mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-01-29 14:52:12 +01:00
OP-423: merge master into that branch, resolve conflicts and test with CC and bl_CC
heap reamining is low (about 500) but stacks can be ajusted (specially the 200 bytes from system) to give the level close to 1Ko if needed. Merge branch 'master' into OP-423_Mathieu_Change_Init_To_Reduce_Memory_Footprint Conflicts: flight/CopterControl/System/inc/FreeRTOSConfig.h flight/CopterControl/System/inc/pios_config.h
This commit is contained in:
Mathieu Rondonneau
commit
b67a38661e
@ -137,6 +137,7 @@ endif
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## UAVOBJECTS
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ifndef TESTAPP
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SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
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SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
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SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
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SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
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@ -75,6 +75,19 @@ NVIC value of 255. */
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#define CHECK_IRQ_STACK
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#endif
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/* Enable run time stats collection */
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//#if defined(DEBUG)
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#define configGENERATE_RUN_TIME_STATS 1
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#define INCLUDE_uxTaskGetRunTime 1
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
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do {\
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(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
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(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
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} while(0)
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#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
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//#endif
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/**
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* @}
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*/
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@ -84,11 +84,11 @@
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#define AUXUART_ENABLED 0
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#define AUXUART_BAUDRATE 19200
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/* Alarm Thresholds */
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#define HEAP_LIMIT_WARNING 350
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#define HEAP_LIMIT_CRITICAL 250
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/* Alarm Thresholds */
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#define HEAP_LIMIT_WARNING 220
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#define HEAP_LIMIT_CRITICAL 150
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#define IRQSTACK_LIMIT_WARNING 150
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#define IRQSTACK_LIMIT_CRITICAL 80
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#define IRQSTACK_LIMIT_CRITICAL 80
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#define CPULOAD_LIMIT_WARNING 80
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#define CPULOAD_LIMIT_CRITICAL 95
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@ -35,21 +35,23 @@
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// Private variables
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static xSemaphoreHandle lock;
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static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
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static uint32_t lastMonitorTime;
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// Private functions
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/**
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* Initialize library
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* Initialize library
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*/
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int32_t TaskMonitorInitialize(void)
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{
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lock = xSemaphoreCreateRecursiveMutex();
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memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
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lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
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return 0;
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}
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/**
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* Register a task handle with the library
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* Register a task handle with the library
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*/
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int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
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{
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@ -67,16 +69,30 @@ int32_t TaskMonitorAdd(TaskInfoRunningElem task, xTaskHandle handle)
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}
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/**
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* Update the status of all tasks
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* Update the status of all tasks
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*/
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void TaskMonitorUpdateAll(void)
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{
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TaskInfoData data;
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int n;
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// Lock
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xSemaphoreTakeRecursive(lock, portMAX_DELAY);
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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uint32_t currentTime;
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uint32_t deltaTime;
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/*
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* Calculate the amount of elapsed run time between the last time we
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* measured and now. Scale so that we can convert task run times
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* directly to percentages.
