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Code Issues Releases Activity

Merge remote-tracking branch 'origin/LesNewell/OP-984_PID_banks' into thread/OP-984_PID_banks_GUI

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Conflicts:
	ground/openpilotgcs/src/plugins/config/stabilization.ui
This commit is contained in:
Fredrik Arvidsson 2014-01-11 09:41:36 +01:00
commit 92c7e96fc8
11 changed files with 333 additions and 125 deletions
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81
flight/modules/ManualControl/manualcontrol.c
View File

@ -690,46 +690,53 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
return;
}
stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
0; // this is an invalid mode
stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
0; // this is an invalid mode
// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
stabilization.StabilizationMode.Roll = stab_settings[0];
stabilization.StabilizationMode.Pitch = stab_settings[1];
stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ?
cmd->Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax : 0; // this is an invalid mode
;
stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ?
cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ?
cmd->Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : 0; // this is an invalid mode
stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax : 0; // this is an invalid mode
// Other axes (yaw) cannot be Rattitude, so use Rate
// Should really do this for Attitude mode as well?
if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) {
stabilization.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
stabilization.Yaw = cmd->Yaw * stabSettings.ManualRate.Yaw;
}
else {
stabilization.StabilizationMode.Yaw = stab_settings[2];
stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
0; // this is an invalid mode
}
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
StabilizationDesiredSet(&stabilization);

