Merge remote-tracking branch 'origin/rel-12.10.2' into next

HISTORY.txt

@@ -1,5 +1,18 @@
 Short summary of changes.  For a complete list see the git log.
 
+2012-11-11
+Added support for Mode 3 and Mode 4 to the TX Configuration Wizard.
+Few minor bugfixes.
+
+--- RELEASE-12.10.1 ---
+
+2012-10-26
+Temporary disabled AutoTune GCS GUI. It was listed as an experimental
+feature in the previous release, there were however a few cases where
+it did not behave as expected.
+
+--- RELEASE-12.10 ---
+
 2012-10-06
 Receiver port can now be configured as PPM *and* PWM inputs.
 Pin 1 is PPM, other pins are PWM inputs.

flight/Modules/Attitude/attitude.c

@@ -86,6 +86,10 @@ static void settingsUpdatedCb(UAVObjEvent * objEv);
 
 static float accelKi = 0;
 static float accelKp = 0;
+static float accel_alpha = 0;
+static bool accel_filter_enabled = false;
+static float accels_filtered[3];
+static float grot_filtered[3];
 static float yawBiasRate = 0;
 static float gyroGain = 0.42;
 static int16_t accelbias[3];
@@ -215,18 +219,22 @@ static void AttitudeTask(void *parameters)
 			accelKp = 1;
 			accelKi = 0.9;
 			yawBiasRate = 0.23;
+			accel_filter_enabled = false;
 			init = 0;
 		}
 		else if (zero_during_arming && (flightStatus.Armed == FLIGHTSTATUS_ARMED_ARMING)) {
 			accelKp = 1;
 			accelKi = 0.9;
 			yawBiasRate = 0.23;
+			accel_filter_enabled = false;
 			init = 0;
 		} else if (init == 0) {
 			// Reload settings (all the rates)
 			AttitudeSettingsAccelKiGet(&accelKi);
 			AttitudeSettingsAccelKpGet(&accelKp);
 			AttitudeSettingsYawBiasRateGet(&yawBiasRate);
+			if (accel_alpha > 0.0f)
+				accel_filter_enabled = true;
 			init = 1;
 		}
 		
@@ -429,6 +437,19 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
 	return 0;
 }
 
+static inline void apply_accel_filter(const float *raw, float *filtered)
+{
+	if (accel_filter_enabled) {
+		filtered[0] = filtered[0] * accel_alpha + raw[0] * (1 - accel_alpha);
+		filtered[1] = filtered[1] * accel_alpha + raw[1] * (1 - accel_alpha);
+		filtered[2] = filtered[2] * accel_alpha + raw[2] * (1 - accel_alpha);
+	} else {
+		filtered[0] = raw[0];
+		filtered[1] = raw[1];
+		filtered[2] = raw[2];
+	}
+}
+
 static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 {
 	float dT;
@@ -444,21 +465,38 @@ static void updateAttitude(AccelsData * accelsData, GyrosData * gyrosData)
 	
 	float grot[3];
 	float accel_err[3];
+
+	// Apply smoothing to accel values, to reduce vibration noise before main calculations.
+	apply_accel_filter(accels, accels_filtered);
 	
-	// Rotate gravity to body frame and cross with accels
+	// Rotate gravity unit vector to body frame, filter 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);
+
+	apply_accel_filter(grot, grot_filtered);
+	
+	CrossProduct((const float *)accels_filtered, (const float *)grot_filtered, accel_err);
 	
 	// Account for accel magnitude
-	float accel_mag = sqrtf(accels[0]*accels[0] + accels[1]*accels[1] + accels[2]*accels[2]);
+	float accel_mag = sqrtf(accels_filtered[0]*accels_filtered[0] + accels_filtered[1]*accels_filtered[1] + accels_filtered[2]*accels_filtered[2]);
-	if(accel_mag < 1.0e-3f)
+	if (accel_mag < 1.0e-3f)
 		return;
 
-	accel_err[0] /= accel_mag;
+	// Account for filtered gravity vector magnitude
-	accel_err[1] /= accel_mag;
+	float grot_mag;
-	accel_err[2] /= accel_mag;
+
+	if (accel_filter_enabled)
+		grot_mag = sqrtf(grot_filtered[0]*grot_filtered[0] + grot_filtered[1]*grot_filtered[1] + grot_filtered[2]*grot_filtered[2]);
+	else
+		grot_mag = 1.0f;
+
+	if (grot_mag < 1.0e-3f)
+		return;
+
+	accel_err[0] /= (accel_mag*grot_mag);
+	accel_err[1] /= (accel_mag*grot_mag);
+	accel_err[2] /= (accel_mag*grot_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;
@@ -530,6 +568,16 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
 	accelKi = attitudeSettings.AccelKi;
 	yawBiasRate = attitudeSettings.YawBiasRate;
 	gyroGain = attitudeSettings.GyroGain;
+
+	// Calculate accel filter alpha, in the same way as for gyro data in stabilization module.
+	const float fakeDt = 0.0025;
+	if (attitudeSettings.AccelTau < 0.0001) {
+		accel_alpha = 0;   // not trusting this to resolve to 0
+		accel_filter_enabled = false;
+	} else {
+		accel_alpha = expf(-fakeDt  / attitudeSettings.AccelTau);
+		accel_filter_enabled = true;
+	}
 	
