Merge branch 'rel-nano-15.05' into steve/OP-1904_Display_current_TxPID_settings_on_OSD

WHATSNEW.txt

@@ -1,4 +1,13 @@
-Release Notes - OpenPilot - Version RELEASE-15.05 RC3
+Release Notes - OpenPilot - Version RELEASE-15.05 RC4
+
+RC4 changes relative to RC3:
+1. GCS Input flight mode limit fixes hiding unsupported modes.
+2. Throttle check on GPSAssist/Stabi whilst in hold removed. Now easy to fly out of hold without reducing throttle.
+3. Trialling Rate instead of AxisLock on Yaw during Braking.
+4. VelocityRoam now passing throttle position to AltVario. previously it was stuck in AltHold.
+5. OP-1905 Fix OPLN in PPM mode blocking telemetry stream of no USB connected
+
+
 This release introduces new features and new hardware support for the Revolution Nano.  Note that the CC3D is not supported by this feature release.  New features for multirotors include: 
 - Fully autonomous flight is now possible with auto-takeoff and landing as flight modes available to path plans.  
 - An all new implementation of altitude vario provides improved altitude maintenance and smoother flight.

flight/modules/ManualControl/manualcontrol.c

@@ -280,7 +280,6 @@ static void manualControlTask(void)
 
             // assess throttle state
             bool throttleNeutral = false;
-            bool throttleNeutralOrLow = false;
             float neutralThrustOffset = 0.0f;
             VtolSelfTuningStatsNeutralThrustOffsetGet(&neutralThrustOffset);
 
@@ -291,9 +290,6 @@ static void manualControlTask(void)
             if (cmd.Thrust > throttleNeutralLow && cmd.Thrust < throttleNeutralHi) {
                 throttleNeutral = true;
             }
-            if (cmd.Thrust < throttleNeutralHi) {
-                throttleNeutralOrLow = true;
-            }
 
             // determine default thrust mode for hold/brake states
             uint8_t pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
@@ -371,7 +367,7 @@ static void manualControlTask(void)
                            newAssistedThrottleState != FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL) {
                     // ok auto thrust mode applies in hold unless overridden
 
-                    if (throttleNeutralOrLow && flagRollPitchHasInput) {
+                    if (flagRollPitchHasInput) {
                         // throttle is neutral approximately and stick input present so revert to primary mode control
                         newAssistedControlState  = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
                         newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
@@ -410,8 +406,13 @@ static void manualControlTask(void)
     // During development the assistedcontrol implementation is optional and set
     // set in stabi settings.  Once if we decide to always have this on, it can
     // can be directly set here...i.e. set the flight mode assist as required.
-    case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
     case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
+        newFlightModeAssist = FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST;
+        newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
+        handler = &handler_PATHFOLLOWER;
+        break;
+
+    case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
     case FLIGHTSTATUS_FLIGHTMODE_LAND:
     case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
         newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);

flight/modules/PathFollower/vtolbrakecontroller.cpp

@@ -290,7 +290,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
     ManualControlCommandData manualControl;
     ManualControlCommandGet(&manualControl);
 
-    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
+    stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_RATE;
     stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
 
     // default thrust mode to cruise control
@@ -322,9 +322,9 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
             thrustMode = settings.Stabilization6Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
-            // we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
+            thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
-            // is a more appropriate throttle mode.  "GPSAssist" adds braking
+            break;
-            // and a better throttle management to the standard Position Hold.
+        case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
             thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
             break;
         default:

flight/modules/PathFollower/vtolvelocitycontroller.cpp

@@ -186,6 +186,7 @@ int8_t VtolVelocityController::UpdateStabilizationDesired(__attribute__((unused)
 
     // default thrust mode to altvario
     stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO;
+    stabDesired.Thrust = manualControl.Thrust;
 
     StabilizationDesiredSet(&stabDesired);
 

flight/modules/Stabilization/altitudeloop.cpp

@@ -85,6 +85,7 @@ float stabilizationAltitudeHold(float setpoint, ThrustModeType mode, bool reinit
         controlDown.Activate();
         newaltitude = true;
         // calculate a thrustDemand on reinit only
+        thrustMode  = mode;
         altitudeHoldTask();
     }
 

flight/modules/Stabilization/outerloop.c

@@ -104,25 +104,30 @@ static void stabilizationOuterloopTask()
     float *rateDesiredAxis = &rateDesired.Roll;
     int t;
     float dT    = PIOS_DELTATIME_GetAverageSeconds(&timeval);
+    StabilizationStatusOuterLoopOptions newThrustMode = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
 
