented out
# and leave 'force-reload' as an alias for 'restart'.
#
#log_daemon_msg "Reloading $DESC" "$NAME"
#do_reload
#log_end_msg $?
#;;
restart|force-reload)
#
# If the "reload" option is implemented then remove the
# 'force-reload' alias
#
log_daemon_msg "Restarting $DESC" "$NAME"
do_stop
case "$?" in
0|1)
do_start
case "$?" in
0) log_end_msg 0 ;;
1) log_end_msg 1 ;; # Old process is still running
*) log_end_msg 1 ;; # Failed to start
esac
;;
*)
# Failed to stop
log_end_msg 1
;;
esac
;;
*)
#echo "Usage: $SCRIPTNAME {start|stop|restart|reload|force-reload}" >&2
echo "Usage: $SCRIPTNAME {start|stop|status|restart|force-reload}" >&2
exit 3
;;
esac
:

59
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@ -0,0 +1,59 @@
.\" Hey, EMACS: -*- nroff -*-
.\" First parameter, NAME, should be all caps
.\" Second parameter, SECTION, should be 1-8, maybe w/ subsection
.\" other parameters are allowed: see man(7), man(1)
.TH OPENPILOT SECTION "October 27, 2011"
.\" Please adjust this date whenever revising the manpage.
.\"
.\" Some roff macros, for reference:
.\" .nh disable hyphenation
.\" .hy enable hyphenation
.\" .ad l left justify
.\" .ad b justify to both left and right margins
.\" .nf disable filling
.\" .fi enable filling
.\" .br insert line break
.\" .sp <n> insert n+1 empty lines
.\" for manpage-specific macros, see man(7)
.SH NAME
openpilot \- program to do something
.SH SYNOPSIS
.B openpilot
.RI [ options ] " files" ...
.br
.B bar
.RI [ options ] " files" ...
.SH DESCRIPTION
This manual page documents briefly the
.B openpilot
and
.B bar
commands.
.PP
.\" TeX users may be more comfortable with the \fB<whatever>\fP and
.\" \fI<whatever>\fP escape sequences to invode bold face and italics,
.\" respectively.
\fBopenpilot\fP is a program that...
.SH OPTIONS
These programs follow the usual GNU command line syntax, with long
options starting with two dashes (`-').
A summary of options is included below.
For a complete description, see the Info files.
.TP
.B \-h, \-\-help
Show summary of options.
.TP
.B \-v, \-\-version
Show version of program.
.SH SEE ALSO
.BR bar (1),
.BR baz (1).
.br
The programs are documented fully by
.IR "The Rise and Fall of a Fooish Bar" ,
available via the Info system.
.SH AUTHOR
openpilot was written by <upstream author>.
.PP
This manual page was written by naiiawah <naiiawah@none>,
for the Debian project (and may be used by others).

