mirror of
https://bitbucket.org/librepilot/librepilot.git
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Merge remote-tracking branch 'origin/rel-12.10.2' into next
This commit is contained in:
Oleg Semyonov
commit
79f95983da
13
HISTORY.txt
13
HISTORY.txt
@ -1,5 +1,18 @@
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Short summary of changes. For a complete list see the git log.
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2012-11-11
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Added support for Mode 3 and Mode 4 to the TX Configuration Wizard.
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Few minor bugfixes.
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--- RELEASE-12.10.1 ---
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2012-10-26
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Temporary disabled AutoTune GCS GUI. It was listed as an experimental
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feature in the previous release, there were however a few cases where
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it did not behave as expected.
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--- RELEASE-12.10 ---
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2012-10-06
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Receiver port can now be configured as PPM *and* PWM inputs.
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Pin 1 is PPM, other pins are PWM inputs.
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@ -86,6 +86,10 @@ static void settingsUpdatedCb(UAVObjEvent * objEv);
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static float accelKi = 0;
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static float accelKp = 0;
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static float accel_alpha = 0;
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static bool accel_filter_enabled = false;
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static float accels_filtered[3];
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static float grot_filtered[3];
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static float yawBiasRate = 0;
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static float gyroGain = 0.42;
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static int16_t accelbias[3];
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@ -215,18 +219,22 @@ static void AttitudeTask(void *parameters)
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accelKp = 1;
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accelKi = 0.9;
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yawBiasRate = 0.23;
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accel_filter_enabled = false;
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init = 0;
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}
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else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
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accelKp = 1;
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accelKi = 0.9;
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yawBiasRate = 0.23;
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accel_filter_enabled = false;
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init = 0;
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} else if (init == 0) {
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// Reload settings (all the rates)
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AttitudeSettingsAccelKiGet(&accelKi);
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AttitudeSettingsAccelKpGet(&accelKp);
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AttitudeSettingsYawBiasRateGet(&yawBiasRate);
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if (accel_alpha > 0.0f)
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accel_filter_enabled = true;
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init = 1;
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}
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@ -429,6 +437,19 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
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return 0;
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}
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static inline void apply_accel_filter(const float *raw, float *filtered)
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{
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if (accel_filter_enabled) {
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filtered[0] = filtered[0] * accel_alpha + raw[0] * (1 - accel_alpha);
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filtered[1] = filtered[1] * accel_alpha + raw[1] * (1 - accel_alpha);
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filtered[2] = filtered[2] * accel_alpha + raw[2] * (1 - accel_alpha);
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} else {
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filtered[0] = raw[0];
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filtered[1] = raw[1];
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filtered[2] = raw[2];
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}
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}
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static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
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{
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float dT;
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@ -444,21 +465,38 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
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float grot[3];
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float accel_err[3];
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// Apply smoothing to accel values, to reduce vibration noise before main calculations.
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apply_accel_filter(accels, accels_filtered);
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// Rotate gravity to body frame and cross with accels
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// Rotate gravity unit vector to body frame, filter and cross with accels
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grot[0] = -(2 * (q[1] * q[3] - q[0] * q[2]));
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grot[1] = -(2 * (q[2] * q[3] + q[0] * q[1]));
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grot[2] = -(q[0] * q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3]);
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CrossProduct((const float *) accels, (const float *) grot, accel_err);
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apply_accel_filter(grot, grot_filtered);
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CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
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// Account for accel magnitude
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float accel_mag = sqrtf(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
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if(accel_mag < 1.0e-3f)
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float accel_mag = sqrtf(accels_filtered[0]*accels_filtered[0] + accels_filtered[1]*accels_filtered[1] + accels_filtered[2]*accels_filtered[2]);
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if (accel_mag < 1.0e-3f)
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return;
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accel_err[0] /= accel_mag;
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accel_err[1] /= accel_mag;
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accel_err[2] /= accel_mag;
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// Account for filtered gravity vector magnitude
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float grot_mag;
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if (accel_filter_enabled)
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grot_mag = sqrtf(grot_filtered[0]*grot_filtered[0] + grot_filtered[1]*grot_filtered[1] + grot_filtered[2]*grot_filtered[2]);
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else
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grot_mag = 1.0f;
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if (grot_mag < 1.0e-3f)
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return;
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accel_err[0] /= (accel_mag*grot_mag);
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accel_err[1] /= (accel_mag*grot_mag);
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accel_err[2] /= (accel_mag*grot_mag);
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// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
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gyro_correct_int[0] += accel_err[0] * accelKi;
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@ -530,6 +568,16 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
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accelKi = attitudeSettings.AccelKi;
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yawBiasRate = attitudeSettings.YawBiasRate;
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gyroGain = attitudeSettings.GyroGain;
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// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
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const float fakeDt = 0.0025;
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if (attitudeSettings.AccelTau < 0.0001) {
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accel_alpha = 0; // not trusting this to resolve to 0
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accel_filter_enabled = false;
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} else {
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accel_alpha = expf(-fakeDt / attitudeSettings.AccelTau);
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accel_filter_enabled = true;
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}
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zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
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bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
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@ -38,8 +38,7 @@ HEADERS += configplugin.h \
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configrevowidget.h \
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config_global.h \
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mixercurve.h \
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dblspindelegate.h \
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configautotunewidget.h
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dblspindelegate.h
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SOURCES += configplugin.cpp \
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configgadgetconfiguration.cpp \
