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Code Issues Releases Activity

OP-493: Force three AccessoryDesired objects to always exist. Routing to

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Mixing channel now works.  However Accessory desired instances do not show up
in GCS.
This commit is contained in:
James Cotton 2011-06-05 15:22:20 -05:00
parent 468b7b562d
commit 99b3a629a8
3 changed files with 24 additions and 13 deletions
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33
flight/Modules/ManualControl/manualcontrol.c
View File

@ -171,6 +171,11 @@ static void manualControlTask(void *parameters)
uint8_t disconnected_count = 0;
uint8_t connected_count = 0;
// For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically
// this includes not even registering it if not used
AccessoryDesiredCreateInstance();
AccessoryDesiredCreateInstance();
// Make sure unarmed on power up
ManualControlCommandGet(&cmd);
FlightStatusGet(&flightStatus);
@ -268,18 +273,24 @@ static void manualControlTask(void *parameters)
flightMode = scaledChannel[settings.FlightMode];
AccessoryDesiredData accessory;
// Set Accessory 0
if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory0];
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accessory 1
accessory.AccessoryVal = scaledChannel[settings.Accessory1];
if(AccessoryDesiredInstSet(0, &accessory) != 0)
AccessoryDesiredCreateInstance();
// Set Accessory 2
accessory.AccessoryVal = scaledChannel[settings.Accessory2];
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AccessoryDesiredCreateInstance();
// Set Accsesory 3
accessory.AccessoryVal = scaledChannel[settings.Accessory3];
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AccessoryDesiredCreateInstance();
if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory1];
if(AccessoryDesiredInstSet(1, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
// Set Accsesory 2
if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
accessory.AccessoryVal = scaledChannel[settings.Accessory2];
if(AccessoryDesiredInstSet(2, &accessory) != 0)
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
processFlightMode(&settings, flightMode);

2
flight/Project/gdb/coptercontrol
View File

@ -1,7 +1,7 @@
define connect
target remote localhost:3333
monitor cortex_m3 vector_catch all
file ./build/coptercontrol/CopterControl.elf
file ./build/fw_coptercontrol/fw_coptercontrol.elf
end
#monitor reset halt

2
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -7,9 +7,9 @@
<field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel3"/>
<field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel4"/>
<field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel5"/>
<field name="Accessory0" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="Accessory3" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<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 -->