154
package/linux/deb_common/manpage.sgml.ex Normal file
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@ -0,0 +1,154 @@
<!doctype refentry PUBLIC "-//OASIS//DTD DocBook V4.1//EN" [
<!-- Process this file with docbook-to-man to generate an nroff manual
page: `docbook-to-man manpage.sgml > manpage.1'. You may view
the manual page with: `docbook-to-man manpage.sgml | nroff -man |
less'. A typical entry in a Makefile or Makefile.am is:
manpage.1: manpage.sgml
docbook-to-man $< > $@
The docbook-to-man binary is found in the docbook-to-man package.
Please remember that if you create the nroff version in one of the
debian/rules file targets (such as build), you will need to include
docbook-to-man in your Build-Depends control field.
-->
<!-- Fill in your name for FIRSTNAME and SURNAME. -->
<!ENTITY dhfirstname "<firstname>FIRSTNAME</firstname>">
<!ENTITY dhsurname "<surname>SURNAME</surname>">
<!-- Please adjust the date whenever revising the manpage. -->
<!ENTITY dhdate "<date>October 27, 2011</date>">
<!-- SECTION should be 1-8, maybe w/ subsection other parameters are
allowed: see man(7), man(1). -->
<!ENTITY dhsection "<manvolnum>SECTION</manvolnum>">
<!ENTITY dhemail "<email>naiiawah@none</email>">
<!ENTITY dhusername "naiiawah">
<!ENTITY dhucpackage "<refentrytitle>OPENPILOT</refentrytitle>">
<!ENTITY dhpackage "openpilot">
<!ENTITY debian "<productname>Debian</productname>">
<!ENTITY gnu "<acronym>GNU</acronym>">
<!ENTITY gpl "&gnu; <acronym>GPL</acronym>">
]>
<refentry>
<refentryinfo>
<address>
&dhemail;
</address>
<author>
&dhfirstname;
&dhsurname;
</author>
<copyright>
<year>2003</year>
<holder>&dhusername;</holder>
</copyright>
&dhdate;
</refentryinfo>
<refmeta>
&dhucpackage;
&dhsection;
</refmeta>
<refnamediv>
<refname>&dhpackage;</refname>
<refpurpose>program to do something</refpurpose>
</refnamediv>
<refsynopsisdiv>
<cmdsynopsis>
<command>&dhpackage;</command>
<arg><option>-e <replaceable>this</replaceable></option></arg>
<arg><option>--example <replaceable>that</replaceable></option></arg>
</cmdsynopsis>
</refsynopsisdiv>
<refsect1>
<title>DESCRIPTION</title>
<para>This manual page documents briefly the
<command>&dhpackage;</command> and <command>bar</command>
commands.</para>
<para>This manual page was written for the &debian; distribution
because the original program does not have a manual page.
Instead, it has documentation in the &gnu;
<application>Info</application> format; see below.</para>
<para><command>&dhpackage;</command> is a program that...</para>
</refsect1>
<refsect1>
<title>OPTIONS</title>
<para>These programs follow the usual &gnu; command line syntax,
with long options starting with two dashes (`-'). A summary of
options is included below. For a complete description, see the
<application>Info</application> files.</para>
<variablelist>
<varlistentry>
<term><option>-h</option>
<option>--help</option>
</term>
<listitem>
<para>Show summary of options.</para>
</listitem>
</varlistentry>
<varlistentry>
<term><option>-v</option>
<option>--version</option>
</term>
<listitem>
<para>Show version of program.</para>
</listitem>
</varlistentry>
</variablelist>
</refsect1>
<refsect1>
<title>SEE ALSO</title>
<para>bar (1), baz (1).</para>
<para>The programs are documented fully by <citetitle>The Rise and
Fall of a Fooish Bar</citetitle> available via the
<application>Info</application> system.</para>
</refsect1>
<refsect1>
<title>AUTHOR</title>
<para>This manual page was written by &dhusername; &dhemail; for
the &debian; system (and may be used by others). Permission is
granted to copy, distribute and/or modify this document under
the terms of the &gnu; General Public License, Version 2 any
later version published by the Free Software Foundation.
</para>
<para>
On Debian systems, the complete text of the GNU General Public
License can be found in /usr/share/common-licenses/GPL.
</para>
</refsect1>
</refentry>
<!-- Keep this comment at the end of the file
Local variables:
mode: sgml
sgml-omittag:t
sgml-shorttag:t
sgml-minimize-attributes:nil
sgml-always-quote-attributes:t
sgml-indent-step:2
sgml-indent-data:t
sgml-parent-document:nil
sgml-default-dtd-file:nil
sgml-exposed-tags:nil
sgml-local-catalogs:nil
sgml-local-ecat-files:nil
End:
-->

