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Code Issues Releases Activity

OP-1599 removed autotune from all flight code

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This commit is contained in:
Corvus Corax 2014-11-08 16:17:39 +01:00
parent c0e66a8acf
commit 8fe21ed297
7 changed files with 20 additions and 50 deletions
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9
flight/libraries/sanitycheck.c
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@ -45,12 +45,6 @@
#define ADDSEVERITY(check) severity = (severity != SYSTEMALARMS_ALARM_OK ? severity : ((check) ? SYSTEMALARMS_ALARM_OK : SYSTEMALARMS_ALARM_CRITICAL))
/****************************
* Current checks:
* 1. If a flight mode switch allows autotune and autotune module not running
* 2. If airframe is a multirotor and either manual is available or a stabilization mode uses "none"
****************************/
// ! Check a stabilization mode switch position for safety
static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol);
@ -127,9 +121,6 @@ int32_t configuration_check()
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6:
ADDSEVERITY(check_stabilization_settings(6, multirotor, coptercontrol));
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE:
ADDSEVERITY(PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_AUTOTUNE));
break;
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER:
{
// Revo supports PathPlanner and that must be OK or we are not sane

1
flight/modules/ManualControl/inc/manualcontrol.h
View File

@ -116,7 +116,6 @@ void takeOffLocationHandlerInit();
ENTRY(STABILIZED4) \
ENTRY(STABILIZED5) \
ENTRY(STABILIZED6) \
ENTRY(AUTOTUNE) \
ENTRY(POSITIONHOLD) \
ENTRY(RETURNTOBASE) \
ENTRY(LAND) \

12
flight/modules/ManualControl/manualcontrol.c
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@ -75,15 +75,6 @@ static const controlHandler handler_STABILIZED = {
};
static const controlHandler handler_AUTOTUNE = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
.PathPlanner = false,
},
.handler = NULL,
};
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
static const controlHandler handler_PATHFOLLOWER = {
.controlChain = {
@ -219,9 +210,6 @@ static void manualControlTask(void)
handler = &handler_PATHPLANNER;
break;
#endif
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
handler = &handler_AUTOTUNE;
break;
// There is no default, so if a flightmode is forgotten the compiler can throw a warning!
}

5
flight/modules/Notify/inc/sequences.h
View File

@ -40,7 +40,6 @@ typedef enum {
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED4 = 4,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5 = 5,
NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6 = 6,
NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE = 7,
NOTIFY_SEQUENCE_ARMED_FM_GPS = 8,
NOTIFY_SEQUENCE_ARMED_FM_RTH = 9,
NOTIFY_SEQUENCE_ARMED_FM_LAND = 10,
@ -116,9 +115,6 @@ const LedSequence_t notifications[] = {
{ .time_off = 100, .time_on = 100, .color = COLOR_PURPLE, .repeats = 1, },
{ .time_off = 500, .time_on = 100, .color = COLOR_BLUE, .repeats = 1, },
}, },
[NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE] = { .repeats = -1, .steps = {
{ .time_off = 800, .time_on = 200, .color = COLOR_BLUE, .repeats = 1, },
}, },
[NOTIFY_SEQUENCE_ARMED_FM_GPS] = { .repeats = -1, .steps = {
{ .time_off = 800, .time_on = 200, .color = COLOR_GREEN, .repeats = 1, },
}, },
@ -172,7 +168,6 @@ const LedSequence_t *flightModeMap[] = {
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED5] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED5],
[FLIGHTSTATUS_FLIGHTMODE_STABILIZED6] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_STABILIZED6],
[FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_AUTO],
[FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_AUTOTUNE],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_COURSELOCK] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],
[FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM] = &notifications[NOTIFY_SEQUENCE_ARMED_FM_GPS],

38
shared/uavobjectdefinition/flightmodesettings.xml
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@ -78,32 +78,32 @@
units=""
type="enum"
elements="6"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
limits="\
%0401NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:AutoCruise:Land;\
\
%0401NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:Autotune:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:Autotune:AutoCruise:Land;"/>
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
%0903NE:POI:PathPlanner:AutoCruise:Land;"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>

2
shared/uavobjectdefinition/flightstatus.xml
View File

@ -4,7 +4,7 @@
<field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
<!-- Note these enumerated values should be the same as ManualControlSettings -->
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise"/>
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise"/>
<field name="ControlChain" units="bool" type="enum" options="false,true">
<elementnames>

3
shared/uavobjectdefinition/taskinfo.xml
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@ -30,7 +30,6 @@
<!-- optional -->
<elementname>GPS</elementname>
<elementname>OSDGen</elementname>
<elementname>Autotune</elementname>
</elementnames>
</field>
<field name="Running" units="bool" type="enum">
@ -62,7 +61,6 @@
<!-- optional -->
<elementname>GPS</elementname>
<elementname>OSDGen</elementname>
<elementname>Autotune</elementname>
</elementnames>
<options>
<option>False</option>
@ -98,7 +96,6 @@
<!-- optional -->
<elementname>GPS</elementname>
<elementname>OSDGen</elementname>
<elementname>Autotune</elementname>
</elementnames>
</field>
<access gcs="readonly" flight="readwrite"/>