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*/
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currentTime = portGET_RUN_TIME_COUNTER_VALUE();
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deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
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lastMonitorTime = currentTime;
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#endif
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// Update all task information
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for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
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{
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@ -87,18 +103,24 @@ void TaskMonitorUpdateAll(void)
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data.StackRemaining[n] = 10000;
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#else
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data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
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#if ( configGENERATE_RUN_TIME_STATS == 1 )
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/* Generate run time stats */
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data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
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#endif
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#endif
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}
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else
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{
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data.Running[n] = TASKINFO_RUNNING_FALSE;
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data.StackRemaining[n] = 0;
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data.RunningTime[n] = 0;
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}
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}
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// Update object
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TaskInfoSet(&data);
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// Done
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xSemaphoreGiveRecursive(lock);
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}
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@ -32,6 +32,7 @@
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#include "openpilot.h"
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#include "accessorydesired.h"
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#include "actuator.h"
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#include "actuatorsettings.h"
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#include "systemsettings.h"
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@ -74,7 +75,6 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
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static void setFailsafe();
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static float MixerCurve(const float throttle, const float* curve);
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static bool set_channel(uint8_t mixer_channel, uint16_t value);
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float ProcessMixer(const int index, const float curve1, const float curve2,
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MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
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const float period);
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@ -201,7 +201,35 @@ static void actuatorTask(void* parameters)
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bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
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float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
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float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
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//The source for the secondary curve is selectable
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float curve2 = 0;
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AccessoryDesiredData accessory;
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switch(mixerSettings.Curve2Source) {
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case MIXERSETTINGS_CURVE2SOURCE_THROTTLE:
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curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
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break;
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case MIXERSETTINGS_CURVE2SOURCE_ROLL:
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curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2);
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break;
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case MIXERSETTINGS_CURVE2SOURCE_PITCH:
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curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2);
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break;
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case MIXERSETTINGS_CURVE2SOURCE_YAW:
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curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
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break;
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY3:
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY4:
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case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY5:
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if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0)
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curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2);
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else
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curve2 = 0;
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break;
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}
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for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
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{
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if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
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@ -229,7 +257,22 @@ static void actuatorTask(void* parameters)
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(status[ct] < 0) )
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status[ct] = 0;
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}
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// If an accessory channel is selected for direct bypass mode
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// In this configuration the accessory channel is scaled and mapped
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// directly to output. Note: THERE IS NO SAFETY CHECK HERE FOR ARMING
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// these also will not be updated in failsafe mode. I'm not sure what
