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Code Issues Releases Activity

CameraStab: rename UAVO field

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This commit is contained in:
Oleg Semyonov 2011-12-30 19:18:33 +02:00
parent 9c35570df6
commit b01e332e03
3 changed files with 17 additions and 17 deletions
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16
flight/Modules/CameraStab/camerastab.c
View File

@ -63,8 +63,8 @@
// Private variables
static struct CameraStab_data {
portTickType lastSysTime;
float inputs[CAMERASTABSETTINGS_INPUTS_NUMELEM];
float inputs_filtered[CAMERASTABSETTINGS_INPUTS_NUMELEM];
float inputs[CAMERASTABSETTINGS_INPUT_NUMELEM];
float inputs_filtered[CAMERASTABSETTINGS_INPUT_NUMELEM];
} *csd;
// Private functions
@ -142,9 +142,9 @@ static void attitudeUpdated(UAVObjEvent* ev)
csd->lastSysTime = thisSysTime;
// Read any input channels and apply LPF
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUTS_NUMELEM; i++) {
if (cameraStab.Inputs[i] != CAMERASTABSETTINGS_INPUTS_NONE) {
if (AccessoryDesiredInstGet(cameraStab.Inputs[i] - CAMERASTABSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) {
for (uint8_t i = 0; i < CAMERASTABSETTINGS_INPUT_NUMELEM; i++) {
if (cameraStab.Input[i] != CAMERASTABSETTINGS_INPUT_NONE) {
if (AccessoryDesiredInstGet(cameraStab.Input[i] - CAMERASTABSETTINGS_INPUT_ACCESSORY0, &accessory) == 0) {
float input_rate;
switch (cameraStab.StabilizationMode[i]) {
case CAMERASTABSETTINGS_STABILIZATIONMODE_ATTITUDE:
@ -175,15 +175,15 @@ static void attitudeUpdated(UAVObjEvent* ev)
float output;
AttitudeActualRollGet(&attitude);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_ROLL]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_ROLL], 1.0f);
CameraDesiredRollSet(&output);
AttitudeActualPitchGet(&attitude);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_PITCH]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_PITCH], 1.0f);
CameraDesiredPitchSet(&output);
AttitudeActualYawGet(&attitude);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUTS_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f);
output = bound((attitude + csd->inputs_filtered[CAMERASTABSETTINGS_INPUT_YAW]) / cameraStab.OutputRange[CAMERASTABSETTINGS_OUTPUTRANGE_YAW], 1.0f);
CameraDesiredYawSet(&output);
}

16
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -75,11 +75,11 @@ ConfigCameraStabilizationWidget::ConfigCameraStabilizationWidget(QWidget *parent
UAVObjectField *field;
field = cameraStab->getField("Inputs");
field = cameraStab->getField("Input");
Q_ASSERT(field);
inputs[i]->clear();
inputs[i]->addItems(field->getOptions());
inputs[i]->setCurrentIndex(cameraStabData.Inputs[i]);
inputs[i]->setCurrentIndex(cameraStabData.Input[i]);
field = cameraStab->getField("StabilizationMode");
Q_ASSERT(field);
@ -193,9 +193,9 @@ void ConfigCameraStabilizationWidget::applySettings()
cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH] = m_camerastabilization->pitchOutputRange->value();
cameraStabData.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW] = m_camerastabilization->yawOutputRange->value();
cameraStabData.Inputs[CameraStabSettings::INPUTS_ROLL] = m_camerastabilization->rollInputChannel->currentIndex();
cameraStabData.Inputs[CameraStabSettings::INPUTS_PITCH] = m_camerastabilization->pitchInputChannel->currentIndex();
cameraStabData.Inputs[CameraStabSettings::INPUTS_YAW] = m_camerastabilization->yawInputChannel->currentIndex();
cameraStabData.Input[CameraStabSettings::INPUT_ROLL] = m_camerastabilization->rollInputChannel->currentIndex();
cameraStabData.Input[CameraStabSettings::INPUT_PITCH] = m_camerastabilization->pitchInputChannel->currentIndex();
cameraStabData.Input[CameraStabSettings::INPUT_YAW] = m_camerastabilization->yawInputChannel->currentIndex();
cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL] = m_camerastabilization->rollStabilizationMode->currentIndex();
cameraStabData.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH] = m_camerastabilization->pitchStabilizationMode->currentIndex();
@ -255,9 +255,9 @@ void ConfigCameraStabilizationWidget::refreshValues()
m_camerastabilization->pitchOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_PITCH]);
m_camerastabilization->yawOutputRange->setValue(cameraStab.OutputRange[CameraStabSettings::OUTPUTRANGE_YAW]);
m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_ROLL]);
m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_PITCH]);
m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStab.Inputs[CameraStabSettings::INPUTS_YAW]);
m_camerastabilization->rollInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_ROLL]);
m_camerastabilization->pitchInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_PITCH]);
m_camerastabilization->yawInputChannel->setCurrentIndex(cameraStab.Input[CameraStabSettings::INPUT_YAW]);
m_camerastabilization->rollStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_ROLL]);
m_camerastabilization->pitchStabilizationMode->setCurrentIndex(cameraStab.StabilizationMode[CameraStabSettings::STABILIZATIONMODE_PITCH]);

2
shared/uavobjectdefinition/camerastabsettings.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="CameraStabSettings" singleinstance="true" settings="true">
<description>Settings for the @ref CameraStab mmodule</description>
<field name="Inputs" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,,None" defaultvalue="None"/>
<field name="Input" units="channel" type="enum" elementnames="Roll,Pitch,Yaw" options="Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5,None" defaultvalue="None"/>
<field name="InputRange" units="deg" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="20"/>
<field name="InputRate" units="deg/s" type="uint8" elementnames="Roll,Pitch,Yaw" defaultvalue="50"/>
<field name="ResponseTime" units="ms" type="uint16" elementnames="Roll,Pitch,Yaw" defaultvalue="150"/>