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Merge remote-tracking branch 'origin/LesNewell/OP-984_PID_banks' into thread/OP-984_PID_banks_GUI
Conflicts: ground/openpilotgcs/src/plugins/config/stabilization.ui
This commit is contained in:
Fredrik Arvidsson
commit
92c7e96fc8
@ -690,46 +690,53 @@ static void updateStabilizationDesired(ManualControlCommandData *cmd, ManualCont
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return;
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}
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// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
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stabilization.StabilizationMode.Roll = stab_settings[0];
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stabilization.StabilizationMode.Pitch = stab_settings[1];
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stabilization.StabilizationMode.Yaw = stab_settings[2];
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stabilization.Roll =
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
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cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ?
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cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax : 0; // this is an invalid mode
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;
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Roll * stabSettings.ManualRate.Roll :
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(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Roll * stabSettings.RollMax :
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0; // this is an invalid mode
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stabilization.Pitch =
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
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cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ?
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cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ?
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cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax : 0; // this is an invalid mode
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Pitch * stabSettings.ManualRate.Pitch :
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(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
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0; // this is an invalid mode
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// TOOD: Add assumption about order of stabilization desired and manual control stabilization mode fields having same order
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stabilization.StabilizationMode.Roll = stab_settings[0];
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stabilization.StabilizationMode.Pitch = stab_settings[1];
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// Other axes (yaw) cannot be Rattitude, so use Rate
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// Should really do this for Attitude mode as well?
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if (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) {
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stabilization.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
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stabilization.Yaw = cmd->Yaw * stabSettings.ManualRate.Yaw;
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}
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else {
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stabilization.StabilizationMode.Yaw = stab_settings[2];
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stabilization.Yaw =
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ?
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cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE) ? cmd->Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) ? cmd->Yaw * stabSettings.ManualRate.Yaw :
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax : 0; // this is an invalid mode
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(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
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0; // this is an invalid mode
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}
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stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
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StabilizationDesiredSet(&stabilization);
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@ -75,11 +75,14 @@
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 4)
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#define FAILSAFE_TIMEOUT_MS 30
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enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
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// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
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// The PID_RATE set is used by the attitude portion of Attitude mode
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// The PID_RATEA_ROLL set is used by Rattitude mode because it needs to maintain
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// - two independant rate PIDs because it does rate and attitude simultaneously
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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 };
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enum{RATE_P, RATE_I, RATE_D, RATE_LIMIT, RATE_OFFSET};
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enum{ATT_P, ATT_I, ATT_LIMIT, ATT_OFFSET};
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// Private variables
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static xTaskHandle taskHandle;
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static StabilizationSettingsData settings;
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@ -94,8 +97,11 @@ bool lowThrottleZeroIntegral;
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bool lowThrottleZeroAxis[MAX_AXES];
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float vbar_decay = 0.991f;
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struct pid pids[PID_MAX];
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int flight_mode = -1;
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static uint8_t rattitude_anti_windup;
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// Private functions
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static void stabilizationTask(void *parameters);
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static float bound(float val, float range);
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@ -104,6 +110,9 @@ static void SettingsUpdatedCb(UAVObjEvent *ev);
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static void BankUpdatedCb(UAVObjEvent *ev);
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static void SettingsBankUpdatedCb(UAVObjEvent *ev);
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static float stab_log2f(float x);
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static float stab_powf(float x, uint8_t p);
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/**
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* Module initialization
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*/
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@ -197,7 +206,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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PIOS_WDG_UpdateFlag(PIOS_WDG_STABILIZATION);
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#endif
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// Wait until the AttitudeRaw object is updated, if a timeout then go to failsafe
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// Wait until the Gyro object is updated, if a timeout then go to failsafe
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if (xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE) {
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AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION, SYSTEMALARMS_ALARM_WARNING);
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continue;
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@ -292,7 +301,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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gyro_filtered[1] = gyro_filtered[1] * gyro_alpha + gyroStateData.y * (1 - gyro_alpha);
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gyro_filtered[2] = gyro_filtered[2] * gyro_alpha + gyroStateData.z * (1 - gyro_alpha);
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float *attitudeDesiredAxis = &stabDesired.Roll;
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float *stabDesiredAxis = &stabDesired.Roll;
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float *actuatorDesiredAxis = &actuatorDesired.Roll;
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float *rateDesiredAxis = &rateDesired.Roll;
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@ -317,7 +326,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] =
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bound(attitudeDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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bound(stabDesiredAxis[i], cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i]);
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// Compute the inner loop
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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@ -342,10 +351,127 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RATTITUDE:
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// A parameterization from Attitude mode at center stick
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// - to Rate mode at full stick
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// This is done by parameterizing to use the rotation rate that Attitude mode
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// - would use at center stick to using the rotation rate that Rate mode
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// - would use at full stick in a weighted average sort of way.
