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Code Issues Releases Activity

Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1848r-altvario

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This commit is contained in:
abeck70 2015-05-04 08:42:54 +10:00
commit a9ad3c5ec1
35 changed files with 1117 additions and 1094 deletions
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2
flight/libraries/plans.c
View File

@ -157,7 +157,7 @@ void plan_setup_returnToBase()
pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f;
uint8_t ReturnToBaseNextCommand;
FlightModeSettingsReturnToBaseNextCommandOptions ReturnToBaseNextCommand;
FlightModeSettingsReturnToBaseNextCommandGet(&ReturnToBaseNextCommand);
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND] = (float)ReturnToBaseNextCommand;
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1] = 0.0f;

22
flight/libraries/sanitycheck.c
View File

@ -74,7 +74,7 @@ int32_t configuration_check()
// Classify navigation capability
#ifdef REVOLUTION
RevoSettingsInitialize();
uint8_t revoFusion;
RevoSettingsFusionAlgorithmOptions revoFusion;
RevoSettingsFusionAlgorithmGet(&revoFusion);
bool navCapableFusion;
switch (revoFusion) {
@ -104,8 +104,8 @@ int32_t configuration_check()
// For each available flight mode position sanity check the available
// modes
uint8_t num_modes;
uint8_t modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
FlightModeSettingsFlightModePositionOptions modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
StabilizationSettingsFlightModeAssistMapOptions FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
ManualControlSettingsFlightModeNumberGet(&num_modes);
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
FlightModeSettingsFlightModePositionGet(modes);
@ -209,7 +209,7 @@ int32_t configuration_check()
}
}
uint8_t checks_disabled;
FlightModeSettingsDisableSanityChecksOptions checks_disabled;
FlightModeSettingsDisableSanityChecksGet(&checks_disabled);
if (checks_disabled == FLIGHTMODESETTINGS_DISABLESANITYCHECKS_TRUE) {
severity = SYSTEMALARMS_ALARM_WARNING;
@ -237,22 +237,22 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
// Get the different axis modes for this switch position
switch (index) {
case 1:
FlightModeSettingsStabilization1SettingsArrayGet(modes);
FlightModeSettingsStabilization1SettingsArrayGet((FlightModeSettingsStabilization1SettingsOptions *)modes);
break;
case 2:
FlightModeSettingsStabilization2SettingsArrayGet(modes);
FlightModeSettingsStabilization2SettingsArrayGet((FlightModeSettingsStabilization2SettingsOptions *)modes);
break;
case 3:
FlightModeSettingsStabilization3SettingsArrayGet(modes);
FlightModeSettingsStabilization3SettingsArrayGet((FlightModeSettingsStabilization3SettingsOptions *)modes);
break;
case 4:
FlightModeSettingsStabilization4SettingsArrayGet(modes);
FlightModeSettingsStabilization4SettingsArrayGet((FlightModeSettingsStabilization4SettingsOptions *)modes);
break;
case 5:
FlightModeSettingsStabilization5SettingsArrayGet(modes);
FlightModeSettingsStabilization5SettingsArrayGet((FlightModeSettingsStabilization5SettingsOptions *)modes);
break;
case 6:
FlightModeSettingsStabilization6SettingsArrayGet(modes);
FlightModeSettingsStabilization6SettingsArrayGet((FlightModeSettingsStabilization6SettingsOptions *)modes);
break;
default:
return false;
@ -326,7 +326,7 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
FrameType_t GetCurrentFrameType()
{
uint8_t airframe_type;
SystemSettingsAirframeTypeOptions airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch ((SystemSettingsAirframeTypeOptions)airframe_type) {

6
flight/modules/Airspeed/airspeed.c
View File

@ -98,7 +98,7 @@ int32_t AirspeedInitialize()
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesOptions optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesArrayGet(optionalModules);
@ -110,7 +110,7 @@ int32_t AirspeedInitialize()
}
#endif
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingOptions adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adcRouting);
// Determine if the barometric airspeed sensor is routed to an ADC pin
@ -169,6 +169,8 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
imu_airspeedInitialize(&airspeedSettings);
}
break;
default:
break;
}
}
switch (airspeedSettings.AirspeedSensorType) {

