Merge remote-tracking branch 'origin/next' into thread/OP-1525_Acro_GUI

flight/pios/common/pios_rfm22b.c

@@ -116,6 +116,8 @@
 #define USB_LED_OFF
 #endif
 
+#define CONNECTED_LIVE                   8
+
 /* Local type definitions */
 
 struct pios_rfm22b_transition {
@@ -358,7 +360,7 @@ static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD
 
 static const uint8_t packet_time[] = { 80, 40, 25, 15, 13, 10, 8, 6, 5 };
 static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 13, 10, 8, 6, 5 };
-static const uint8_t num_channels[] = { 4, 4, 4, 6, 8, 8, 10, 12, 16 };
+static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
 
 static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
 
@@ -606,6 +608,8 @@ void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datar
         }
     }
 
+    rfm22b_dev->num_channels = num_found;
+
     // Calculate the maximum packet length from the datarate.
     float bytes_per_period = (float)data_rate[datarate] * (float)(rfm22b_dev->packet_time - 2) / 9000;
 
@@ -797,7 +801,6 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len)
     rfm22_write(rfm22b_dev, RFM22_interrupt_enable2, 0x00);
 
     // set the tx power
-    rfm22b_dev->tx_power = 0x7;
     rfm22_write(rfm22b_dev, RFM22_tx_power, RFM22_tx_pwr_lna_sw | rfm22b_dev->tx_power);
 
     // TUNE mode
@@ -1356,7 +1359,7 @@ static enum pios_radio_event rfm22_init(struct pios_rfm22b_dev *rfm22b_dev)
     rfm22b_dev->packet_start_ticks = 0;
     rfm22b_dev->tx_complete_ticks  = 0;
     rfm22b_dev->rfm22b_state       = RFM22B_STATE_INITIALIZING;
-    rfm22b_dev->on_sync_channel    = false;
+    rfm22b_dev->connected_timeout  = 0;
 
     // software reset the RF chip .. following procedure according to Si4x3x Errata (rev. B)
     rfm22_write_claim(rfm22b_dev, RFM22_op_and_func_ctrl1, RFM22_opfc1_swres);
@@ -1961,12 +1964,16 @@ static enum pios_radio_event radio_receivePacket(struct pios_rfm22b_dev *radio_d
             (radio_dev->rx_in_cb)(radio_dev->rx_in_context, p, data_len, NULL, &rx_need_yield);
         }
 
-        // We only synchronize the clock on packets from our coordinator on the sync channel.
+        /*
-        if (!rfm22_isCoordinator(radio_dev) && (radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) && (radio_dev->channel_index == 0)) {
+         * If the packet is valid and destined for us we synchronize the clock.
+         */
+        if (!rfm22_isCoordinator(radio_dev) &&
+                radio_dev->rx_destination_id == rfm22_destinationID(radio_dev)) {
             rfm22_synchronizeClock(radio_dev);
             radio_dev->stats.link_state = OPLINKSTATUS_LINKSTATE_CONNECTED;
-            radio_dev->on_sync_channel  = false;
         }
+
+        radio_dev->connected_timeout = CONNECTED_LIVE;
     } else {
         ret_event = RADIO_EVENT_RX_COMPLETE;
     }
@@ -2162,14 +2169,14 @@ static void rfm22_synchronizeClock(struct pios_rfm22b_dev *rfm22b_dev)
     portTickType start_time = rfm22b_dev->packet_start_ticks;
 
     // This packet was transmitted on channel 0, calculate the time delta that will force us to transmit on channel 0 at the time this packet started.
-    uint8_t num_chan    = num_channels[rfm22b_dev->datarate];
+    uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * rfm22b_dev->num_channels;
-    uint16_t frequency_hop_cycle_time = rfm22b_dev->packet_time * num_chan;
     uint16_t time_delta = start_time % frequency_hop_cycle_time;
 
     // Calculate the adjustment for the preamble
     uint8_t offset = (uint8_t)ceil(35000.0F / data_rate[rfm22b_dev->datarate]);
 
-    rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset;
+    rfm22b_dev->time_delta = frequency_hop_cycle_time - time_delta + offset +
+        rfm22b_dev->packet_time * rfm22b_dev->channel_index;
 }
 
 /**
@@ -2224,14 +2231,11 @@ static bool rfm22_timeToSend(struct pios_rfm22b_dev *rfm22b_dev)
 static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t index)
 {
     // Make sure we don't index outside of the range.
-    uint8_t num_chan = num_channels[rfm22b_dev->datarate];
+    uint8_t idx = index % rfm22b_dev->num_channels;
-    uint8_t idx = index % num_chan;
 
     // Are we switching to a new channel?
     if (idx != rfm22b_dev->channel_index) {
-        // If the on_sync_channel flag is set, it means that we were on the sync channel, but no packet was received, so transition to a non-connected state.
+        if (!rfm22_isCoordinator(rfm22b_dev) && rfm22b_dev->connected_timeout == 0) {
-        if (!rfm22_isCoordinator(rfm22b_dev) && (rfm22b_dev->channel_index == 0) && rfm22b_dev->on_sync_channel) {
-            rfm22b_dev->on_sync_channel = false;
 