291
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@ -0,0 +1,291 @@
<?xml version='1.0' encoding='UTF-8'?>
<!DOCTYPE refentry PUBLIC "-//OASIS//DTD DocBook XML V4.5//EN"
"http://www.oasis-open.org/docbook/xml/4.5/docbookx.dtd" [
<!--
`xsltproc -''-nonet \
-''-param man.charmap.use.subset "0" \
-''-param make.year.ranges "1" \
-''-param make.single.year.ranges "1" \
/usr/share/xml/docbook/stylesheet/docbook-xsl/manpages/docbook.xsl \
manpage.xml'
A manual page <package>.<section> will be generated. You may view the
manual page with: nroff -man <package>.<section> | less'. A typical entry
in a Makefile or Makefile.am is:
DB2MAN = /usr/share/sgml/docbook/stylesheet/xsl/docbook-xsl/manpages/docbook.xsl
XP = xsltproc -''-nonet -''-param man.charmap.use.subset "0"
manpage.1: manpage.xml
$(XP) $(DB2MAN) $<
The xsltproc binary is found in the xsltproc package. The XSL files are in
docbook-xsl. A description of the parameters you can use can be found in the
docbook-xsl-doc-* packages. Please remember that if you create the nroff
version in one of the debian/rules file targets (such as build), you will need
to include xsltproc and docbook-xsl in your Build-Depends control field.
Alternatively use the xmlto command/package. That will also automatically
pull in xsltproc and docbook-xsl.
Notes for using docbook2x: docbook2x-man does not automatically create the
AUTHOR(S) and COPYRIGHT sections. In this case, please add them manually as
<refsect1> ... </refsect1>.
To disable the automatic creation of the AUTHOR(S) and COPYRIGHT sections
read /usr/share/doc/docbook-xsl/doc/manpages/authors.html. This file can be
found in the docbook-xsl-doc-html package.
Validation can be done using: `xmllint -''-noout -''-valid manpage.xml`
General documentation about man-pages and man-page-formatting:
man(1), man(7), http://www.tldp.org/HOWTO/Man-Page/
-->
<!-- Fill in your name for FIRSTNAME and SURNAME. -->
<!ENTITY dhfirstname "FIRSTNAME">
<!ENTITY dhsurname "SURNAME">
<!-- dhusername could also be set to "&dhfirstname; &dhsurname;". -->
<!ENTITY dhusername "naiiawah">
<!ENTITY dhemail "naiiawah@none">
<!-- SECTION should be 1-8, maybe w/ subsection other parameters are
allowed: see man(7), man(1) and
http://www.tldp.org/HOWTO/Man-Page/q2.html. -->
<!ENTITY dhsection "SECTION">
<!-- TITLE should be something like "User commands" or similar (see
http://www.tldp.org/HOWTO/Man-Page/q2.html). -->
<!ENTITY dhtitle "openpilot User Manual">
<!ENTITY dhucpackage "OPENPILOT">
<!ENTITY dhpackage "openpilot">
]>
<refentry>
<refentryinfo>
<title>&dhtitle;</title>
<productname>&dhpackage;</productname>
<authorgroup>
<author>
<firstname>&dhfirstname;</firstname>
<surname>&dhsurname;</surname>
<contrib>Wrote this manpage for the Debian system.</contrib>
<address>
<email>&dhemail;</email>
</address>
</author>
</authorgroup>
<copyright>
<year>2007</year>
<holder>&dhusername;</holder>
</copyright>
<legalnotice>
<para>This manual page was written for the Debian system
(and may be used by others).</para>
<para>Permission is granted to copy, distribute and/or modify this
document under the terms of the GNU General Public License,
Version 2 or (at your option) any later version published by
the Free Software Foundation.</para>
<para>On Debian systems, the complete text of the GNU General Public
License can be found in
<filename>/usr/share/common-licenses/GPL</filename>.</para>
</legalnotice>
</refentryinfo>
<refmeta>
<refentrytitle>&dhucpackage;</refentrytitle>
<manvolnum>&dhsection;</manvolnum>
</refmeta>
<refnamediv>
<refname>&dhpackage;</refname>
<refpurpose>program to do something</refpurpose>
</refnamediv>
<refsynopsisdiv>
<cmdsynopsis>
<command>&dhpackage;</command>
<!-- These are several examples, how syntaxes could look -->
<arg choice="plain"><option>-e <replaceable>this</replaceable></option></arg>
<arg choice="opt"><option>--example=<parameter>that</parameter></option></arg>
<arg choice="opt">
<group choice="req">
<arg choice="plain"><option>-e</option></arg>
<arg choice="plain"><option>--example</option></arg>
</group>
<replaceable class="option">this</replaceable>
</arg>
<arg choice="opt">
<group choice="req">
<arg choice="plain"><option>-e</option></arg>
<arg choice="plain"><option>--example</option></arg>
</group>
<group choice="req">
<arg choice="plain"><replaceable>this</replaceable></arg>
<arg choice="plain"><replaceable>that</replaceable></arg>
</group>
</arg>
</cmdsynopsis>
<cmdsynopsis>
<command>&dhpackage;</command>
<!-- Normally the help and version options make the programs stop
right after outputting the requested information. -->
<group choice="opt">
<arg choice="plain">
<group choice="req">
<arg choice="plain"><option>-h</option></arg>