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// the correct behavior is since it seems domain specific. I don't love
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// this code
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if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) &&
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(mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY2))
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{
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if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0)
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status[ct] = accessory.AccessoryVal;
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else
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status[ct] = -1;
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}
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command.Channel[ct] = scaleChannel(status[ct],
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ChannelMax[ct],
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ChannelMin[ct],
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@ -453,8 +496,6 @@ static void actuator_update_rate(UAVObjEvent * ev)
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}
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}
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#if defined(ARCH_POSIX) || defined(ARCH_WIN32)
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static bool set_channel(uint8_t mixer_channel, uint16_t value) {
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return true;
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@ -42,6 +42,7 @@
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#include "stabilizationdesired.h"
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#include "flighttelemetrystats.h"
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#include "flightstatus.h"
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#include "accessorydesired.h"
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// Private constants
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#if defined(PIOS_MANUAL_STACK_SIZE)
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@ -171,6 +172,11 @@ static void manualControlTask(void *parameters)
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uint8_t disconnected_count = 0;
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uint8_t connected_count = 0;
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// For now manual instantiate extra instances of Accessory Desired. In future should be done dynamically
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// this includes not even registering it if not used
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AccessoryDesiredCreateInstance();
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AccessoryDesiredCreateInstance();
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// Make sure unarmed on power up
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ManualControlCommandGet(&cmd);
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FlightStatusGet(&flightStatus);
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@ -267,10 +273,26 @@ static void manualControlTask(void *parameters)
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cmd.Throttle = scaledChannel[settings.Throttle];
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flightMode = scaledChannel[settings.FlightMode];
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// Set accessory channels
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cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
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cmd.Accessory2 = (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
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cmd.Accessory3 = (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
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AccessoryDesiredData accessory;
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// Set Accessory 0
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if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
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accessory.AccessoryVal = scaledChannel[settings.Accessory0];
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if(AccessoryDesiredInstSet(0, &accessory) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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}
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// Set Accessory 1
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if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
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accessory.AccessoryVal = scaledChannel[settings.Accessory1];
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if(AccessoryDesiredInstSet(1, &accessory) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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}
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// Set Accsesory 2
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if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
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accessory.AccessoryVal = scaledChannel[settings.Accessory2];
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if(AccessoryDesiredInstSet(2, &accessory) != 0)
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
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}
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processFlightMode(&settings, flightMode);
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processArm(&cmd, &settings);
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@ -75,9 +75,12 @@ NVIC value of 255. */
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#if defined(DEBUG)
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#define configGENERATE_RUN_TIME_STATS 1
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#define INCLUDE_uxTaskGetRunTime 1
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() PIOS_RTC_Init()
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// Note: Using the tick count defeats the purpose here, need some timer on the scale of 10khz
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#define portGET_RUN_TIME_COUNTER_VALUE() PIOS_RTC_Counter()
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#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()\
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do {\
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(*(unsigned long *)0xe000edfc) |= (1<<24);/* DEMCR |= DEMCR_TRCENA */\
|
||||
(*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */\
|
||||
} while(0)
|
||||
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
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#endif
|
||||
|
||||
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
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|
||||
@ -35,6 +35,7 @@
|
||||
// Private variables
|
||||
static xSemaphoreHandle lock;
|
