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Code Issues Releases Activity

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

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Steve Evans 2015-05-24 13:00:44 +01:00
commit a0d6de4e1d
8 changed files with 58 additions and 93 deletions
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11
WHATSNEW.txt
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@ -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.

13
flight/modules/ManualControl/manualcontrol.c
View File

@ -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);

8
flight/modules/PathFollower/vtolbrakecontroller.cpp
View File

@ -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
// is a more appropriate throttle mode. "GPSAssist" adds braking
// and a better throttle management to the standard Position Hold.
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
default:

1
flight/modules/PathFollower/vtolvelocitycontroller.cpp
View File

@ -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);

1
flight/modules/Stabilization/altitudeloop.cpp
View File

@ -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();
}

23
flight/modules/Stabilization/outerloop.c
View File

@ -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]);
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST];
#ifdef REVOLUTION
if (reinit && (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO)) {
bool reinit = (newThrustMode != previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST]);
// Trigger a disable message to the alt hold on reinit to prevent that loop from running when not in use.
if (reinit) {
if (previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE ||
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] == STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO) {
if (newThrustMode != STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE && newThrustMode != STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO) {
// disable the altvario velocity control loop
stabilizationDisableAltitudeHold();
}
#endif /* REVOLUTION */
switch (StabilizationStatusOuterLoopToArray(enabled)[STABILIZATIONSTATUS_OUTERLOOP_THRUST]) {
#ifdef REVOLUTION
}
}
// update previous mode
previous_mode[STABILIZATIONSTATUS_OUTERLOOP_THRUST] = newThrustMode;
// 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:

66
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -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: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;"
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<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: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;"
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<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: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;"
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<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: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;"
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<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: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;"
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<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: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;"
%NE:RateTrainer:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude;"
/>
<!-- 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="\
%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;\
\
%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;"/>
limits="%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI:AutoCruise; \
%NE:POI: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"/>

24
shared/uavobjectdefinition/stabilizationsettings.xml
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@ -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"
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;"
/>
<field name="FlightModeAssistMap" units="" type="enum" options="None,GPSAssist" elements="6" defaultvalue="None,None,None,None,None,None" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>