6
flight/modules/GPS/GPS.c
View File

@ -153,7 +153,7 @@ int32_t GPSStart(void)
int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
uint8_t gpsProtocol;
GPSSettingsDataProtocolOptions gpsProtocol;
#ifdef MODULE_GPS_BUILTIN
gpsEnabled = true;
@ -338,7 +338,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
(gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX && gpspositionsensor.AutoConfigStatus == GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR)) {
// we have not received any valid GPS sentences for a while.
// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
uint8_t status = GPSPOSITIONSENSOR_STATUS_NOGPS;
GPSPositionSensorStatusOptions status = GPSPOSITIONSENSOR_STATUS_NOGPS;
GPSPositionSensorStatusSet(&status);
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
} else {
@ -439,7 +439,7 @@ static void updateHwSettings()
{
if (gpsPort) {
// Retrieve settings
uint8_t speed;
HwSettingsGPSSpeedOptions speed;
HwSettingsGPSSpeedGet(&speed);
// Set port speed

2
flight/modules/Logging/Logging.c
View File

@ -134,7 +134,7 @@ static void ControlUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
}
DebugLogEntrySet(entry);
} else if (control.Operation == DEBUGLOGCONTROL_OPERATION_FORMATFLASH) {
uint8_t armed;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
if (armed == FLIGHTSTATUS_ARMED_DISARMED) {
PIOS_DEBUGLOG_Format();

2
flight/modules/ManualControl/armhandler.c
View File

@ -182,6 +182,8 @@ void armHandler(bool newinit, FrameType_t frameType)
case FLIGHTMODESETTINGS_ARMING_ACCESSORY2:
armingInputLevel = -1.0f * acc.AccessoryVal;
break;
default:
break;
}
bool manualArm = false;

4
flight/modules/ManualControl/manualcontrol.c
View File

@ -182,7 +182,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
frameType = GetCurrentFrameType();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
uint8_t TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsOptions TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsGet(&TreatCustomCraftAs);
@ -486,7 +486,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
{
uint8_t flightModeAssistOption = STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE;
uint8_t isAssistedFlag = FLIGHTSTATUS_FLIGHTMODEASSIST_NONE;
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
StabilizationSettingsFlightModeAssistMapOptions FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
if (position < STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM) {

6
flight/modules/ManualControl/pathfollowerhandler.c
View File

@ -55,9 +55,9 @@ void pathFollowerHandler(bool newinit)
plan_initialize();
}
uint8_t flightMode;
uint8_t assistedControlFlightMode;
uint8_t flightModeAssist;
FlightStatusFlightModeOptions flightMode;
FlightStatusAssistedControlStateOptions assistedControlFlightMode;
FlightStatusFlightModeAssistOptions flightModeAssist;
FlightStatusFlightModeGet(&flightMode);
FlightStatusFlightModeAssistGet(&flightModeAssist);
FlightStatusAssistedControlStateGet(&assistedControlFlightMode);

14
flight/modules/ManualControl/stabilizedhandler.c
View File

@ -96,27 +96,27 @@ void stabilizedHandler(bool newinit)
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
stab_settings = FlightModeSettingsStabilization2SettingsToArray(settings.Stabilization2Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization2SettingsToArray(settings.Stabilization2Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
stab_settings = FlightModeSettingsStabilization3SettingsToArray(settings.Stabilization3Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization3SettingsToArray(settings.Stabilization3Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
stab_settings = FlightModeSettingsStabilization4SettingsToArray(settings.Stabilization4Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization4SettingsToArray(settings.Stabilization4Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
stab_settings = FlightModeSettingsStabilization5SettingsToArray(settings.Stabilization5Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization5SettingsToArray(settings.Stabilization5Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
stab_settings = FlightModeSettingsStabilization6SettingsToArray(settings.Stabilization6Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization6SettingsToArray(settings.Stabilization6Settings);
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
return;
}