228
flight/modules/Stabilization/stabilization.c
View File

@ -75,11 +75,14 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
#define FAILSAFE_TIMEOUT_MS 30
enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
// The PID_RATE set is used by the attitude portion of Attitude mode
// The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain
// - two independant rate PIDs because it does rate and attitude simultaneously
enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_RATEA_ROLL, PID_RATEA_PITCH, PID_RATEA_YAW, PID_MAX };
enum{RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET};
enum{ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET};
// Private variables
static xTaskHandle taskHandle;
static StabilizationSettingsData settings;
@ -94,8 +97,11 @@ bool lowThrottleZeroIntegral;
bool lowThrottleZeroAxis[MAX_AXES];
float vbar_decay = 0.991f;
struct pid pids[PID_MAX];
int flight_mode = -1;
static uint8_t rattitude_anti_windup;
// Private functions
static void stabilizationTask(void *parameters);
static float bound(float val, float range);
@ -104,6 +110,9 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
static void BankUpdatedCb(UAVObjEvent *ev);
static void SettingsBankUpdatedCb(UAVObjEvent *ev);
static float stab_log2f(float x);
static float stab_powf(float x, uint8_t p);
/**
* Module initialization
*/
@ -197,7 +206,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
#endif
// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
// Wait until the Gyro object is updated, if a timeout then go to failsafe
if (xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_WARNING);
continue;
@ -275,9 +284,9 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
#else /* if defined(PIOS_QUATERNION_STABILIZATION) */
// Simpler algorithm for CC, less memory
float local_error[3] = { stabDesired.Roll - attitudeState.Roll,
float local_error[3] = { stabDesired.Roll - attitudeState.Roll,
stabDesired.Pitch - attitudeState.Pitch,
stabDesired.Yaw - attitudeState.Yaw };
stabDesired.Yaw - attitudeState.Yaw };
// find shortest way
float modulo = fmodf(local_error[2] + 180.0f, 360.0f);
if (modulo < 0) {
@ -292,7 +301,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyroStateData.y * (1 - gyro_alpha);
gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyroStateData.z * (1 - gyro_alpha);
float *attitudeDesiredAxis = &stabDesired.Roll;
float *stabDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
@ -317,7 +326,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] =
bound(attitudeDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
bound(stabDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
// Compute the inner loop
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
@ -342,10 +351,127 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
// A parameterization from Attitude mode at center stick
// - to Rate mode at full stick
// This is done by parameterizing to use the rotation rate that Attitude mode
// - would use at center stick to using the rotation rate that Rate mode
// - would use at full stick in a weighted average sort of way.
{
if (reinit) {
pids[PID_ROLL + i].iAccumulator = 0;
pids[PID_RATE_ROLL + i].iAccumulator = 0;
pids[PID_RATEA_ROLL + i].iAccumulator = 0;
}
// Compute what Rate mode would give for this stick angle's rate
// Save Rate's rate in a temp for later merging with Attitude's rate
float rateDesiredAxisRate;
rateDesiredAxisRate = bound(stabDesiredAxis[i], 1.0f)
* cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i];
// Compute what Attitude mode would give for this stick angle's rate
// stabDesired for this mode is [-1.0f,+1.0f]
// - multiply by Attitude mode max angle to get desired angle
// - subtract off the actual angle to get the angle error
// This is what local_error[] holds for Attitude mode
float attitude_error = stabDesiredAxis[i]
* cast_struct_to_array(stabBank.RollMax, stabBank.RollMax)[i]
- cast_struct_to_array(attitudeState.Roll, attitudeState.Roll)[i];
// Compute the outer loop just like Attitude mode does
float rateDesiredAxisAttitude;
rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
cast_struct_to_array(stabBank.MaximumRate,
stabBank.MaximumRate.Roll)[i]);
// Compute the weighted average rate desired
// Using max() rather than sqrt() for cpu speed;
// - this makes the stick region into a square;
// - this is a feature!
// - hold a roll angle and add just pitch without the stick sensitivity changing
// magnitude = sqrt(stabDesired.Roll*stabDesired.Roll + stabDesired.Pitch*stabDesired.Pitch);
float magnitude;
magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude
+ magnitude * rateDesiredAxisRate;
// Compute the inner loop for both Rate mode and Attitude mode
// actuatorDesiredAxis[i] is the weighted average of the two PIDs from the two rates
actuatorDesiredAxis[i] =
(1.0f-magnitude) * pid_apply_setpoint(&pids[PID_RATEA_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT)
+ magnitude * pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
// settings.RattitudeAntiWindup controls the iAccumulator zeroing
// - so both iAccs don't wind up too far;
// - nor do both iAccs get held too close to zero at mid stick
// I suspect that there would be windup without it
// - since rate and attitude fight each other here
// - rate trying to pull it over the top and attitude trying to pull it back down
// Wind-up increases linearly with cycles for a fixed error.
// We must never increase the iAcc or we risk oscillation.
// Use the powf() function to make two anti-windup curves
// - one for zeroing rate close to center stick
// - the other for zeroing attitude close to max stick
// the bigger the dT the more anti windup needed
// the bigger the PID[].i the more anti windup needed
// more anti windup is achieved with a lower powf() power
// a doubling of e.g. PID[].i should cause the runtime anti windup factor
// to get twice as far away from 1.0 (towards zero)
// e.g. from .90 to .80
// magic numbers