||||
static xTaskHandle handles[TASKINFO_RUNNING_NUMELEM];
|
||||
static uint32_t lastMonitorTime;
|
||||
|
||||
// Private functions
|
||||
|
||||
@ -45,6 +46,7 @@ int32_t TaskMonitorInitialize(void)
|
||||
{
|
||||
lock = xSemaphoreCreateRecursiveMutex();
|
||||
memset(handles, 0, sizeof(xTaskHandle)*TASKINFO_RUNNING_NUMELEM);
|
||||
lastMonitorTime = portGET_RUN_TIME_COUNTER_VALUE();
|
||||
return 0;
|
||||
}
|
||||
|
||||
@ -95,6 +97,20 @@ void TaskMonitorUpdateAll(void)
|
||||
// Lock
|
||||
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
|
||||
|
||||
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
||||
uint32_t currentTime;
|
||||
uint32_t deltaTime;
|
||||
|
||||
/*
|
||||
* Calculate the amount of elapsed run time between the last time we
|
||||
* measured and now. Scale so that we can convert task run times
|
||||
* directly to percentages.
|
||||
*/
|
||||
currentTime = portGET_RUN_TIME_COUNTER_VALUE();
|
||||
deltaTime = ((currentTime - lastMonitorTime) / 100) ? : 1; /* avoid divide-by-zero if the interval is too small */
|
||||
lastMonitorTime = currentTime;
|
||||
#endif
|
||||
|
||||
// Update all task information
|
||||
for (n = 0; n < TASKINFO_RUNNING_NUMELEM; ++n)
|
||||
{
|
||||
@ -107,7 +123,8 @@ void TaskMonitorUpdateAll(void)
|
||||
data.StackRemaining[n] = uxTaskGetStackHighWaterMark(handles[n]) * 4;
|
||||
#if ( configGENERATE_RUN_TIME_STATS == 1 )
|
||||
/* Generate run time stats */
|
||||
data.RunningTime[n] = 100 * (float) uxTaskGetRunTime(handles[n]) / portGET_RUN_TIME_COUNTER_VALUE();
|
||||
data.RunningTime[n] = uxTaskGetRunTime(handles[n]) / deltaTime;
|
||||
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
@ -24,6 +24,7 @@
|
||||
# (all architectures)
|
||||
|
||||
UAVOBJSRCFILENAMES =
|
||||
UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
UAVOBJSRCFILENAMES += actuatorsettings
|
||||
|
||||
@ -105,7 +105,7 @@ int32_t PIOS_FLASHFS_Init()
|
||||
*/
|
||||
static int32_t PIOS_FLASHFS_CleabObjectTableHeader()
|
||||
{
|
||||
if(PIOS_Flash_W25X_EraseSector(OBJECT_TABLE_START) != 0)
|
||||
if(PIOS_Flash_W25X_EraseSector(0) != 0)
|
||||
return -1;
|
||||
|
||||
uint32_t object_table_magic = OBJECT_TABLE_MAGIC;
|
||||
|
||||
@ -2315,9 +2315,13 @@ tskTCB *pxNewTCB;
|
||||
#if ( INCLUDE_uxTaskGetRunTime == 1 )
|
||||
unsigned portBASE_TYPE uxTaskGetRunTime( xTaskHandle xTask )
|
||||
{
|
||||
unsigned long runTime;
|
||||
|
||||
tskTCB *pxTCB;
|
||||
pxTCB = prvGetTCBFromHandle( xTask );
|
||||
return pxTCB->ulRunTimeCounter;
|
||||
runTime = pxTCB->ulRunTimeCounter;
|
||||
pxTCB->ulRunTimeCounter = 0;
|
||||
return runTime;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
@ -2738,6 +2738,7 @@
|
||||
65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
|
||||
65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
|
||||
65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
|
||||
65E8C788139AA2A800E1F979 /* accessorydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = accessorydesired.xml; sourceTree = "<group>"; };
|
||||
65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
|
||||
65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
|
||||
65E8EF5C11EEA61E00BBF654 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = alarms.c; path = ../../OpenPilot/System/alarms.c; sourceTree = SOURCE_ROOT; };
|
||||
@ -7418,6 +7419,7 @@
|
||||
65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
|
||||
isa = PBXGroup;
|
||||
children = (
|
||||
65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
|
||||
65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
|
||||
65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
|
||||
65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */,
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
define connect
|
||||
target remote localhost:3333
|
||||
monitor cortex_m3 vector_catch all
|
||||
file ./build/coptercontrol/CopterControl.elf
|
||||
file ./build/fw_coptercontrol/fw_coptercontrol.elf
|
||||
end
|
||||
#monitor reset halt
|
||||
|
||||
|
||||
@ -23,7 +23,8 @@ SOURCES += uavobject.cpp \
|
||||
OTHER_FILES += UAVObjects.pluginspec
|
||||
|
||||
# Add in all of the synthetic/generated uavobject files
|
||||
HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
|
||||
HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrscalibration.h \
|
||||
$$UAVOBJECT_SYNTHETICS/baroaltitude.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudeactual.h \
|
||||
@ -69,7 +70,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/flightstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudesettings.h
|
||||
|
||||
SOURCES += $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
|
||||
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/ahrscalibration.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \
|
||||
|
||||
@ -295,7 +295,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
|
||||
}
|
||||
|
||||
// Check the lengths match
|
||||
if ((rxPacketLength + rxLength) != packetSize)
|
||||
if ((rxPacketLength + rxLength + (rxObj->isSingleInstance() ? 0 : 2)) != packetSize)
|
||||
{ // packet error - mismatched packet size
|
||||
stats.rxErrors++;
|
||||
rxState = STATE_SYNC;
|
||||
@ -805,17 +805,3 @@ quint8 UAVTalk::updateCRC(quint8 crc, const quint8* data, qint32 length)
|
||||
crc = crc_table[crc ^ *data++];
|
||||
return crc;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
10
shared/uavobjectdefinition/accessorydesired.xml
Normal file
10
shared/uavobjectdefinition/accessorydesired.xml
Normal file
@ -0,0 +1,10 @@
|
||||
<xml>
|
||||
<object name="AccessoryDesired" singleinstance="false" settings="false">
|
||||
<description>Desired Auxillary actuator settings. Comes from @ref ManualControlModule.</description>
|
||||
<field name="AccessoryVal" units="" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -6,11 +6,7 @@
|
||||
<field name="Pitch" units="%" type="float" elements="1"/>
|
||||
<field name="Yaw" units="%" type="float" elements="1"/>
|
||||
<field name="Throttle" units="%" type="float" elements="1"/>
|
||||
|
||||
<field name="Accessory1" units="%" type="float" elements="1"/>
|
||||
<field name="Accessory2" units="%" type="float" elements="1"/>
|
||||
<field name="Accessory3" units="%" type="float" elements="1"/>
|
||||
<field name="Channel" units="us" type="uint16" elements="8"/>
|
||||
<field name="Channel" units="us" type="uint16" elements="8"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="2000"/>
|
||||
|
||||
@ -7,9 +7,9 @@
|
||||
<field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory0" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Accessory3" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
|
||||
<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
|
||||
|
||||
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
|
||||
|
||||
@ -6,22 +6,23 @@
|
||||
<field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
|
||||
<field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
|
||||
<field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
|
||||
<field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user