12
flight/modules/ManualControl/takeofflocationhandler.c
View File

@ -42,8 +42,8 @@ void takeOffLocationHandlerInit()
{
TakeOffLocationInitialize();
// check whether there is a preset/valid takeoff location
uint8_t mode;
uint8_t status;
TakeOffLocationModeOptions mode;
TakeOffLocationStatusOptions status;
TakeOffLocationModeGet(&mode);
TakeOffLocationStatusGet(&status);
// preset with invalid location will actually behave like FirstTakeoff
@ -61,8 +61,8 @@ void takeOffLocationHandlerInit()
*/
void takeOffLocationHandler()
{
uint8_t armed;
uint8_t status;
FlightStatusArmedOptions armed;
TakeOffLocationStatusOptions status;
FlightStatusArmedGet(&armed);
@ -77,7 +77,7 @@ void takeOffLocationHandler()
case FLIGHTSTATUS_ARMED_ARMING:
case FLIGHTSTATUS_ARMED_ARMED:
if (!locationSet || status != TAKEOFFLOCATION_STATUS_VALID) {
uint8_t mode;
TakeOffLocationModeOptions mode;
TakeOffLocationModeGet(&mode);
if ((mode != TAKEOFFLOCATION_MODE_PRESET) || (status == TAKEOFFLOCATION_STATUS_INVALID)) {
@ -91,7 +91,7 @@ void takeOffLocationHandler()
case FLIGHTSTATUS_ARMED_DISARMED:
// unset if location is to be acquired at each arming
if (locationSet) {
uint8_t mode;
TakeOffLocationModeOptions mode;
TakeOffLocationModeGet(&mode);
if (mode == TAKEOFFLOCATION_MODE_ARMINGLOCATION) {
locationSet = false;

2
flight/modules/PathFollower/inc/vtolautotakeoffcontroller.h
View File

@ -64,7 +64,7 @@ public:
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void setArmedIfChanged(uint8_t val);
void setArmedIfChanged(FlightStatusArmedOptions val);
VtolAutoTakeoffFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;

4
flight/modules/PathFollower/inc/vtolautotakeofffsm.h
View File

@ -82,7 +82,7 @@ protected:
// FSM instance data type
typedef struct {
StatusVtolAutoTakeoffData fsmAutoTakeoffStatus;
PathFollowerFSM_AutoTakeoffState_T currentState;
StatusVtolAutoTakeoffStateOptions currentState;
TakeOffLocationData takeOffLocation;
uint32_t stateRunCount;
uint32_t stateTimeoutCount;
@ -142,7 +142,7 @@ protected:
void run_abort(uint8_t);
void initFSM(void);
void setState(PathFollowerFSM_AutoTakeoffState_T newState, StatusVtolAutoTakeoffStateExitReasonOptions reason);
void setState(StatusVtolAutoTakeoffStateOptions newState, StatusVtolAutoTakeoffStateExitReasonOptions reason);
int32_t runState();
int32_t runAlways();

1
flight/modules/PathFollower/inc/vtollandcontroller.h
View File

@ -64,6 +64,7 @@ public:
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void setArmedIfChanged(FlightStatusArmedOptions val);
PathFollowerFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;

4
flight/modules/PathFollower/inc/vtollandfsm.h
View File

@ -82,7 +82,7 @@ protected:
// FSM instance data type
typedef struct {
StatusVtolLandData fsmLandStatus;
PathFollowerFSM_LandState_T currentState;
StatusVtolLandStateOptions currentState;
TakeOffLocationData takeOffLocation;
uint32_t stateRunCount;
uint32_t stateTimeoutCount;
@ -133,7 +133,7 @@ protected:
void setup_abort(void);
void run_abort(uint8_t);
void initFSM(void);
void setState(PathFollowerFSM_LandState_T newState, StatusVtolLandStateExitReasonOptions reason);
void setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason);
int32_t runState();
int32_t runAlways();
void updateVtolLandFSMStatus();

2
flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
View File

@ -278,7 +278,7 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
PathStatusSet(pathStatus);
}
void VtolAutoTakeoffController::setArmedIfChanged(uint8_t val)
void VtolAutoTakeoffController::setArmedIfChanged(FlightStatusArmedOptions val)
{
if (flightStatus->Armed != val) {
flightStatus->Armed = val;