<arg choice="plain"><option>--help</option></arg>
</group>
</arg>
<arg choice="plain">
<group choice="req">
<arg choice="plain"><option>-v</option></arg>
<arg choice="plain"><option>--version</option></arg>
</group>
</arg>
</group>
</cmdsynopsis>
</refsynopsisdiv>
<refsect1 id="description">
<title>DESCRIPTION</title>
<para>This manual page documents briefly the
<command>&dhpackage;</command> and <command>bar</command>
commands.</para>
<para>This manual page was written for the Debian distribution
because the original program does not have a manual page.
Instead, it has documentation in the GNU <citerefentry>
<refentrytitle>info</refentrytitle>
<manvolnum>1</manvolnum>
</citerefentry> format; see below.</para>
<para><command>&dhpackage;</command> is a program that...</para>
</refsect1>
<refsect1 id="options">
<title>OPTIONS</title>
<para>The program follows the usual GNU command line syntax,
with long options starting with two dashes (`-'). A summary of
options is included below. For a complete description, see the
<citerefentry>
<refentrytitle>info</refentrytitle>
<manvolnum>1</manvolnum>
</citerefentry> files.</para>
<variablelist>
<!-- Use the variablelist.term.separator and the
variablelist.term.break.after parameters to
control the term elements. -->
<varlistentry>
<term><option>-e <replaceable>this</replaceable></option></term>
<term><option>--example=<replaceable>that</replaceable></option></term>
<listitem>
<para>Does this and that.</para>
</listitem>
</varlistentry>
<varlistentry>
<term><option>-h</option></term>
<term><option>--help</option></term>
<listitem>
<para>Show summary of options.</para>
</listitem>
</varlistentry>
<varlistentry>
<term><option>-v</option></term>
<term><option>--version</option></term>
<listitem>
<para>Show version of program.</para>
</listitem>
</varlistentry>
</variablelist>
</refsect1>
<refsect1 id="files">
<title>FILES</title>
<variablelist>
<varlistentry>
<term><filename>/etc/foo.conf</filename></term>
<listitem>
<para>The system-wide configuration file to control the
behaviour of <application>&dhpackage;</application>. See
<citerefentry>
<refentrytitle>foo.conf</refentrytitle>
<manvolnum>5</manvolnum>
</citerefentry> for further details.</para>
</listitem>
</varlistentry>
<varlistentry>
<term><filename>${HOME}/.foo.conf</filename></term>
<listitem>
<para>The per-user configuration file to control the
behaviour of <application>&dhpackage;</application>. See
<citerefentry>
<refentrytitle>foo.conf</refentrytitle>
<manvolnum>5</manvolnum>
</citerefentry> for further details.</para>
</listitem>
</varlistentry>
</variablelist>
</refsect1>
<refsect1 id="environment">
<title>ENVIONMENT</title>
<variablelist>
<varlistentry>
<term><envar>FOO_CONF</envar></term>
<listitem>
<para>If used, the defined file is used as configuration
file (see also <xref linkend="files"/>).</para>
</listitem>
</varlistentry>
</variablelist>
</refsect1>
<refsect1 id="diagnostics">
<title>DIAGNOSTICS</title>
<para>The following diagnostics may be issued
on <filename class="devicefile">stderr</filename>:</para>
<variablelist>
<varlistentry>
<term><errortext>Bad configuration file. Exiting.</errortext></term>
<listitem>
<para>The configuration file seems to contain a broken configuration
line. Use the <option>--verbose</option> option, to get more info.
</para>
</listitem>
</varlistentry>
</variablelist>
<para><command>&dhpackage;</command> provides some return codes, that can
be used in scripts:</para>
<segmentedlist>
<segtitle>Code</segtitle>
<segtitle>Diagnostic</segtitle>
<seglistitem>
<seg><errorcode>0</errorcode></seg>
<seg>Program exited successfully.</seg>
</seglistitem>
<seglistitem>
<seg><errorcode>1</errorcode></seg>
<seg>The configuration file seems to be broken.</seg>
</seglistitem>
</segmentedlist>
</refsect1>
<refsect1 id="bugs">
<!-- Or use this section to tell about upstream BTS. -->
<title>BUGS</title>
<para>The program is currently limited to only work
with the <package>foobar</package> library.</para>
<para>The upstreams <acronym>BTS</acronym> can be found
at <ulink url="http://bugzilla.foo.tld"/>.</para>
</refsect1>
<refsect1 id="see_also">
<title>SEE ALSO</title>
<!-- In alpabetical order. -->
<para><citerefentry>
<refentrytitle>bar</refentrytitle>
<manvolnum>1</manvolnum>
</citerefentry>, <citerefentry>
<refentrytitle>baz</refentrytitle>
<manvolnum>1</manvolnum>
</citerefentry>, <citerefentry>
<refentrytitle>foo.conf</refentrytitle>
<manvolnum>5</manvolnum>
</citerefentry></para>
<para>The programs are documented fully by <citetitle>The Rise and
Fall of a Fooish Bar</citetitle> available via the <citerefentry>
<refentrytitle>info</refentrytitle>
<manvolnum>1</manvolnum>
</citerefentry> system.</para>
</refsect1>
</refentry>