// these generate the inverted parabola like curves that go through [0,1] and [1,0]
// the higher the power, the closer the curve is to a straight line
// from [0,1] to [1,1] to [1,0] and the less anti windup is applied
// the UAVO RattitudeAntiWindup varies from 0 to 31
// 0 turns off anti windup
// 1 gives very little anti-windup because the power given to powf() is 31
// 31 gives a lot of anti-windup because the power given to powf() is 1
// the 32.1 is what does this
// the 7.966 and 17.668 cancel the default PID value and dT given to log2f()
// if these are non-default, tweaking is thus done so the user doesn't have to readjust
// the default value of 10 for UAVO RattitudeAntiWindup gives a power of 22
// these calculations are for magnitude = 0.5, so 22 corresponds to the number of bits
// used in the mantissa of the float
// i.e. 1.0-(0.5^22) almost underflows
// This may only be useful for aircraft with large Ki values and limits
if (dT > 0.0f && rattitude_anti_windup > 0.0f) {
float factor;
// At magnitudes close to one, the Attitude accumulators gets zeroed
if (pids[PID_ROLL+i].i > 0.0f) {
factor = 1.0f - stab_powf(magnitude, ((uint8_t) (32.1f - 7.966f - stab_log2f(dT * pids[PID_ROLL+i].i))) - rattitude_anti_windup);
pids[PID_ROLL+i].iAccumulator *= factor;
}
if (pids[PID_RATEA_ROLL+i].i > 0.0f) {
factor = 1.0f - stab_powf(magnitude, ((uint8_t) (32.1f - 17.668f - stab_log2f(dT * pids[PID_RATEA_ROLL+i].i))) - rattitude_anti_windup);
pids[PID_RATEA_ROLL+i].iAccumulator *= factor;
}
// At magnitudes close to zero, the Rate accumulator gets zeroed
if (pids[PID_RATE_ROLL+i].i > 0.0f) {
factor = 1.0f - stab_powf(1.0f-magnitude, ((uint8_t) (32.1f - 17.668f - stab_log2f(dT * pids[PID_RATE_ROLL+i].i))) - rattitude_anti_windup);
pids[PID_RATE_ROLL+i].iAccumulator *= factor;
}
}
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
// Store for debugging output
rateDesiredAxis[i] = attitudeDesiredAxis[i];
rateDesiredAxis[i] = stabDesiredAxis[i];
// Run a virtual flybar stabilization algorithm on this axis
stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &settings);
@ -353,6 +479,12 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
// FIXME: local_error[] is rate - attitude for Weak Leveling
// The only ramifications are:
// Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS
// Changing Rate mode max rate currently requires a change to Kp
// That would be changed to Attitude mode max angle affecting Kp
// Also does not take dT into account
{
if (reinit) {
pids[PID_RATE_ROLL + i].iAccumulator = 0;
@ -362,7 +494,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
weak_leveling = bound(weak_leveling, weak_leveling_max);
// Compute desired rate as input biased towards leveling
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
rateDesiredAxis[i] = stabDesiredAxis[i] + weak_leveling;
actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
@ -374,13 +506,13 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
pids[PID_RATE_ROLL + i].iAccumulator = 0;
}
if (fabsf(attitudeDesiredAxis[i]) > max_axislock_rate) {
if (fabsf(stabDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
rateDesiredAxis[i] = stabDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
axis_lock_accum[i] += (stabDesiredAxis[i] - gyro_filtered[i]) * dT;
axis_lock_accum[i] = bound(axis_lock_accum[i], max_axis_lock);
rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
}
@ -395,7 +527,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
// Store to rate desired variable for storing to UAVO
rateDesiredAxis[i] = bound(attitudeDesiredAxis[i],
rateDesiredAxis[i] = bound(stabDesiredAxis[i],
cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
// Run the relay controller which also estimates the oscillation parameters
@ -421,7 +553,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_NONE:
actuatorDesiredAxis[i] = bound(attitudeDesiredAxis[i], 1.0f);
actuatorDesiredAxis[i] = bound(stabDesiredAxis[i], 1.0f);
break;
default:
error = true;
@ -514,6 +646,44 @@ static float bound(float val, float range)
}
// x small (0.0 < x < .01) so interpolation of fractional part is reasonable
static float stab_log2f(float x)
{
union
{
volatile float f;
volatile uint32_t i;
volatile unsigned char c[4];
} __attribute__((packed)) u1, u2;
u2.f = u1.f = x;
u1.i <<= 1;
u2.i &= 0xff800000;
// get and unbias the exponent, add in a linear interpolation of the fractional part
return (float) (u1.c[3] - 127) + (x / u2.f) - 1.0f;
}
// 0<=x<=1, 0<=p<=31
static float stab_powf(float x, uint8_t p)
{
float retval = 1.0f;
while (p)
{
if (p&1)
{
retval *= x;
}
x *= x;
p >>= 1;
}
return retval;
}
static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
@ -541,7 +711,7 @@ static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// return; //bank number is invalid. All we can do is ignore it.
}
//Need to do this to prevent an infinite loop
//Need to do this to prevent an infinite loop
if(memcmp(&oldBank, &bank, sizeof(StabilizationBankDataPacked)) != 0)
{
StabilizationBankSet(&bank);
@ -625,6 +795,27 @@ static void BankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
bank.YawPI.Ki,
0,
bank.YawPI.ILimit);
// Set the Rattitude roll rate PID constants
pid_configure(&pids[PID_RATEA_ROLL],
bank.RollRatePID.Kp,
bank.RollRatePID.Ki,
bank.RollRatePID.Kd,
bank.RollRatePID.ILimit);
// Set the Rattitude pitch rate PID constants
pid_configure(&pids[PID_RATEA_PITCH],
bank.PitchRatePID.Kp,
bank.PitchRatePID.Ki,
bank.PitchRatePID.Kd,
bank.PitchRatePID.ILimit);
// Set the Rattitude yaw rate PID constants
pid_configure(&pids[PID_RATEA_YAW],
bank.YawRatePID.Kp,
bank.YawRatePID.Ki,
bank.YawRatePID.Kd,
bank.YawRatePID.ILimit);
}
@ -666,9 +857,12 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
// Compute time constant for vbar decay term based on a tau
vbar_decay = expf(-fakeDt / settings.VbarTau);
flight_mode = -1; //force flight mode update
}
//force flight mode update
flight_mode = -1;
// Rattitude flight mode anti-windup factor
rattitude_anti_windup = settings.RattitudeAntiWindup;
}
/**
* @}