56
flight/modules/PathFollower/vtolautotakeofffsm.cpp
View File

@ -128,23 +128,23 @@ void VtolAutoTakeoffFSM::Inactive(void)
void VtolAutoTakeoffFSM::initFSM(void)
{
if (vtolPathFollowerSettings != 0) {
setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
} else {
mAutoTakeoffData->currentState = AUTOTAKEOFF_STATE_INACTIVE;
mAutoTakeoffData->currentState = STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE;
}
}
void VtolAutoTakeoffFSM::Activate()
{
memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
mAutoTakeoffData->currentState = AUTOTAKEOFF_STATE_INACTIVE;
mAutoTakeoffData->currentState = STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE;
mAutoTakeoffData->flLowAltitude = true;
mAutoTakeoffData->flAltitudeHold = false;
mAutoTakeoffData->boundThrustMin = 0.0f;
mAutoTakeoffData->boundThrustMax = 0.0f;
mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
TakeOffLocationGet(&(mAutoTakeoffData->takeOffLocation));
mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[AUTOTAKEOFF_STATE_INACTIVE] = 0.0f;
mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE] = 0.0f;
mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
assessAltitude();
@ -153,31 +153,31 @@ void VtolAutoTakeoffFSM::Activate()
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
return;
}
// initially inactive and wait for a change in controlstate.
setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
void VtolAutoTakeoffFSM::Abort(void)
{
setState(AUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolAutoTakeoffFSM::GetCurrentState(void)
{
switch (mAutoTakeoffData->currentState) {
case AUTOTAKEOFF_STATE_INACTIVE:
case STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case AUTOTAKEOFF_STATE_ABORT:
case STATUSVTOLAUTOTAKEOFF_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case AUTOTAKEOFF_STATE_DISARMED:
case STATUSVTOLAUTOTAKEOFF_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
break;
@ -248,7 +248,7 @@ void VtolAutoTakeoffFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDes
// Set the new state and perform setup for subsequent state run calls
// This is called by state run functions on event detection that drive
// state transitions.
void VtolAutoTakeoffFSM::setState(PathFollowerFSM_AutoTakeoffState_T newState, StatusVtolAutoTakeoffStateExitReasonOptions reason)
void VtolAutoTakeoffFSM::setState(StatusVtolAutoTakeoffStateOptions newState, StatusVtolAutoTakeoffStateExitReasonOptions reason)
{
mAutoTakeoffData->fsmAutoTakeoffStatus.StateExitReason[mAutoTakeoffData->currentState] = reason;
@ -257,7 +257,7 @@ void VtolAutoTakeoffFSM::setState(PathFollowerFSM_AutoTakeoffState_T newState, S
}
mAutoTakeoffData->currentState = newState;
if (newState != AUTOTAKEOFF_STATE_INACTIVE) {
if (newState != STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE) {
PositionStateData positionState;
PositionStateGet(&positionState);
float takeOffDown = 0.0f;
@ -324,22 +324,22 @@ void VtolAutoTakeoffFSM::setControlState(StatusVtolAutoTakeoffControlStateOption
switch (controlState) {
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
setState(AUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
setState(AUTOTAKEOFF_STATE_CHECKSTATE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_CHECKSTATE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
setState(AUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
}
}
@ -367,7 +367,7 @@ void VtolAutoTakeoffFSM::setup_checkstate(void)
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
return;
}
@ -377,7 +377,7 @@ void VtolAutoTakeoffFSM::setup_checkstate(void)
mAutoTakeoffData->boundThrustMin = -0.1f;
mAutoTakeoffData->boundThrustMax = 0.0f;
setState(AUTOTAKEOFF_STATE_SLOWSTART, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLAUTOTAKEOFF_STATE_SLOWSTART, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
// STATE: SLOWSTART spools up motors to vtol min over 2 seconds for effect.
@ -415,7 +415,7 @@ void VtolAutoTakeoffFSM::run_slowstart(__attribute__((unused)) uint8_t flTimeout
}
if (flTimeout) {
setState(AUTOTAKEOFF_STATE_THRUSTUP, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTUP, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
}
@ -442,7 +442,7 @@ void VtolAutoTakeoffFSM::run_thrustup(__attribute__((unused)) uint8_t flTimeout)
}
if (flTimeout) {
setState(AUTOTAKEOFF_STATE_TAKEOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLAUTOTAKEOFF_STATE_TAKEOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
}
@ -458,7 +458,7 @@ void VtolAutoTakeoffFSM::run_takeoff(__attribute__((unused)) uint8_t flTimeout)
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f) {
setState(AUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
return;
}
@ -470,11 +470,11 @@ void VtolAutoTakeoffFSM::run_takeoff(__attribute__((unused)) uint8_t flTimeout)
float down_error = pathDesired->End.Down - positionState.Down;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 3.0f) {
setState(AUTOTAKEOFF_STATE_THRUSTDOWN, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_POSITIONERROR);
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTDOWN, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_POSITIONERROR);
return;
}
if (fabsf(down_error) < 0.5f) {
setState(AUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ARRIVEDATALT);
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ARRIVEDATALT);
return;
}
}
@ -515,11 +515,11 @@ void VtolAutoTakeoffFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeou
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f || mAutoTakeoffData->thrustLimit < 0.0f) {
setState(AUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
}
if (flTimeout) {
setState(AUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
}
@ -534,7 +534,7 @@ void VtolAutoTakeoffFSM::setup_thrustoff(void)
void VtolAutoTakeoffFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
{
setState(AUTOTAKEOFF_STATE_DISARMED, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_DISARMED, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
// STATE: DISARMED