2
package/linux/deb_common/menu.ex Normal file
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@ -0,0 +1,2 @@
?package(openpilot):needs="X11|text|vc|wm" section="Applications/see-menu-manual"\
title="openpilot" command="/usr/bin/openpilot"

4
package/linux/deb_common/openpilot.cron.d.ex Normal file
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@ -0,0 +1,4 @@
#
# Regular cron jobs for the openpilot package
#
0 4 * * * root [ -x /usr/bin/openpilot_maintenance ] && /usr/bin/openpilot_maintenance

15
package/linux/deb_common/openpilot.debhelper.log Normal file
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@ -0,0 +1,15 @@
dh_prep
dh_installdirs
dh_installchangelogs
dh_installdocs
dh_installexamples
dh_installman
dh_link
dh_strip
dh_compress
dh_fixperms
dh_installdeb
dh_shlibdeps
dh_gencontrol
dh_md5sums
dh_builddeb

10
package/linux/deb_common/openpilot.default.ex Normal file
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@ -0,0 +1,10 @@
# Defaults for openpilot initscript
# sourced by /etc/init.d/openpilot
# installed at /etc/default/openpilot by the maintainer scripts
#
# This is a POSIX shell fragment
#
# Additional options that are passed to the Daemon.
DAEMON_OPTS=""

6
package/linux/deb_common/openpilot.dirs Normal file
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@ -0,0 +1,6 @@
etc/xdg/menus/applications-merged
usr/share/applications
usr/share/pixmaps
usr/share/desktop-directories
usr/local/OpenPilot/firmware
usr/bin

20
package/linux/deb_common/openpilot.doc-base.EX Normal file
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@ -0,0 +1,20 @@
Document: openpilot
Title: Debian openpilot Manual
Author: <insert document author here>
Abstract: This manual describes what openpilot is
and how it can be used to
manage online manuals on Debian systems.
Section: unknown
Format: debiandoc-sgml
Files: /usr/share/doc/openpilot/openpilot.sgml.gz
Format: postscript
Files: /usr/share/doc/openpilot/openpilot.ps.gz
Format: text
Files: /usr/share/doc/openpilot/openpilot.text.gz
Format: HTML
Index: /usr/share/doc/openpilot/html/index.html
Files: /usr/share/doc/openpilot/html/*.html