61
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -151,7 +151,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
m_oplink->PairID4->setEnabled(false);
m_oplink->Bind4->setEnabled(pairid4);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
qDebug() << "ConfigPipXtremeWidget: Count not read PairID field.";
}
UAVObjectField *pairRssiField = object->getField("PairSignalStrengths");
if (pairRssiField) {
@ -164,38 +164,43 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
m_oplink->PairSignalStrengthLabel3->setText(QString("%1dB").arg(pairRssiField->getValue(2).toInt()));
m_oplink->PairSignalStrengthLabel4->setText(QString("%1dB").arg(pairRssiField->getValue(3).toInt()));
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read PairID field.";
qDebug() << "ConfigPipXtremeWidget: Count not read PairID field.";
}
// Update the Description field
// TODO use UAVObjectUtilManager::descriptionToStructure()
UAVObjectField *descField = object->getField("Description");
if (descField) {
/*
* This looks like a binary with a description at the end:
* 4 bytes: header: "OpFw".
* 4 bytes: GIT commit tag (short version of SHA1).
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* 20 bytes: SHA1 sum of the firmware.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*/
char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
for (unsigned int i = 0; i < 26; ++i) {
buf[i] = descField->getValue(i + 14).toChar().toLatin1();
if (descField->getValue(0) != QChar(255)) {
/*
* This looks like a binary with a description at the end:
* 4 bytes: header: "OpFw".
* 4 bytes: GIT commit tag (short version of SHA1).
* 4 bytes: Unix timestamp of compile time.
* 2 bytes: target platform. Should follow same rule as BOARD_TYPE and BOARD_REVISION in board define files.
* 26 bytes: commit tag if it is there, otherwise branch name. '-dirty' may be added if needed. Zero-padded.
* 20 bytes: SHA1 sum of the firmware.
* 20 bytes: SHA1 sum of the uavo definitions.
* 20 bytes: free for now.
*/
char buf[OPLinkStatus::DESCRIPTION_NUMELEM];
for (unsigned int i = 0; i < 26; ++i) {
buf[i] = descField->getValue(i + 14).toChar().toLatin1();
}
buf[26] = '\0';
QString descstr(buf);
quint32 gitDate = descField->getValue(11).toChar().toLatin1() & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += descField->getValue(11 - i).toChar().toLatin1() & 0xFF;
}
QString date = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyy-MM-dd HH:mm");
m_oplink->FirmwareVersion->setText(descstr + " " + date);
} else {
m_oplink->FirmwareVersion->setText(tr("Unknown"));
}
buf[26] = '\0';
QString descstr(buf);
quint32 gitDate = descField->getValue(11).toChar().toLatin1() & 0xFF;
for (int i = 1; i < 4; i++) {
gitDate = gitDate << 8;
gitDate += descField->getValue(11 - i).toChar().toLatin1() & 0xFF;
}
QString date = QDateTime::fromTime_t(gitDate).toUTC().toString("yyyy-MM-dd HH:mm");
m_oplink->FirmwareVersion->setText(descstr + " " + date);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read Description field.";
qDebug() << "ConfigPipXtremeWidget: Failed to read Description field.";
}
// Update the serial number field
@ -211,7 +216,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
buf[OPLinkStatus::CPUSERIAL_NUMELEM * 2] = '\0';
m_oplink->SerialNumber->setText(buf);
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read Description field.";
qDebug() << "ConfigPipXtremeWidget: Failed to read CPUSerial field.";
}
// Update the link state
@ -219,7 +224,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
if (linkField) {
m_oplink->LinkState->setText(linkField->getValue().toString());
} else {
qDebug() << "PipXtremeGadgetWidget: Count not read link state field.";
qDebug() << "ConfigPipXtremeWidget: Failed to read LinkState field.";
}
}