4
flight/modules/PathFollower/vtolbrakecontroller.cpp
View File

@ -312,8 +312,10 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
// and a better throttle management to the standard Position Hold.
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
default:
break;
}
stabDesired.StabilizationMode.Thrust = thrustMode;
stabDesired.StabilizationMode.Thrust = (StabilizationDesiredStabilizationModeOptions)thrustMode;
}
// set the thrust value

52
flight/modules/PathFollower/vtollandfsm.cpp
View File

@ -147,16 +147,16 @@ void VtolLandFSM::Inactive(void)
void VtolLandFSM::initFSM(void)
{
if (vtolPathFollowerSettings != 0) {
setState(LAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
} else {
mLandData->currentState = LAND_STATE_INACTIVE;
mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
}
}
void VtolLandFSM::Activate()
{
memset(mLandData, 0, sizeof(VtolLandFSMData_T));
mLandData->currentState = LAND_STATE_INACTIVE;
mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
mLandData->flLowAltitude = false;
mLandData->flAltitudeHold = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
@ -165,38 +165,38 @@ void VtolLandFSM::Activate()
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
TakeOffLocationGet(&(mLandData->takeOffLocation));
mLandData->fsmLandStatus.AltitudeAtState[LAND_STATE_INACTIVE] = 0.0f;
mLandData->fsmLandStatus.AltitudeAtState[STATUSVTOLLAND_STATE_INACTIVE] = 0.0f;
assessAltitude();
if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_INIT_ALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_INITALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
#else
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
#endif
} else {
// move to error state and callback to position hold
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
}
void VtolLandFSM::Abort(void)
{
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
{
switch (mLandData->currentState) {
case LAND_STATE_INACTIVE:
case STATUSVTOLLAND_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case LAND_STATE_ABORT:
case STATUSVTOLLAND_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case LAND_STATE_DISARMED:
case STATUSVTOLLAND_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
break;
@ -276,7 +276,7 @@ void VtolLandFSM::CheckPidScaler(pid_scaler *local_scaler)
// Set the new state and perform setup for subsequent state run calls
// This is called by state run functions on event detection that drive
// state transitions.
void VtolLandFSM::setState(PathFollowerFSM_LandState_T newState, StatusVtolLandStateExitReasonOptions reason)
void VtolLandFSM::setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason)
{
mLandData->fsmLandStatus.StateExitReason[mLandData->currentState] = reason;
@ -285,7 +285,7 @@ void VtolLandFSM::setState(PathFollowerFSM_LandState_T newState, StatusVtolLandS
}
mLandData->currentState = newState;
if (newState != LAND_STATE_INACTIVE) {
if (newState != STATUSVTOLLAND_STATE_INACTIVE) {
PositionStateData positionState;
PositionStateGet(&positionState);
float takeOffDown = 0.0f;
@ -388,7 +388,7 @@ void VtolLandFSM::run_init_althold(uint8_t flTimeout)
{
if (flTimeout) {
mLandData->flAltitudeHold = false;
setState(LAND_STATE_WTG_FOR_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_WTGFORDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -425,13 +425,13 @@ void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
setState(LAND_STATE_AT_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
setState(STATUSVTOLLAND_STATE_ATDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
return;
}
}
if (flTimeout) {
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -474,7 +474,7 @@ void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
}
}
@ -532,7 +532,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
if (flBounce) { // || flBounceAccel) { // accel trigger can occur due to vibration and is too sensitive
mLandData->observation2Count++;
if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
setState(LAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
return;
}
} else {
@ -546,7 +546,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
mLandData->observationCount++;
if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
#endif
return;
}
@ -578,7 +578,7 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
return;
}
@ -595,12 +595,12 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
float east_error = mLandData->expectedLandPositionEast - positionState.East;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 1.5f) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
return;
}
if (flTimeout) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -626,11 +626,11 @@ void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
}
if (flTimeout) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -645,7 +645,7 @@ void VtolLandFSM::setup_thrustoff(void)
void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
{
setState(LAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
// STATE: DISARMED
@ -663,7 +663,7 @@ void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
#ifdef DEBUG_GROUNDIMPACT
if (mLandData->observationCount++ > 100) {
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
#endif
}