2
package/linux/deb_common/openpilot.substvars Normal file
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@ -0,0 +1,2 @@
shlibs:Depends=libc6 (>= 2.3.6-6~), libc6 (>= 2.4), libgcc1 (>= 1:4.1.1), libgl1-mesa-glx | libgl1, libglu1-mesa | libglu1, libphonon4 (>= 4:4.3.0), libqt4-network (>= 4:4.6.1), libqt4-opengl (>= 4:4.6.1), libqt4-script (>= 4:4.5.3), libqt4-sql (>= 4:4.5.3), libqt4-svg (>= 4:4.5.3), libqt4-test (>= 4:4.5.3), libqt4-xml (>= 4:4.5.3), libqtcore4 (>= 4:4.7.0~beta1), libqtgui4 (>= 4:4.6.2), libsdl1.2debian (>= 1.2.10-1), libstdc++6 (>= 4.1.1), libudev0 (>= 147), libusb-0.1-4 (>= 2:0.1.12), phonon
misc:Depends=

18
package/linux/deb_common/openpilot.udev Normal file
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@ -0,0 +1,18 @@
# OpenPilot Flight Control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="4117", MODE="0664", GROUP="plugdev"
# OpenPilot OP board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415a", MODE="0664", GROUP="plugdev"
# OpenPilot CopterControl flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415b", MODE="0664", GROUP="plugdev"
# OpenPilot Pipx radio modem board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415c", MODE="0664", GROUP="plugdev"
# OpenPilot CopterControl3D flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415d", MODE="0664", GROUP="plugdev"
# OpenPilot Revolution flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="20a0", ATTRS{idProduct}=="415e", MODE="0664", GROUP="plugdev"
# unprogrammed openpilot flight control board
SUBSYSTEM=="usb", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5750", MODE="0664", GROUP="plugdev"
# FTDI FT2232C Dual USB-UART/FIFO IC
SUBSYSTEM=="usb", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6010", MODE="0664", GROUP="plugdev"
# Olimex Ltd. OpenOCD JTAG TINY
SUBSYSTEM=="usb", ATTRS{idVendor}=="15ba", ATTRS{idProduct}=="0004", MODE="0664", GROUP="plugdev"

40
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#!/bin/sh
# postinst script for openpilot
#
# see: dh_installdeb(1)
set -e
# summary of how this script can be called:
# * <postinst> `configure' <most-recently-configured-version>
# * <old-postinst> `abort-upgrade' <new version>
# * <conflictor's-postinst> `abort-remove' `in-favour' <package>
# <new-version>
# * <postinst> `abort-remove'
# * <deconfigured's-postinst> `abort-deconfigure' `in-favour'
# <failed-install-package> <version> `removing'
# <conflicting-package> <version>
# for details, see http://www.debian.org/doc/debian-policy/ or
# the debian-policy package
case "$1" in
configure)
sudo udevadm control --reload-rules >&2
;;
abort-upgrade|abort-remove|abort-deconfigure)
;;
*)
echo "postinst called with unknown argument \`$1'" >&2
exit 1
;;
esac
# dh_installdeb will replace this with shell code automatically
# generated by other debhelper scripts.
#DEBHELPER#
exit 0

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#!/bin/sh
# postinst script for openpilot
#
# see: dh_installdeb(1)
set -e
# summary of how this script can be called:
# * <postinst> `configure' <most-recently-configured-version>
# * <old-postinst> `abort-upgrade' <new version>
# * <conflictor's-postinst> `abort-remove' `in-favour' <package>
# <new-version>
# * <postinst> `abort-remove'
# * <deconfigured's-postinst> `abort-deconfigure' `in-favour'
# <failed-install-package> <version> `removing'
# <conflicting-package> <version>
# for details, see http://www.debian.org/doc/debian-policy/ or
# the debian-policy package
case "$1" in
configure)
;;
abort-upgrade|abort-remove|abort-deconfigure)
;;
*)
echo "postinst called with unknown argument \`$1'" >&2
exit 1
;;
esac
# dh_installdeb will replace this with shell code automatically
# generated by other debhelper scripts.
#DEBHELPER#
exit 0

