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Code Issues Releases Activity

OP-192 Flight/ManualControl: Add an ArmedTimeout field to the

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ManualControlSettings so that planes can disable the timeout
feature for gliding (holding roll on a plane not so good).

Note: This will require you to reconfigure your ManualControlSettings

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2185 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-12-04 17:34:16 +00:00 committed by peabody124
parent 477657ea6e
commit a04e33ccc6
7 changed files with 24 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
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@ -49,7 +49,6 @@
#define UPDATE_PERIOD_MS 20 #define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1 #define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0 #define FLIGHT_MODE_LIMIT 1.0/3.0
#define ARMED_TIMEOUT_MS 30000
#define ARMED_TIME_MS 1000 #define ARMED_TIME_MS 1000
//safe band to allow a bit of calibration error or trim offset (in microseconds) //safe band to allow a bit of calibration error or trim offset (in microseconds)
#define CONNECTION_OFFSET 150 #define CONNECTION_OFFSET 150
@ -288,7 +287,7 @@ static void manualControlTask(void *parameters)
lowThrottleStart = lastSysTime; lowThrottleStart = lastSysTime;
} else if (cmd.Throttle >= 0) } else if (cmd.Throttle >= 0)
lowThrottleDetected = 0; lowThrottleDetected = 0;
else if((cmd.Throttle < 0) && (timeDifferenceMs(lowThrottleStart, lastSysTime) > ARMED_TIMEOUT_MS)) { else if((cmd.Throttle < 0) && (timeDifferenceMs(lowThrottleStart, lastSysTime) > settings.ArmedTimeout)) {
cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE; cmd.Armed = MANUALCONTROLCOMMAND_ARMED_FALSE;
ManualControlCommandSet(&cmd); ManualControlCommandSet(&cmd);
} }

4
flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
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@ -41,7 +41,7 @@
#define MANUALCONTROLSETTINGS_H #define MANUALCONTROLSETTINGS_H
// Object constants // Object constants
#define MANUALCONTROLSETTINGS_OBJID 3505967188U #define MANUALCONTROLSETTINGS_OBJID 157988682U
#define MANUALCONTROLSETTINGS_NAME "ManualControlSettings" #define MANUALCONTROLSETTINGS_NAME "ManualControlSettings"
#define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta" #define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta"
#define MANUALCONTROLSETTINGS_ISSINGLEINST 1 #define MANUALCONTROLSETTINGS_ISSINGLEINST 1
@ -89,6 +89,7 @@ typedef struct {
int16_t ChannelMax[8]; int16_t ChannelMax[8];
int16_t ChannelNeutral[8]; int16_t ChannelNeutral[8];
int16_t ChannelMin[8]; int16_t ChannelMin[8];
uint16_t ArmedTimeout;
} __attribute__((packed)) ManualControlSettingsData; } __attribute__((packed)) ManualControlSettingsData;
@ -159,6 +160,7 @@ typedef enum { MANUALCONTROLSETTINGS_POS3FLIGHTMODE_MANUAL=0, MANUALCONTROLSETTI
// Field ChannelMin information // Field ChannelMin information
/* Number of elements for field ChannelMin */ /* Number of elements for field ChannelMin */
#define MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM 8 #define MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM 8
// Field ArmedTimeout information
// Generic interface functions // Generic interface functions

1
flight/OpenPilot/UAVObjects/manualcontrolsettings.c
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@ -125,6 +125,7 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
data.ChannelMin[5] = 1000; data.ChannelMin[5] = 1000;
data.ChannelMin[6] = 1000; data.ChannelMin[6] = 1000;
data.ChannelMin[7] = 1000; data.ChannelMin[7] = 1000;
data.ArmedTimeout = 30000;
UAVObjSetInstanceData(obj, instId, &data); UAVObjSetInstanceData(obj, instId, &data);

4
ground/src/plugins/uavobjects/manualcontrolsettings.cpp
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@ -231,6 +231,9 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
ChannelMinElemNames.append("6"); ChannelMinElemNames.append("6");
ChannelMinElemNames.append("7"); ChannelMinElemNames.append("7");
fields.append( new UAVObjectField(QString("ChannelMin"), QString("us"), UAVObjectField::INT16, ChannelMinElemNames, QStringList()) ); fields.append( new UAVObjectField(QString("ChannelMin"), QString("us"), UAVObjectField::INT16, ChannelMinElemNames, QStringList()) );
QStringList ArmedTimeoutElemNames;
ArmedTimeoutElemNames.append("0");
fields.append( new UAVObjectField(QString("ArmedTimeout"), QString("ms"), UAVObjectField::UINT16, ArmedTimeoutElemNames, QStringList()) );
// Initialize object // Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES); initializeFields(fields, (quint8*)&data, NUMBYTES);
@ -309,6 +312,7 @@ void ManualControlSettings::setDefaultFieldValues()
data.ChannelMin[5] = 1000; data.ChannelMin[5] = 1000;
data.ChannelMin[6] = 1000; data.ChannelMin[6] = 1000;
data.ChannelMin[7] = 1000; data.ChannelMin[7] = 1000;
data.ArmedTimeout = 30000;
} }

4
ground/src/plugins/uavobjects/manualcontrolsettings.h
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@ -61,6 +61,7 @@ public:
qint16 ChannelMax[8]; qint16 ChannelMax[8];
qint16 ChannelNeutral[8]; qint16 ChannelNeutral[8];
qint16 ChannelMin[8]; qint16 ChannelMin[8];
quint16 ArmedTimeout;
} __attribute__((packed)) DataFields; } __attribute__((packed)) DataFields;
@ -131,10 +132,11 @@ public:
// Field ChannelMin information // Field ChannelMin information
/* Number of elements for field ChannelMin */ /* Number of elements for field ChannelMin */
static const quint32 CHANNELMIN_NUMELEM = 8; static const quint32 CHANNELMIN_NUMELEM = 8;
// Field ArmedTimeout information
// Constants // Constants
static const quint32 OBJID = 3505967188U; static const quint32 OBJID = 157988682U;
static const QString NAME; static const QString NAME;
static const bool ISSINGLEINST = 1; static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1; static const bool ISSETTINGS = 1;

12
ground/src/plugins/uavobjects/manualcontrolsettings.py
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@ -337,12 +337,22 @@ _fields = [ \
{ {
} }
), ),
uavobject.UAVObjectField(
'ArmedTimeout',
'H',
1,
[
'0',
],
{
}
),
] ]
class ManualControlSettings(uavobject.UAVObject): class ManualControlSettings(uavobject.UAVObject):
## Object constants ## Object constants
OBJID = 3505967188 OBJID = 157988682
NAME = "ManualControlSettings" NAME = "ManualControlSettings"
METANAME = "ManualControlSettingsMeta" METANAME = "ManualControlSettingsMeta"
ISSINGLEINST = 1 ISSINGLEINST = 1

1
ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
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@ -19,6 +19,7 @@
<field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/> <field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/> <field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
<field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/> <field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>