2
flight/modules/PathPlanner/pathplanner.c
View File

@ -146,7 +146,7 @@ MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart);
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
uint8_t TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsOptions TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsGet(&TreatCustomCraftAs);

2
flight/modules/Stabilization/innerloop.c
View File

@ -350,7 +350,7 @@ static void stabilizationInnerloopTask()
}
{
uint8_t armed;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);

2
flight/modules/Stabilization/outerloop.c
View File

@ -267,7 +267,7 @@ static void stabilizationOuterloopTask()
RateDesiredSet(&rateDesired);
{
uint8_t armed;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);

2
flight/modules/System/systemmod.c
View File

@ -101,7 +101,9 @@ static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_C
static bool mallocFailed;
static HwSettingsData bootHwSettings;
static FrameType_t bootFrameType;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
static struct PIOS_FLASHFS_Stats fsStats;
#endif
// Private functions
static void objectUpdatedCb(UAVObjEvent *ev);

2
flight/modules/Telemetry/telemetry.c
View File

@ -888,7 +888,7 @@ static void updateSettings(channelContext *channel)
if (port) {
// Retrieve settings
uint8_t speed;
HwSettingsTelemetrySpeedOptions speed;
HwSettingsTelemetrySpeedGet(&speed);
// Set port speed

11
flight/targets/boards/simposix/firmware/pios_board.c
View File

@ -152,7 +152,7 @@ void PIOS_Board_Init(void)
/* Configure IO ports */
/* Configure Telemetry port */
uint8_t hwsettings_rv_telemetryport;
HwSettingsRV_TelemetryPortOptions hwsettings_rv_telemetryport;
HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
switch (hwsettings_rv_telemetryport) {
@ -164,10 +164,12 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_TELEMETRYPORT_COMAUX:
PIOS_Board_configure_com(&pios_udp_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
break;
default:
break;
} /* hwsettings_rv_telemetryport */
/* Configure GPS port */
uint8_t hwsettings_rv_gpsport;
HwSettingsRV_GPSPortOptions hwsettings_rv_gpsport;
HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
switch (hwsettings_rv_gpsport) {
case HWSETTINGS_RV_GPSPORT_DISABLED:
@ -184,10 +186,12 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_GPSPORT_COMAUX:
PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
break;
default:
break;
} /* hwsettings_rv_gpsport */
/* Configure AUXPort */
uint8_t hwsettings_rv_auxport;
HwSettingsRV_AuxPortOptions hwsettings_rv_auxport;
HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
switch (hwsettings_rv_auxport) {
@ -201,6 +205,7 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_AUXPORT_COMAUX:
PIOS_Board_configure_com(&pios_udp_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
break;
default:
break;
} /* hwsettings_rv_auxport */
}

4
flight/uavobjects/inc/uavobject.h.template
View File

@ -52,6 +52,8 @@ int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
$(DATAFIELDINFO)
$(DATASTRUCTURES)
/*
* Packed Object data (unaligned).
@ -86,8 +88,6 @@ static inline int32_t $(NAME)GetMetadata(UAVObjMetadata *dataOut) { return UAVOb
static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata *dataIn) { return UAVObjSetMetadata($(NAME)Handle(), dataIn); }
static inline int8_t $(NAME)ReadOnly() { return UAVObjReadOnly($(NAME)Handle()); }
$(DATAFIELDINFO)
/* Set/Get functions */
$(SETGETFIELDSEXTERN)