10
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.cpp
View File

@ -301,6 +301,14 @@ QByteArray UAVObjectUtilManager::getBoardDescription()
return ret;
}
QString UAVObjectUtilManager::getBoardDescriptionString()
{
QByteArray arr = getBoardDescription();
int index = arr.indexOf(255);
return QString((index == -1) ? arr : arr.left(index));
}
// ******************************
// HomeLocation
@ -474,5 +482,3 @@ bool UAVObjectUtilManager::descriptionToStructure(QByteArray desc, deviceDescrip
}
return false;
}
// ******************************

1
ground/openpilotgcs/src/plugins/uavobjectutil/uavobjectutilmanager.h
View File

@ -61,6 +61,7 @@ public:
QByteArray getBoardCPUSerial();
quint32 getFirmwareCRC();
QByteArray getBoardDescription();
QString getBoardDescriptionString();
deviceDescriptorStruct getBoardDescriptionStruct();
static bool descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc);
UAVObjectManager *getObjectManager();

37
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -41,8 +41,7 @@ DeviceWidget::DeviceWidget(QWidget *parent) :
connect(myDevice->updateButton, SIGNAL(clicked()), this, SLOT(uploadFirmware()));
connect(myDevice->pbLoad, SIGNAL(clicked()), this, SLOT(loadFirmware()));
connect(myDevice->confirmCheckBox, SIGNAL(stateChanged(int)), this, SLOT(confirmCB(int)));
QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
myDevice->statusIcon->setPixmap(pix);
myDevice->statusIcon->setPixmap(QPixmap(":uploader/images/view-refresh.svg"));
myDevice->lblCertified->setText("");
}
@ -79,12 +78,12 @@ void DeviceWidget::populate()
{
int id = m_dfu->devices[deviceID].ID;
myDevice->lbldevID->setText(QString("Device ID: ") + QString::number(id, 16));
myDevice->lbldevID->setText(tr("Device ID: ") + QString::number(id, 16));
// DeviceID tells us what sort of HW we have detected:
// display a nice icon:
myDevice->gVDevice->scene()->clear();
myDevice->lblDevName->setText(deviceDescriptorStruct::idToBoardName(id));
myDevice->lblHWRev->setText(QString(tr("HW Revision: ")) + QString::number(id & 0x00FF, 16));
myDevice->lblHWRev->setText(tr("HW Revision: ") + QString::number(id & 0x00FF, 16));
switch (id) {
case 0x0101:
@ -115,25 +114,23 @@ void DeviceWidget::populate()
bool r = m_dfu->devices[deviceID].Readable;
bool w = m_dfu->devices[deviceID].Writable;
myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
myDevice->lblMaxCode->setText(QString("Max code size: ") + QString::number(m_dfu->devices[deviceID].SizeOfCode));
myDevice->lblAccess->setText(tr("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
myDevice->lblMaxCode->setText(tr("Max code size: ") + QString::number(m_dfu->devices[deviceID].SizeOfCode));
myDevice->lblCRC->setText(QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
myDevice->lblBLVer->setText(tr("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
int size = ((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc;
m_dfu->enterDFU(deviceID);
QByteArray desc = m_dfu->DownloadDescriptionAsBA(size);
if (!populateBoardStructuredDescription(desc)) {
// TODO
// desc was not a structured description
QString str = m_dfu->DownloadDescription(size);
myDevice->lblDescription->setText(QString("Firmware custom description: ") + str.left(str.indexOf(QChar(255))));
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblDescription->setText((!str.isEmpty()) ? str : tr("Unknown"));
myDevice->lblCertified->setPixmap(QPixmap(":uploader/images/warning.svg"));
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
myDevice->lblBuildDate->setText("Warning: development firmware");
myDevice->lblGitTag->setText("");
myDevice->lblBrdName->setText("");
myDevice->lblBuildDate->setText(tr("Unknown"));
myDevice->lblGitTag->setText(tr("Unknown"));
myDevice->lblBrdName->setText(tr("Unknown"));
}
status("Ready...", STATUSICON_INFO);
@ -179,13 +176,11 @@ bool DeviceWidget::populateBoardStructuredDescription(QByteArray desc)
myDevice->lblBuildDate->setText(onBoardDescription.gitDate.insert(4, "-").insert(7, "-"));
if (onBoardDescription.gitTag.startsWith("RELEASE", Qt::CaseSensitive)) {
myDevice->lblDescription->setText(onBoardDescription.gitTag);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setPixmap(QPixmap(":uploader/images/application-certificate.svg"));
myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
} else {
myDevice->lblDescription->setText(onBoardDescription.gitTag);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setPixmap(QPixmap(":uploader/images/warning.svg"));
myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
}
@ -205,14 +200,12 @@ bool DeviceWidget::populateLoadedStructuredDescription(QByteArray desc)
if (LoadedDescription.gitTag.startsWith("RELEASE", Qt::CaseSensitive)) {
myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
myDevice->description->setText(LoadedDescription.gitTag);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
myDevice->lblCertifiedL->setPixmap(QPixmap(":uploader/images/application-certificate.svg"));
myDevice->lblCertifiedL->setToolTip(tr("Tagged officially released firmware build"));
} else {
myDevice->lblDescritpionL->setText(LoadedDescription.gitTag);
myDevice->description->setText(LoadedDescription.gitTag);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
myDevice->lblCertifiedL->setPixmap(QPixmap(":uploader/images/warning.svg"));
myDevice->lblCertifiedL->setToolTip(tr("Untagged or custom firmware build"));
}
myDevice->lblBrdNameL->setText(deviceDescriptorStruct::idToBoardName(LoadedDescription.boardType << 8 | LoadedDescription.boardRevision));