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configgadgetwidget.cpp \
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@ -72,8 +71,7 @@ SOURCES += configplugin.cpp \
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outputchannelform.cpp \
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cfg_vehicletypes/vehicleconfig.cpp \
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mixercurve.cpp \
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dblspindelegate.cpp \
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configautotunewidget.cpp
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dblspindelegate.cpp
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FORMS += airframe.ui \
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cc_hw_settings.ui \
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pro_hw_settings.ui \
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@ -90,13 +88,5 @@ FORMS += airframe.ui \
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revosensors.ui \
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txpid.ui \
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pipxtreme.ui \
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mixercurve.ui \
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autotune.ui
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mixercurve.ui
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RESOURCES += configgadget.qrc
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@ -32,7 +32,6 @@
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#include "configinputwidget.h"
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#include "configoutputwidget.h"
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#include "configstabilizationwidget.h"
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#include "configautotunewidget.h"
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#include "configcamerastabilizationwidget.h"
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#include "configtxpidwidget.h"
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#include "config_pro_hw_widget.h"
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@ -103,12 +102,6 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
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qwd = new ConfigStabilizationWidget(this);
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ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/autotune_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/autotune_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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qwd = new ConfigAutotuneWidget(this);
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ftw->insertTab(ConfigGadgetWidget::autotune, qwd, *icon, QString("Autotune"));
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icon = new QIcon();
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icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
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icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);
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@ -48,7 +48,7 @@ class ConfigGadgetWidget: public QWidget
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public:
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ConfigGadgetWidget(QWidget *parent = 0);
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~ConfigGadgetWidget();
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enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme, autotune};
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enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme};
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void startInputWizard();
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public slots:
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@ -158,9 +158,9 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
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{
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myDevice->lblGitTag->setText(onBoardDescription.gitHash);
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myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
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if (onBoardDescription.gitTag.compare("master") == 0)
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if(onBoardDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
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{
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myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescription.gitTag);
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myDevice->lblDescription->setText(onBoardDescription.gitTag);
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QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
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myDevice->lblCertified->setPixmap(pix);
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myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
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@ -188,7 +188,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
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{
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myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
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myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));
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if (LoadedDescription.gitTag.compare("master") == 0)
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if(LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
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{
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myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
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myDevice->description->setText(LoadedDescription.gitTag);
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@ -302,7 +302,7 @@ void deviceWidget::loadFirmware()
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myDevice->statusLabel->setText(tr("The board has newer firmware than loaded. Are you sure you want to update?"));
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px.load(QString(":/uploader/images/warning.svg"));
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}
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else if (LoadedDescription.gitTag.compare("master"))
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else if(!LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
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{
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myDevice->statusLabel->setText(tr("The loaded firmware is untagged or custom build. Update only if it was received from a trusted source (official website or your own build)"));
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px.load(QString(":/uploader/images/warning.svg"));
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@ -103,7 +103,7 @@ void runningDeviceWidget::populate()
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deviceDescriptorStruct devDesc;
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if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
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{
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if (devDesc.gitTag.compare("master") == 0)
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if(devDesc.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
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{
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myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.gitTag);
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QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
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@ -167,7 +167,7 @@ class Repo:
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print "hash: ", self.hash()
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print "short hash: ", self.hash(8)
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print "branch: ", self.branch()
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print "commit tag: ", self.tag()
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print "commit tag: ", self.tag('')
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print "dirty: ", self.dirty('yes', 'no')
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def file_from_template(tpl_name, out_name, dict):
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@ -324,6 +324,12 @@ variable substitution and writes the result into output file. Output
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file will be overwritten only if its content differs from expected.
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Otherwise it will not be touched, so make utility will not remake
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dependent targets.
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Optional positional arguments may be used to add more dictionary
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strings for replacement. Each argument has the form:
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VARIABLE=replacement
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and each ${VARIABLE} reference will be replaced with replacement
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string given.
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"""
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# Parse command line.
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@ -359,8 +365,6 @@ dependent targets.
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parser.add_option('--uavodir', default = "",
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help='uav object definition directory');
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(args, positional_args) = parser.parse_args()
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if len(positional_args) != 0:
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parser.error("incorrect number of arguments, try --help for help")
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# Process arguments. No advanced error handling is here.
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# Any error will raise an exception and terminate process
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@ -373,6 +377,7 @@ dependent targets.
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ORIGIN = r.origin(),
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HASH = r.hash(),
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HASH8 = r.hash(8),
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TAG = r.tag(''),
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TAG_OR_BRANCH = r.tag(r.branch('unreleased')),
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TAG_OR_HASH8 = r.tag(r.hash(8, 'untagged')),
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DIRTY = r.dirty(),
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@ -387,6 +392,12 @@ dependent targets.