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#!/bin/sh
# postrm script for openpilot
#
# see: dh_installdeb(1)
set -e
# summary of how this script can be called:
# * <postrm> `remove'
# * <postrm> `purge'
# * <old-postrm> `upgrade' <new-version>
# * <new-postrm> `failed-upgrade' <old-version>
# * <new-postrm> `abort-install'
# * <new-postrm> `abort-install' <old-version>
# * <new-postrm> `abort-upgrade' <old-version>
# * <disappearer's-postrm> `disappear' <overwriter>
# <overwriter-version>
# for details, see http://www.debian.org/doc/debian-policy/ or
# the debian-policy package
case "$1" in
purge|remove|upgrade|failed-upgrade|abort-install|abort-upgrade|disappear)
;;
*)
echo "postrm called with unknown argument \`$1'" >&2
exit 1
;;
esac
# dh_installdeb will replace this with shell code automatically
# generated by other debhelper scripts.
#DEBHELPER#
exit 0

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#!/bin/sh
# preinst script for openpilot
#
# see: dh_installdeb(1)
set -e
# summary of how this script can be called:
# * <new-preinst> `install'
# * <new-preinst> `install' <old-version>
# * <new-preinst> `upgrade' <old-version>
# * <old-preinst> `abort-upgrade' <new-version>
# for details, see http://www.debian.org/doc/debian-policy/ or
# the debian-policy package
case "$1" in
install|upgrade)
;;
abort-upgrade)
;;
*)
echo "preinst called with unknown argument \`$1'" >&2
exit 1
;;
esac
# dh_installdeb will replace this with shell code automatically
# generated by other debhelper scripts.
#DEBHELPER#
exit 0

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#!/bin/sh
# prerm script for openpilot
#
# see: dh_installdeb(1)
set -e
# summary of how this script can be called:
# * <prerm> `remove'
# * <old-prerm> `upgrade' <new-version>
# * <new-prerm> `failed-upgrade' <old-version>
# * <conflictor's-prerm> `remove' `in-favour' <package> <new-version>
# * <deconfigured's-prerm> `deconfigure' `in-favour'
# <package-being-installed> <version> `removing'
# <conflicting-package> <version>
# for details, see http://www.debian.org/doc/debian-policy/ or
# the debian-policy package
case "$1" in
remove|upgrade|deconfigure)
;;
failed-upgrade)
;;
*)
echo "prerm called with unknown argument \`$1'" >&2
exit 1
;;
esac
# dh_installdeb will replace this with shell code automatically
# generated by other debhelper scripts.
#DEBHELPER#
exit 0

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#!/usr/bin/make -f
# -*- makefile -*-
# Sample debian/rules that uses debhelper.
#
# This file was originally written by Joey Hess and Craig Small.
# As a special exception, when this file is copied by dh-make into a
# dh-make output file, you may use that output file without restriction.
# This special exception was added by Craig Small in version 0.37 of dh-make.
#
# Modified to make a template file for a multi-binary package with separated
# build-arch and build-indep targets by Bill Allombert 2001
# Uncomment this to turn on verbose mode.
# export DH_VERBOSE=1
# This has to be exported to make some magic below work.
export DH_OPTIONS=-v
#%:
# dh $@
PACKAGE_DIR = $(shell cat build/package_dir)
clean:
dh_testdir
dh_testroot
dh_clean
install:
dh_testdir
dh_testroot
dh_prep
dh_installdirs
dh_installudev --priority=45
# Add here commands to install the package into debian/<packagename>
cp -arp build/ground/openpilotgcs/bin debian/openpilot/usr/local/OpenPilot
cp -arp build/ground/openpilotgcs/lib debian/openpilot/usr/local/OpenPilot
cp -arp build/ground/openpilotgcs/share debian/openpilot/usr/local/OpenPilot
cp -arp build/ground/openpilotgcs/.obj debian/openpilot/usr/local/OpenPilot
cp -arp build/ground/openpilotgcs/gcsversioninfo.h debian/openpilot/usr/local/OpenPilot
cp -arp package/linux/openpilot.desktop debian/openpilot/usr/share/applications
cp -arp package/linux/openpilot.png debian/openpilot/usr/share/pixmaps
cp -arp package/linux/openpilot_menu.png debian/openpilot/usr/share/pixmaps
cp -arp package/linux/openpilot_menu.menu debian/openpilot/etc/xdg/menus/applications-merged
cp -arp package/linux/openpilot_menu.directory debian/openpilot/usr/share/desktop-directories
ifdef $(PACKAGE_DIR)
cp -ar $(PACKAGE_DIR)/* debian/openpilot/usr/local/OpenPilot/firmware/
endif
ln -s /usr/local/OpenPilot/bin/openpilotgcs.bin `pwd`/debian/openpilot/usr/bin/openpilot-gcs
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/sounds/sounds
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/pfd/pfd
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/models/models
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/mapicons/mapicons
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/dials/dials
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/diagrams/diagrams
# Build architecture-independent files here.
binary-indep: install
# We have nothing to build by default. Got taken care of by OPs build system
# Build architecture-dependent files here.
binary-arch: install
dh_testdir
dh_testroot
dh_installchangelogs
dh_installdocs
dh_installexamples
dh_installman
dh_link
dh_strip
dh_compress
dh_fixperms
dh_installdeb
dh_shlibdeps -l/usr/local/OpenPilot/lib/openpilotgcs --dpkg-shlibdeps-params="--ignore-missing-info -v"
dh_gencontrol
dh_md5sums
dh_builddeb
binary: binary-indep binary-arch
.PHONY: clean binary-indep binary-arch binary install