6
ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp
View File

@ -342,8 +342,9 @@ QString DFUObject::DownloadDescription(int const & numberOfChars)
QByteArray arr;
StartDownloadT(&arr, numberOfChars, OP_DFU::Descript);
QString str(arr);
return str;
int index = arr.indexOf(255);
return QString((index == -1) ? arr : arr.left(index));
}
QByteArray DFUObject::DownloadDescriptionAsBA(int const & numberOfChars)
@ -351,6 +352,7 @@ QByteArray DFUObject::DownloadDescriptionAsBA(int const & numberOfChars)
QByteArray arr;
StartDownloadT(&arr, numberOfChars, OP_DFU::Descript);
return arr;
}

24
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -104,24 +104,22 @@ void RunningDeviceWidget::populate()
deviceDescriptorStruct devDesc;
if (UAVObjectUtilManager::descriptionToStructure(description, devDesc)) {
if (devDesc.gitTag.startsWith("RELEASE", Qt::CaseSensitive)) {
myDevice->lblFWTag->setText(QString("Firmware tag: ") + devDesc.gitTag);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblFWTag->setText(tr("Firmware tag: ") + devDesc.gitTag);
myDevice->lblCertified->setPixmap(QPixmap(":uploader/images/application-certificate.svg"));
myDevice->lblCertified->setToolTip(tr("Tagged officially released firmware build"));
} else {
myDevice->lblFWTag->setText(QString("Firmware tag: ") + devDesc.gitTag);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblFWTag->setText(tr("Firmware tag: ") + devDesc.gitTag);
myDevice->lblCertified->setPixmap(QPixmap(":uploader/images/warning.svg"));
myDevice->lblCertified->setToolTip(tr("Untagged or custom firmware build"));
}
myDevice->lblGitCommitTag->setText("Git commit hash: " + devDesc.gitHash);
myDevice->lblFWDate->setText(QString("Firmware date: ") + devDesc.gitDate.insert(4, "-").insert(7, "-"));
myDevice->lblGitCommitTag->setText(tr("Git commit hash: ") + devDesc.gitHash);
myDevice->lblFWDate->setText(tr("Firmware date: ") + devDesc.gitDate.insert(4, "-").insert(7, "-"));
} else {
myDevice->lblFWTag->setText(QString("Firmware tag: ") + QString(description).left(QString(description).indexOf(QChar(255))));
myDevice->lblGitCommitTag->setText("Git commit tag: Unknown");
myDevice->lblFWDate->setText(QString("Firmware date: Unknown"));
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
QString desc = utilMngr->getBoardDescriptionString();
myDevice->lblFWTag->setText(tr("Firmware tag: ") + (!desc.isEmpty() ? desc : tr("Unknown")));
myDevice->lblCertified->setPixmap(QPixmap(":uploader/images/warning.svg"));
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
myDevice->lblGitCommitTag->setText(tr("Git commit hash: ") + tr("Unknown"));
myDevice->lblFWDate->setText(tr("Firmware date: ") + tr("Unknown"));
}
}

6
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -22,17 +22,17 @@
<!-- 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"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
defaultvalue="Attitude,Attitude,AxisLock"
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"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,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"
options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"
defaultvalue="Rate,Rate,Rate"
limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

2
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -28,6 +28,8 @@
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<field name="RattitudeAntiWindup" units="" type="uint8" elements="1" defaultvalue="10"/>
<field name="LowThrottleZeroIntegral" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="LowThrottleZeroAxis" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="FALSE,TRUE" defaultvalue="FALSE,FALSE,FALSE"/>