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UAVOSHA1 = GetHashofDirs(args.uavodir,verbose=0,raw=0),
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)
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# Process positional arguments in the form of:
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# VAR1=str1 VAR2="string 2"
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for var in positional_args:
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(key, value) = var.split('=', 1)
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dictionary[key] = value
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if args.info:
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r.info()
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@ -14,7 +14,13 @@ ROOT_DIR := $(realpath $(WHEREAMI)/../)
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# Set up some macros
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BUILD_DIR := $(ROOT_DIR)/build
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VERSION_CMD := python $(ROOT_DIR)/make/scripts/version-info.py --path="$(ROOT_DIR)"
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# If there is a tag, use it for label instead of date-hash string
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PACKAGE_TAG := $(shell $(VERSION_CMD) --format=\$${TAG})
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ifneq ($(PACKAGE_TAG),)
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PACKAGE_LBL := $(shell $(VERSION_CMD) --format=\$${TAG}\$${DIRTY})
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else
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PACKAGE_LBL := $(shell $(VERSION_CMD) --format=\$${DATE}-\$${TAG_OR_HASH8}\$${DIRTY})
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endif
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PACKAGE_DIR := $(BUILD_DIR)/package-$(PACKAGE_LBL)
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FW_DIR := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL)
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BL_DIR := $(FW_DIR)/bootloaders
|
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@ -152,4 +158,5 @@ opfw_resource:
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$(V1) echo '$(OPFW_CONTENTS)' > $(BUILD_DIR)/ground/$@/opfw_resource.qrc
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$(V1) $(foreach fw_targ, $(FW_TARGETS), mkdir -p $(BUILD_DIR)/ground/$@/build/$(fw_targ);)
|
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$(V1)$(foreach fw_targ, $(FW_TARGETS), cp $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw $(BUILD_DIR)/ground/$@/build/$(fw_targ)/;)
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include $(WHEREAMI)/Makefile.$(PLATFORM)
|
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@ -11,7 +11,7 @@ NSIS_HEADER := $(BUILD_DIR)/ground/openpilotgcs/openpilotgcs.nsh
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win_package: gcs package_flight
|
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$(V1) mkdir -p "$(dir $(NSIS_HEADER))"
|
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$(VERSION_CMD) --template="$(NSIS_TEMPLATE)" --outfile="$(NSIS_HEADER)"
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$(VERSION_CMD) --template="$(NSIS_TEMPLATE)" --outfile="$(NSIS_HEADER)" PACKAGE_LBL="$(PACKAGE_LBL)"
|
||||
$(V1) echo "Building Windows installer, please wait..."
|
||||
$(V1) echo "If you have a script error in line 1 - use Unicode NSIS 2.46+"
|
||||
$(V1) echo " http://www.scratchpaper.com"
|
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|
||||
@ -72,7 +72,7 @@
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VIAddVersionKey "Comments" "${INSTALLER_NAME}. ${BUILD_DESCRIPTION}"
|
||||
VIAddVersionKey "CompanyName" "The OpenPilot Team, http://www.openpilot.org"
|
||||
VIAddVersionKey "LegalTrademarks" "${PRODUCT_NAME} is a trademark of The OpenPilot Team"
|
||||
VIAddVersionKey "LegalCopyright" "© 2010-2011 The OpenPilot Team"
|
||||
VIAddVersionKey "LegalCopyright" "© 2010-2012 The OpenPilot Team"
|
||||
VIAddVersionKey "FileDescription" "${INSTALLER_NAME}"
|
||||
|
||||
;--------------------------------
|
||||
|
||||
@ -12,7 +12,7 @@
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||||
#
|
||||
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||||
; Some names, paths and constants
|
||||
!define PACKAGE_LBL "${DATE}-${TAG_OR_HASH8}${DIRTY}"
|
||||
!define PACKAGE_LBL "${PACKAGE_LBL}"
|
||||
!define PACKAGE_DIR "..\..\build\package-$${PACKAGE_LBL}"
|
||||
!define OUT_FILE "OpenPilot-$${PACKAGE_LBL}-install.exe"
|
||||
!define FIRMWARE_DIR "firmware-$${PACKAGE_LBL}"
|
||||
@ -20,4 +20,4 @@
|
||||
; Installer version info
|
||||
!define PRODUCT_VERSION "0.0.0.0"
|
||||
!define FILE_VERSION "${TAG_OR_BRANCH}:${HASH8}${DIRTY} ${DATETIME}"
|
||||
!define BUILD_DESCRIPTION "${TAG_OR_BRANCH}:${HASH8}${DIRTY} built using ${ORIGIN} as origin, committed ${DATETIME} as ${HASH}"
|
||||
!define BUILD_DESCRIPTION "${PACKAGE_LBL} built using ${ORIGIN} as origin, committed ${DATETIME} as ${HASH}"
|
||||
|
||||
@ -7,6 +7,7 @@
|
||||
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
|
||||
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.05"/>
|
||||
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
|
||||
<field name="AccelTau" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<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"/>
|
||||
|
||||
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