50
ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
View File

@ -68,7 +68,7 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templat
// Write the flight object inialization files
flightInitTemplate.replace(QString("$(OBJINC)"), objInc);
flightInitTemplate.replace(QString("$(OBJINIT)"), flightObjInit);
bool res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/uavobjectsinit.c",
bool res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/uavobjectsinit.c",
flightInitTemplate);
if (!res) {
cout << "Error: Could not write flight object init file" << endl;
@ -77,7 +77,7 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templat
// Write the flight object initialization header
flightInitIncludeTemplate.replace(QString("$(SIZECALCULATION)"), QString().setNum(sizeCalc));
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/uavobjectsinit.h",
res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/uavobjectsinit.h",
flightInitIncludeTemplate);
if (!res) {
cout << "Error: Could not write flight object init header file" << endl;
@ -87,7 +87,7 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templat
// Write the flight object Makefile
flightMakeTemplate.replace(QString("$(UAVOBJFILENAMES)"), objFileNames);
flightMakeTemplate.replace(QString("$(UAVOBJNAMES)"), objNames);
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/Makefile.inc",
res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/Makefile.inc",
flightMakeTemplate);
if (!res) {
cout << "Error: Could not write flight Makefile" << endl;
@ -115,13 +115,25 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
replaceCommonTags(outInclude, info);
replaceCommonTags(outCode, info);
// Use the appropriate typedef for enums where we find them. Set up
// that StringList here for use below.
//
QStringList typeList;
for (int n = 0; n < info->fields.length(); ++n) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
typeList << QString("%1%2Options").arg(info->name).arg(info->fields[n]->name);
} else {
typeList << fieldTypeStrC[info->fields[n]->type];
}
}
// Replace the $(DATAFIELDS) tag
QString type;
QString fields;
QString dataStructures;
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrC[info->fields[n]->type];
type = typeList[n];
// Append field
// Check if it a named set and creates structures accordingly
if (info->fields[n]->numElements > 1) {
@ -158,7 +170,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString("\n// Enumeration options for field %1\n").arg(info->fields[n]->name));
enums.append("typedef enum {\n");
enums.append("typedef enum __attribute__ ((__packed__)) {\n");
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
@ -262,26 +274,26 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
if (info->fields[n]->numElements == 1) {
/* Set */
setgetfields.append(QString("void %2%3Set(%1 *New%3)\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3Get(%1 *New%3)\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
} else {
// When no struct accessor is available for a field array accessor is the default.
@ -300,7 +312,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
/* GET */
@ -313,7 +325,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
// Append array suffix to array accessors
@ -323,7 +335,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
// array based field accessor
/* SET */
setgetfields.append(QString("void %2%3%4Set( %1 *New%3 )\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
@ -332,12 +344,12 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3%4Get( %1 *New%3 )\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
@ -346,7 +358,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
}
}
@ -378,14 +390,14 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
}
/* SET */
setgetfieldsextern.append(QString("extern void %2%3%4Set(%1 *New%3);\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
/* GET */
setgetfieldsextern.append(QString("extern void %2%3%4Get(%1 *New%3);\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
@ -394,13 +406,13 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
outInclude.replace(QString("$(SETGETFIELDSEXTERN)"), setgetfieldsextern);
// Write the flight code
bool res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode);
bool res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode);
if (!res) {
cout << "Error: Could not write flight code files" << endl;
return false;
}
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write flight include files" << endl;
return false;

6
ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
View File

@ -62,7 +62,7 @@ bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepa
// Write the gcs object inialization files
gcsInitTemplate.replace(QString("$(OBJINC)"), objInc);
gcsInitTemplate.replace(QString("$(OBJINIT)"), gcsObjInit);
bool res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
if (!res) {
cout << "Error: Could not write output files" << endl;
return false;
@ -371,12 +371,12 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
outCode.replace(QString("$(INITFIELDS)"), initfields);
// Write the GCS code
bool res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
return false;
}
res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
return false;

2
ground/uavobjgenerator/generators/generator_io.cpp
View File

@ -75,7 +75,7 @@ bool writeFile(QString name, QString & str)
/**
* Write contents of string to file if the content changes
*/
bool writeFileIfDiffrent(QString name, QString & str)
bool writeFileIfDifferent(QString name, QString & str)
{
if (str == readFile(name, false)) {
return true;