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{
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if (reinit) {
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pids[PID_ROLL + i].iAccumulator = 0;
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pids[PID_RATE_ROLL + i].iAccumulator = 0;
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pids[PID_RATEA_ROLL + i].iAccumulator = 0;
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}
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// Compute what Rate mode would give for this stick angle's rate
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// Save Rate's rate in a temp for later merging with Attitude's rate
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float rateDesiredAxisRate;
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rateDesiredAxisRate = bound(stabDesiredAxis[i], 1.0f)
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* cast_struct_to_array(stabBank.ManualRate, stabBank.ManualRate.Roll)[i];
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// Compute what Attitude mode would give for this stick angle's rate
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// stabDesired for this mode is [-1.0f,+1.0f]
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// - multiply by Attitude mode max angle to get desired angle
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// - subtract off the actual angle to get the angle error
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// This is what local_error[] holds for Attitude mode
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float attitude_error = stabDesiredAxis[i]
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* cast_struct_to_array(stabBank.RollMax, stabBank.RollMax)[i]
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- cast_struct_to_array(attitudeState.Roll, attitudeState.Roll)[i];
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// Compute the outer loop just like Attitude mode does
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float rateDesiredAxisAttitude;
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rateDesiredAxisAttitude = pid_apply(&pids[PID_ROLL + i], attitude_error, dT);
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rateDesiredAxisAttitude = bound(rateDesiredAxisAttitude,
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cast_struct_to_array(stabBank.MaximumRate,
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stabBank.MaximumRate.Roll)[i]);
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// Compute the weighted average rate desired
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// Using max() rather than sqrt() for cpu speed;
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// - this makes the stick region into a square;
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// - this is a feature!
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// - hold a roll angle and add just pitch without the stick sensitivity changing
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// magnitude = sqrt(stabDesired.Roll*stabDesired.Roll + stabDesired.Pitch*stabDesired.Pitch);
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float magnitude;
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magnitude = fmaxf(fabsf(stabDesired.Roll), fabsf(stabDesired.Pitch));
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rateDesiredAxis[i] = (1.0f-magnitude) * rateDesiredAxisAttitude
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+ magnitude * rateDesiredAxisRate;
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// Compute the inner loop for both Rate mode and Attitude mode
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// actuatorDesiredAxis[i] is the weighted average of the two PIDs from the two rates
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actuatorDesiredAxis[i] =
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(1.0f-magnitude) * pid_apply_setpoint(&pids[PID_RATEA_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT)
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+ magnitude * pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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// settings.RattitudeAntiWindup controls the iAccumulator zeroing
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// - so both iAccs don't wind up too far;
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// - nor do both iAccs get held too close to zero at mid stick
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// I suspect that there would be windup without it
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// - since rate and attitude fight each other here
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// - rate trying to pull it over the top and attitude trying to pull it back down
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// Wind-up increases linearly with cycles for a fixed error.
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// We must never increase the iAcc or we risk oscillation.
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// Use the powf() function to make two anti-windup curves
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// - one for zeroing rate close to center stick
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// - the other for zeroing attitude close to max stick
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// the bigger the dT the more anti windup needed
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// the bigger the PID[].i the more anti windup needed
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// more anti windup is achieved with a lower powf() power
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// a doubling of e.g. PID[].i should cause the runtime anti windup factor
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// to get twice as far away from 1.0 (towards zero)
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// e.g. from .90 to .80
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// magic numbers
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// these generate the inverted parabola like curves that go through [0,1] and [1,0]
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// the higher the power, the closer the curve is to a straight line
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// from [0,1] to [1,1] to [1,0] and the less anti windup is applied
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// the UAVO RattitudeAntiWindup varies from 0 to 31
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// 0 turns off anti windup
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// 1 gives very little anti-windup because the power given to powf() is 31
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// 31 gives a lot of anti-windup because the power given to powf() is 1
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// the 32.1 is what does this
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// the 7.966 and 17.668 cancel the default PID value and dT given to log2f()
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// if these are non-default, tweaking is thus done so the user doesn't have to readjust
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// the default value of 10 for UAVO RattitudeAntiWindup gives a power of 22
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// these calculations are for magnitude = 0.5, so 22 corresponds to the number of bits
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// used in the mantissa of the float
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// i.e. 1.0-(0.5^22) almost underflows
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// This may only be useful for aircraft with large Ki values and limits
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if (dT > 0.0f && rattitude_anti_windup > 0.0f) {
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float factor;
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// At magnitudes close to one, the Attitude accumulators gets zeroed