 	zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
 	bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;

ground/openpilotgcs/src/plugins/config/config.pro

@@ -38,8 +38,7 @@ HEADERS += configplugin.h \
     configrevowidget.h \
     config_global.h \
     mixercurve.h \
-    dblspindelegate.h \
+    dblspindelegate.h
-    configautotunewidget.h
 SOURCES += configplugin.cpp \
     configgadgetconfiguration.cpp \
     configgadgetwidget.cpp \
@@ -72,8 +71,7 @@ SOURCES += configplugin.cpp \
     outputchannelform.cpp \
     cfg_vehicletypes/vehicleconfig.cpp \
     mixercurve.cpp \
-    dblspindelegate.cpp \
+    dblspindelegate.cpp
-    configautotunewidget.cpp
 FORMS += airframe.ui \
     cc_hw_settings.ui \
     pro_hw_settings.ui \
@@ -90,13 +88,5 @@ FORMS += airframe.ui \
     revosensors.ui \
     txpid.ui \
     pipxtreme.ui \
-    mixercurve.ui \
+    mixercurve.ui
-    autotune.ui
 RESOURCES += configgadget.qrc
-
-
-
-
-
-
-

ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp

@@ -32,7 +32,6 @@
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
-#include "configautotunewidget.h"
 #include "configcamerastabilizationwidget.h"
 #include "configtxpidwidget.h"
 #include "config_pro_hw_widget.h"
@@ -103,12 +102,6 @@ ConfigGadgetWidget::ConfigGadgetWidget(QWidget *parent) : QWidget(parent)
     qwd = new ConfigStabilizationWidget(this);
     ftw->insertTab(ConfigGadgetWidget::stabilization, qwd, *icon, QString("Stabilization"));
 
-    icon = new QIcon();
-    icon->addFile(":/configgadget/images/autotune_normal.png", QSize(), QIcon::Normal, QIcon::Off);
-    icon->addFile(":/configgadget/images/autotune_selected.png", QSize(), QIcon::Selected, QIcon::Off);
-    qwd = new ConfigAutotuneWidget(this);
-    ftw->insertTab(ConfigGadgetWidget::autotune, qwd, *icon, QString("Autotune"));
-
     icon = new QIcon();
     icon->addFile(":/configgadget/images/camstab_normal.png", QSize(), QIcon::Normal, QIcon::Off);
     icon->addFile(":/configgadget/images/camstab_selected.png", QSize(), QIcon::Selected, QIcon::Off);

ground/openpilotgcs/src/plugins/config/configgadgetwidget.h

@@ -48,7 +48,7 @@ class ConfigGadgetWidget: public QWidget
 public:
     ConfigGadgetWidget(QWidget *parent = 0);
     ~ConfigGadgetWidget();
-    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme, autotune};
+    enum widgetTabs {hardware=0, aircraft, input, output, sensors, stabilization, camerastabilization, txpid, pipxtreme};
     void startInputWizard();
 
 public slots:

ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp

@@ -158,9 +158,9 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
     {
         myDevice->lblGitTag->setText(onBoardDescription.gitHash);
         myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4,"-").insert(7,"-"));
-        if (onBoardDescription.gitTag.compare("master") == 0)
+        if(onBoardDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
-            myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescription.gitTag);
+            myDevice->lblDescription->setText(onBoardDescription.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
             myDevice->lblCertified->setPixmap(pix);
             myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
@@ -188,7 +188,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
     {
         myDevice->lblGitTagL->setText(LoadedDescription.gitHash);
         myDevice->lblBuildDateL->setText( LoadedDescription.gitDate.insert(4,"-").insert(7,"-"));
-        if (LoadedDescription.gitTag.compare("master") == 0)
+        if(LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
             myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
             myDevice->description->setText(LoadedDescription.gitTag);
@@ -302,7 +302,7 @@ void deviceWidget::loadFirmware()
             myDevice->statusLabel->setText(tr("The board has newer firmware than loaded. Are you sure you want to update?"));
             px.load(QString(":/uploader/images/warning.svg"));
         }
-        else if (LoadedDescription.gitTag.compare("master"))
+        else if(!LoadedDescription.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
             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)"));
             px.load(QString(":/uploader/images/warning.svg"));

ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp

@@ -103,7 +103,7 @@ void runningDeviceWidget::populate()
     deviceDescriptorStruct devDesc;
     if(UAVObjectUtilManager::descriptionToStructure(description,devDesc))
     {
-        if (devDesc.gitTag.compare("master") == 0)
+        if(devDesc.gitTag.startsWith("RELEASE",Qt::CaseSensitive))
         {
             myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.gitTag);
             QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));

make/scripts/version-info.py

@@ -167,7 +167,7 @@ class Repo:
         print "hash:       ", self.hash()
         print "short hash: ", self.hash(8)
         print "branch:     ", self.branch()
-        print "commit tag: ", self.tag()
+        print "commit tag: ", self.tag('')
         print "dirty:      ", self.dirty('yes', 'no')
 
 def file_from_template(tpl_name, out_name, dict):
@@ -324,6 +324,12 @@ variable substitution and writes the result into output file. Output
 file will be overwritten only if its content differs from expected.
 Otherwise it will not be touched, so make utility will not remake
 dependent targets.
+
+Optional positional arguments may be used to add more dictionary
+strings for replacement. Each argument has the form:
+    VARIABLE=replacement
+and each ${VARIABLE} reference will be replaced with replacement
+string given.
     """
 
     # Parse command line.
@@ -359,8 +365,6 @@ dependent targets.
     parser.add_option('--uavodir', default = "",
                         help='uav object definition directory');
     (args, positional_args) = parser.parse_args()
-    if len(positional_args) != 0:
-        parser.error("incorrect number of arguments, try --help for help")
 
     # Process arguments.  No advanced error handling is here.
     # Any error will raise an exception and terminate process
@@ -373,6 +377,7 @@ dependent targets.
         ORIGIN = r.origin(),
         HASH = r.hash(),
         HASH8 = r.hash(8),
+        TAG = r.tag(''),
         TAG_OR_BRANCH = r.tag(r.branch('unreleased')),
         TAG_OR_HASH8 = r.tag(r.hash(8, 'untagged')),
         DIRTY = r.dirty(),
@@ -387,6 +392,12 @@ dependent targets.
         UAVOSHA1 = GetHashofDirs(args.uavodir,verbose=0,raw=0),
     )
 
+    # Process positional arguments in the form of:
+    #   VAR1=str1 VAR2="string 2"
+    for var in positional_args:
+        (key, value) = var.split('=', 1)
+        dictionary[key] = value
+
     if args.info:
         r.info()
 

package/Makefile

@@ -14,7 +14,13 @@ ROOT_DIR := $(realpath $(WHEREAMI)/../)
 # Set up some macros
 BUILD_DIR    := $(ROOT_DIR)/build
 VERSION_CMD  := python $(ROOT_DIR)/make/scripts/version-info.py --path="$(ROOT_DIR)"
+# If there is a tag, use it for label instead of date-hash string
+PACKAGE_TAG  := $(shell $(VERSION_CMD) --format=\$${TAG})
+ifneq ($(PACKAGE_TAG),)
+PACKAGE_LBL  := $(shell $(VERSION_CMD) --format=\$${TAG}\$${DIRTY})
+else
 PACKAGE_LBL  := $(shell $(VERSION_CMD) --format=\$${DATE}-\$${TAG_OR_HASH8}\$${DIRTY})
+endif
 PACKAGE_DIR  := $(BUILD_DIR)/package-$(PACKAGE_LBL)
 FW_DIR       := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL)
 BL_DIR       := $(FW_DIR)/bootloaders
@@ -152,4 +158,5 @@ opfw_resource:
 	$(V1) echo '$(OPFW_CONTENTS)' > $(BUILD_DIR)/ground/$@/opfw_resource.qrc
 	$(V1) $(foreach fw_targ, $(FW_TARGETS), mkdir -p $(BUILD_DIR)/ground/$@/build/$(fw_targ);)
 	$(V1)$(foreach fw_targ, $(FW_TARGETS), cp $(BUILD_DIR)/$(fw_targ)/$(fw_targ).opfw $(BUILD_DIR)/ground/$@/build/$(fw_targ)/;)
+
 include $(WHEREAMI)/Makefile.$(PLATFORM)

package/Makefile.winx86

@@ -11,7 +11,7 @@ NSIS_HEADER   := $(BUILD_DIR)/ground/openpilotgcs/openpilotgcs.nsh
 
 win_package: gcs package_flight
 	$(V1) mkdir -p "$(dir $(NSIS_HEADER))"
-	$(VERSION_CMD) --template="$(NSIS_TEMPLATE)" --outfile="$(NSIS_HEADER)"
+	$(VERSION_CMD) --template="$(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"

package/winx86/openpilotgcs.nsi

@@ -72,7 +72,7 @@
   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}"
 
 ;--------------------------------

package/winx86/openpilotgcs.tpl

@@ -12,7 +12,7 @@
 #
 
 ; 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}"

shared/uavobjectdefinition/attitudesettings.xml

@@ -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"/>