-    bool reinit = (StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST] != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
+    bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
-    previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
+    // Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use.
-#ifdef REVOLUTION
+    if (reinit) {
-    if (reinit && (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
+        if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
-                   previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO)) {
+            previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO) {
-        // disable the altvario velocity control loop
+            if (newThrustMode != STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE && newThrustMode != STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO) {
-        stabilizationDisableAltitudeHold();
+                // disable the altvario velocity control loop
+                stabilizationDisableAltitudeHold();
+            }
+        }
     }
-#endif /* REVOLUTION */
+    // update previous mode
-    switch (StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST]) {
+    previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode;
-#ifdef REVOLUTION
+
+    // calculate the thrust desired
+    switch (newThrustMode) {
     case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
         rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEHOLD, reinit);
         break;
     case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
         rateDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = stabilizationAltitudeHold(stabilizationDesiredAxis[STABILIZATIONSTATUS_OUTERLOOP_THRUST], ALTITUDEVARIO, reinit);
         break;
-#endif /* REVOLUTION */
     case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
     case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
     default:

shared/uavobjectdefinition/flightmodesettings.xml

@@ -11,10 +11,8 @@
 		defaultvalue="Attitude,Attitude,AxisLock,Manual"
 		limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
+			%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
-			%NE:Rate::RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
+			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
-			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization2Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
@@ -22,10 +20,8 @@
 		defaultvalue="Attitude,Attitude,Rate,Manual"
 		limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
+			%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
-			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
+			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
-			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization3Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
@@ -33,10 +29,8 @@
 		defaultvalue="Rate,Rate,Rate,Manual"
 		limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
+			%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
-			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
+			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
-			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization4Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
@@ -44,10 +38,8 @@
 		defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
 		limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
+			%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
-			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
+			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
-			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization5Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
@@ -55,10 +47,8 @@
 		defaultvalue="Attitude,Attitude,Rate,CruiseControl"
 		limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
+			%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
-			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
+			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
-			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
 			/>
         <field name="Stabilization6Settings" units="" type="enum"
 		elementnames="Roll,Pitch,Yaw,Thrust"
@@ -66,10 +56,8 @@
 		defaultvalue="Rate,Rate,Rate,Manual"
 		limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
 			%NE:AltitudeHold:AltitudeVario:CruiseControl; \
-			%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
+			%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
-			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
+			%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
-			%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
-			%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
 			/>
 
 	<!-- Note these options values should be identical to those defined in FlightMode -->
@@ -80,30 +68,12 @@
                elements="6"
                options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
                defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
-               limits="\
+               limits="%NE:POI:AutoCruise; \
-                       %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+               		   %NE:POI:AutoCruise; \
-                       %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+               		   %NE:POI:AutoCruise; \
-                       %0903NE:POI:PathPlanner:AutoCruise;\
+               		   %NE:POI:AutoCruise; \
-                       \
+               		   %NE:POI:AutoCruise; \
-                       %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
+               		   %NE:POI:AutoCruise;" />
-                       %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0903NE:POI:PathPlanner:AutoCruise;\
-                       \
-                       %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0903NE:POI:PathPlanner:AutoCruise;\
-                       \
-                       %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0903NE:POI:PathPlanner:AutoCruise;\
-                       \
-                       %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0903NE:POI:PathPlanner:AutoCruise;\
-                       \
-                       %0401NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0402NE:PositionHold:CourseLock:VelocityRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
-                       %0903NE:POI:PathPlanner:AutoCruise;"/>
 
 		<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>
         <field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>

shared/uavobjectdefinition/stabilizationsettings.xml

@@ -46,29 +46,7 @@
 
 	<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
 	<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
-	<field name="FlightModeAssistMap" units="" type="enum"
+	<field name="FlightModeAssistMap" units="" type="enum" options="None,GPSAssist" elements="6" defaultvalue="None,None,None,None,None,None" />
-	    options="None,GPSAssist"
-	    elements="6"
-	    defaultvalue="None,None,None,None,None,None"
-        limits="\
-                %0401NE:GPSAssist,\
-                %0402NE:GPSAssist;\
-                \
-                %0401NE:GPSAssist,\
-                %0402NE:GPSAssist;\
-                \
-                %0401NE:GPSAssist,\
-                %0402NE:GPSAssist;\
-                \
-                %0401NE:GPSAssist,\
-                %0402NE:GPSAssist;\
-                \
-                %0401NE:GPSAssist,\
-                %0402NE:GPSAssist;\
-                \
-                %0401NE:GPSAssist,\
-                %0402NE:GPSAssist;"
-    />
 
 	<access gcs="readwrite" flight="readwrite"/>
 	<telemetrygcs acked="true" updatemode="onchange" period="0"/>