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if (pids[PID_ROLL+i].i > 0.0f) {
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factor = 1.0f - stab_powf(magnitude, ((uint8_t) (32.1f - 7.966f - stab_log2f(dT * pids[PID_ROLL+i].i))) - rattitude_anti_windup);
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pids[PID_ROLL+i].iAccumulator *= factor;
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}
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if (pids[PID_RATEA_ROLL+i].i > 0.0f) {
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factor = 1.0f - stab_powf(magnitude, ((uint8_t) (32.1f - 17.668f - stab_log2f(dT * pids[PID_RATEA_ROLL+i].i))) - rattitude_anti_windup);
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pids[PID_RATEA_ROLL+i].iAccumulator *= factor;
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}
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// At magnitudes close to zero, the Rate accumulator gets zeroed
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if (pids[PID_RATE_ROLL+i].i > 0.0f) {
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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);
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pids[PID_RATE_ROLL+i].iAccumulator *= factor;
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}
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}
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break;
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}
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case STABILIZATIONDESIRED_STABILIZATIONMODE_VIRTUALBAR:
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// Store for debugging output
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rateDesiredAxis[i] = attitudeDesiredAxis[i];
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rateDesiredAxis[i] = stabDesiredAxis[i];
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// Run a virtual flybar stabilization algorithm on this axis
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stabilization_virtual_flybar(gyro_filtered[i], rateDesiredAxis[i], &actuatorDesiredAxis[i], dT, reinit, i, &settings);
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@ -353,6 +479,12 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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break;
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case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
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// FIXME: local_error[] is rate - attitude for Weak Leveling
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// The only ramifications are:
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// Weak Leveling Kp is off by a factor of 3 to 12 and may need a different default in GCS
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// Changing Rate mode max rate currently requires a change to Kp
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// That would be changed to Attitude mode max angle affecting Kp
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// Also does not take dT into account
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{
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if (reinit) {
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pids[PID_RATE_ROLL + i].iAccumulator = 0;
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@ -362,7 +494,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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weak_leveling = bound(weak_leveling, weak_leveling_max);
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// Compute desired rate as input biased towards leveling
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rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
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rateDesiredAxis[i] = stabDesiredAxis[i] + weak_leveling;
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actuatorDesiredAxis[i] = pid_apply_setpoint(&pids[PID_RATE_ROLL + i], speedScaleFactor, rateDesiredAxis[i], gyro_filtered[i], dT);
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actuatorDesiredAxis[i] = bound(actuatorDesiredAxis[i], 1.0f);
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@ -374,13 +506,13 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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pids[PID_RATE_ROLL + i].iAccumulator = 0;
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}
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if (fabsf(attitudeDesiredAxis[i]) > max_axislock_rate) {
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if (fabsf(stabDesiredAxis[i]) > max_axislock_rate) {
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// While getting strong commands act like rate mode
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rateDesiredAxis[i] = attitudeDesiredAxis[i];
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rateDesiredAxis[i] = stabDesiredAxis[i];
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axis_lock_accum[i] = 0;
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} else {
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// For weaker commands or no command simply attitude lock (almost) on no gyro change
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axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
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axis_lock_accum[i] += (stabDesiredAxis[i] - gyro_filtered[i]) * dT;
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axis_lock_accum[i] = bound(axis_lock_accum[i], max_axis_lock);
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rateDesiredAxis[i] = pid_apply(&pids[PID_ROLL + i], axis_lock_accum[i], dT);
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}
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@ -395,7 +527,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
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case STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE:
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// Store to rate desired variable for storing to UAVO
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rateDesiredAxis[i] = bound(attitudeDesiredAxis[i],
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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;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
|
||||
@ -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) {
|
||||
@ -164,12 +164,14 @@ 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) {
|
||||
if (descField->getValue(0) != QChar(255)) {
|
||||
/*
|
||||
* This looks like a binary with a description at the end:
|
||||
* 4 bytes: header: "OpFw".
|
||||
@ -195,7 +197,10 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
|
||||
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.";
|
||||
m_oplink->FirmwareVersion->setText(tr("Unknown"));
|
||||
}
|
||||
} else {
|
||||
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.";
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
// ******************************
|
||||
|
||||
@ -61,6 +61,7 @@ public:
|
||||
QByteArray getBoardCPUSerial();
|
||||
quint32 getFirmwareCRC();
|
||||
QByteArray getBoardDescription();
|
||||
QString getBoardDescriptionString();
|
||||
deviceDescriptorStruct getBoardDescriptionStruct();
|
||||
static bool descriptionToStructure(QByteArray desc, deviceDescriptorStruct & struc);
|
||||
UAVObjectManager *getObjectManager();
|
||||
|
||||
@ -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));
|
||||
|
||||
@ -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;
|
||||
}
|
||||
|
||||
|
||||
@ -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"));
|
||||
}
|
||||
}
|
||||
|
||||
@ -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;"/>
|
||||
|
||||
|
||||
@ -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"/>
|
||||
|
||||
@ -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"/>
|
||||
|
||||
Loading…
Reference in New Issue
Block a user