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Code Issues Releases Activity

Merge remote-tracking branch 'origin/os/OP-897_hide-unsupported-modes' into next

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This commit is contained in:
Oleg Semyonov 2013-04-20 21:23:00 +02:00
commit 927e952a9d
4 changed files with 87 additions and 36 deletions
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32
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
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@ -125,23 +125,23 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack())); connect(m_config->wzBack,SIGNAL(clicked()),this,SLOT(wzBack()));
m_config->stackedWidget->setCurrentIndex(0); m_config->stackedWidget->setCurrentIndex(0);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0,1,true); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos1, 0, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1,1,true); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos2, 1, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2,1,true); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos3, 2, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3,1,true); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos4, 3, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4,1,true); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos5, 4, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModePosition", m_config->fmsModePos6, 5, 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum); addUAVObjectToWidgetRelation("ManualControlSettings", "FlightModeNumber", m_config->fmsPosNum);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Roll, "Roll", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Roll, "Roll", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Roll, "Roll", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Pitch, "Pitch", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Pitch, "Pitch", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Pitch, "Pitch", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization1Settings", m_config->fmsSsPos1Yaw, "Yaw", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization2Settings", m_config->fmsSsPos2Yaw, "Yaw", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw"); addUAVObjectToWidgetRelation("ManualControlSettings", "Stabilization3Settings", m_config->fmsSsPos3Yaw, "Yaw", 1, true);
addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl); addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000); addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);

25
ground/openpilotgcs/src/plugins/uavobjects/uavobjectfield.cpp
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@ -101,18 +101,27 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
void UAVObjectField::limitsInitialize(const QString &limits) void UAVObjectField::limitsInitialize(const QString &limits)
{ {
/// format // Limit string format:
/// (TY)->type (EQ-equal;NE-not equal;BE-between;BI-bigger;SM-smaller) // % - start char
/// (VALX)->value // XXXX - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
/// %TY:VAL1:VAL2:VAL3,%TY,VAL1,VAL2,VAL3 // TY - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
/// example: first element bigger than 3 and second element inside [2.3,5] // VAL - values for TY separated by colon
/// "%BI:3,%BE:2.3:5" // , - rule separator (may have leading or trailing spaces)
// ; - element separator (may have leading or trailing spaces)
//
// Examples:
// Disable few flight modes for Revo (00903):
// "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
// Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
// "%0401BI:3; %BE:2.3:5"
// Set applicable range [0-500] for 3 elements of array for all boards:
// "%BE:0:500; %BE:0:500; %BE:0:500"
if(limits.isEmpty()) if(limits.isEmpty())
return; return;
QStringList stringPerElement=limits.split(","); QStringList stringPerElement = limits.split(";");
quint32 index=0; quint32 index=0;
foreach (QString str, stringPerElement) { foreach (QString str, stringPerElement) {
QStringList ruleList=str.split(";"); QStringList ruleList = str.split(",");
QList<LimitStruct> limitList; QList<LimitStruct> limitList;
foreach(QString rule,ruleList) foreach(QString rule,ruleList)
{ {

50
shared/uavobjectdefinition/manualcontrolsettings.xml
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@ -20,13 +20,55 @@
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/> <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode --> <!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/> <field name="Stabilization1Settings" units="" type="enum"
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/> elementnames="Roll,Pitch,Yaw"
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/> options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<field name="Stabilization2Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<field name="Stabilization3Settings" units="" type="enum"
elementnames="Roll,Pitch,Yaw"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
<!-- Note these options values should be identical to those defined in FlightMode --> <!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/> <field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
<field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune"/> <!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
<field name="FlightModePosition"
units=""
type="enum"
elements="6"
options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
limits="\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner;\
\
%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner,\
%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/> <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/> <field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>

16
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -4,15 +4,15 @@
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/> <field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/> <field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/> <field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/> <field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/> <field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/> <field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/> <field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/> <field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/> <field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/> <field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/> <field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>