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# Example watch control file for uscan
# Rename this file to "watch" and then you can run the "uscan" command
# to check for upstream updates and more.
# See uscan(1) for format
# Compulsory line, this is a version 3 file
version=3
# Uncomment to examine a Webpage
# <Webpage URL> <string match>
#http://www.example.com/downloads.php openpilot-(.*)\.tar\.gz
# Uncomment to examine a Webserver directory
#http://www.example.com/pub/openpilot-(.*)\.tar\.gz
# Uncommment to examine a FTP server
#ftp://ftp.example.com/pub/openpilot-(.*)\.tar\.gz debian uupdate
# Uncomment to find new files on sourceforge, for devscripts >= 2.9
# http://sf.net/openpilot/openpilot-(.*)\.tar\.gz
# Uncomment to find new files on GooglePages
# http://example.googlepages.com/foo.html openpilot-(.*)\.tar\.gz

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Source: openpilot
Section: unknown
Priority: extra
Maintainer: naiiawah <naiiawah@openpilot.org>
Build-Depends: debhelper (>= 7.0.50~)
Standards-Version: 3.8.4
Homepage: http://www.openpilot.org
Vcs-Git: git://git.openpilot.org/OpenPilot.git
Vcs-Browser: http://git.openpilot.org/changelog/OpenPilot
Package: openpilot
Architecture: i386
Depends: ${shlibs:Depends}, ${misc:Depends}
Description: OpenPilot GCS & FW
OpenPilot GCS and Firmware for CopterControl (CC) board.

12
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[Desktop Entry]
Version=0.1.0
Encoding=UTF-8
Name=OpenPilot GCS
Exec=openpilot-gcs
TryExec=openpilot-gcs
Comment=Configure, Tune, Diagnose, Track, & Upgrade FW for OpenPilot solutions
Terminal=false
Categories=OpenPilotMenu;Qt;Other;
Icon=openpilot
Type=Application
MimeType=application/openpilot.snapshot;

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[Desktop Entry]
Type=Directory
Encoding=UTF-8
Name=OpenPilot
Icon=openpilot_menu.png

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<!DOCTYPE Menu PUBLIC "-//freedesktop//DTD Menu 1.0//EN"
"http://www.freedesktop.org/standards/menu-spec/1.0/menu.dtd">
<Menu>
<Name>Applications</Name>
<Menu>
<Name>OpenPilot</Name>
<Directory>openpilot_menu.directory</Directory>
<Include>
<Category>OpenPilotMenu</Category>
</Include>
</Menu> <!-- End OpenPilot Menu-->
</Menu>

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1
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@ -10,6 +10,7 @@
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="TrimFlight" units="channel" type="enum" elements="1" options="NORMAL,START,LOAD" defaultvalue="NORMAL"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>