2
ground/uavobjgenerator/generators/generator_io.h
View File

@ -37,6 +37,6 @@
QString readFile(QString name);
QString readFile(QString name);
bool writeFile(QString name, QString & str);
bool writeFileIfDiffrent(QString name, QString & str);
bool writeFileIfDifferent(QString name, QString & str);
#endif

4
ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
View File

@ -62,7 +62,7 @@ bool UAVObjectGeneratorJava::generate(UAVObjectParser *parser, QString templatep
// Write the gcs object inialization files
javaInitTemplate.replace(QString("$(OBJINC)"), objInc);
javaInitTemplate.replace(QString("$(OBJINIT)"), javaObjInit);
bool res = writeFileIfDiffrent(javaOutputPath.absolutePath() + "/UAVObjectsInitialize.java", javaInitTemplate);
bool res = writeFileIfDifferent(javaOutputPath.absolutePath() + "/UAVObjectsInitialize.java", javaInitTemplate);
if (!res) {
cout << "Error: Could not write output files" << endl;
return false;
@ -238,7 +238,7 @@ bool UAVObjectGeneratorJava::process_object(ObjectInfo *info)
outCode.replace(QString("$(INITFIELDS)"), initfields);
// Write the java code
bool res = writeFileIfDiffrent(javaOutputPath.absolutePath() + "/" + info->name + ".java", outCode);
bool res = writeFileIfDifferent(javaOutputPath.absolutePath() + "/" + info->name + ".java", outCode);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
return false;

2
ground/uavobjgenerator/generators/python/uavobjectgeneratorpython.cpp
View File

@ -110,7 +110,7 @@ bool UAVObjectGeneratorPython::process_object(ObjectInfo *info)
outCode.replace(QString("$(DATAFIELDINIT)"), fields);
// Write the Python code
bool res = writeFileIfDiffrent(pythonOutputPath.absolutePath() + "/" + info->namelc + ".py", outCode);
bool res = writeFileIfDifferent(pythonOutputPath.absolutePath() + "/" + info->namelc + ".py", outCode);
if (!res) {
cout << "Error: Could not write Python output files" << endl;
return false;

4
ground/uavobjgenerator/generators/wireshark/uavobjectgeneratorwireshark.cpp
View File

@ -93,7 +93,7 @@ bool UAVObjectGeneratorWireshark::generate(UAVObjectParser *parser, QString temp
/* Write the uavobject dissector's Makefile.common */
wiresharkMakeTemplate.replace(QString("$(UAVOBJFILENAMES)"), objFileNames);
bool res = writeFileIfDiffrent(uavobjectsOutputPath.absolutePath() + "/Makefile.common",
bool res = writeFileIfDifferent(uavobjectsOutputPath.absolutePath() + "/Makefile.common",
wiresharkMakeTemplate);
if (!res) {
cout << "Error: Could not write wireshark Makefile" << endl;
@ -279,7 +279,7 @@ bool UAVObjectGeneratorWireshark::process_object(ObjectInfo *info, QDir outputpa
outCode.replace(QString("$(HEADERFIELDS)"), headerfields);
// Write the flight code
bool res = writeFileIfDiffrent(outputpath.absolutePath() + "/packet-op-uavobjects-" + info->namelc + ".c", outCode);
bool res = writeFileIfDifferent(outputpath.absolutePath() + "/packet-op-uavobjects-" + info->namelc + ".c", outCode);
if (!res) {
cout << "Error: Could not write wireshark code files" << endl;
return false;

5
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -25,6 +25,8 @@
*/
#include "uavobjectparser.h"
#include <QDomDocument>
#include <QDomElement>
#include <QDebug>
/**
* Constructor
@ -213,9 +215,6 @@ QString UAVObjectParser::parseXML(QString & xml, QString & filename)
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Make sure that required elements were found
if (!fieldFound) {
return QString("Object::field element is missing");

2
ground/uavobjgenerator/uavobjectparser.h
View File

@ -30,8 +30,6 @@
#include <QString>
#include <QStringList>
#include <QList>
#include <QDomDocument>
#include <QDomElement>
#include <QDomNode>
#include <QByteArray>