             // Set the link state to disconnected.
             if (rfm22b_dev->stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {
@@ -2242,14 +2246,14 @@ static uint8_t rfm22_calcChannel(struct pios_rfm22b_dev *rfm22b_dev, uint8_t ind
                 }
             }
 
-            // Stay on the sync channel.
+            // Stay on first channel.
             idx = 0;
-        } else if (idx == 0) {
-            // If we're switching to the sync channel, set a flag that can be used to detect if a packet was received.
-            rfm22b_dev->on_sync_channel = true;
         }
 
         rfm22b_dev->channel_index = idx;
+        if (rfm22b_dev->connected_timeout > 0)
+            rfm22b_dev->connected_timeout--;
+
     }
 
     return rfm22b_dev->channels[idx];
@@ -2265,8 +2269,7 @@ static uint8_t rfm22_calcChannelFromClock(struct pios_rfm22b_dev *rfm22b_dev)
     portTickType time = rfm22_coordinatorTime(rfm22b_dev, xTaskGetTickCount());
     // Divide time into 8ms blocks.  Coordinator sends in first 2 ms, and remote send in 5th and 6th ms.
     // Channel changes occur in the last 2 ms.
-    uint8_t num_chan  = num_channels[rfm22b_dev->datarate];
+    uint8_t n = (time / rfm22b_dev->packet_time) % rfm22b_dev->num_channels;
-    uint8_t n = (time / rfm22b_dev->packet_time) % num_chan;
 
     return rfm22_calcChannel(rfm22b_dev, n);
 }

flight/pios/inc/pios_rfm22b_priv.h

@@ -780,7 +780,7 @@ struct pios_rfm22b_dev {
     portTickType packet_start_ticks;
     portTickType tx_complete_ticks;
     portTickType time_delta;
-    bool         on_sync_channel;
+    uint8_t      connected_timeout;
 };
 
 

ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp

@@ -411,26 +411,6 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSW);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorW);
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorNW);
-
-        // Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
-        // This assumes that all vectors are identical - if not, the user should use the
-        // "custom" setting.
-
-        int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
-        if (channel > -1) {
-            // get motor 1 value for Pitch
-            double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
-            m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
-
-            // get motor 2 value for Yaw and Roll
-            channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
-            value   = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
-            setYawMixLevel(qRound(value / 1.27));
-
-            channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
-            value   = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
-            m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
-        }
     } else if (frameType == "HexaCoax") {
         // Motors 1/2/3 4/5/6 are: NW/W NE/E S/SE
         setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@@ -480,7 +460,9 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
     // Now, read mixing values stored on board and applies values on sliders.
     m_aircraft->mrPitchMixLevel->setValue(getMixerValue(mixer, "MixerValuePitch"));
     m_aircraft->mrRollMixLevel->setValue(getMixerValue(mixer, "MixerValueRoll"));
-    m_aircraft->mrYawMixLevel->setValue(getMixerValue(mixer, "MixerValueYaw"));
+
+    // MixerValueYaw : negative = reversed
+    setYawMixLevel(getMixerValue(mixer, "MixerValueYaw"));
 
     updateAirframe(frameType);
 }
@@ -743,7 +725,8 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
             setMixerType(mixer, channel, VehicleConfig::MIXERTYPE_SERVO);
 
             // Tricopter : Yaw mix slider value applies to servo (was fixed)
-            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, getMixerValue(mixer, "MixerValueYaw") * 1.27);
+            // Get absolute MixerValueYaw, no servo reverse when Reverse All Motors is checked
+            setMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW, abs(getMixerValue(mixer, "MixerValueYaw")) * 1.27);
         }
 
         m_aircraft->mrStatusLabel->setText(tr("Configuration OK"));
@@ -1046,7 +1029,9 @@ bool ConfigMultiRotorWidget::setupMultiRotorMixer(double mixerFactors[8][3])
 
     setMixerValue(mixer, "MixerValueRoll", m_aircraft->mrRollMixLevel->value());
     setMixerValue(mixer, "MixerValuePitch", m_aircraft->mrPitchMixLevel->value());
-    setMixerValue(mixer, "MixerValueYaw", m_aircraft->mrYawMixLevel->value());
+
+    // Store negative value if ReverseAllMotors is checked
+    setMixerValue(mixer, "MixerValueYaw", m_aircraft->mrYawMixLevel->value() * (invertMotors ? -1.0 : 1.0));
 
     QList<QComboBox *> mmList;
     mmList << m_aircraft->multiMotorChannelBox1 << m_aircraft->multiMotorChannelBox2

ground/openpilotgcs/src/plugins/uavobjectbrowser/fieldtreeitem.h

@@ -343,7 +343,7 @@ public:
     {
         QLineEdit *lineEdit = new QLineEdit(parent);
 
-        lineEdit->setInputMask(QString(maxLength(), 'H'));
+        lineEdit->setInputMask(QString(TreeItem::maxHexStringLength(m_field->getType()), 'H'));
 
         return lineEdit;
     }
@@ -401,36 +401,77 @@ private:
 
         return str.toString().toUInt(&ok, 16);
     }
+};
 
-    int maxLength()
+class CharFieldTreeItem : public FieldTreeItem {
+    Q_OBJECT
+public:
+    CharFieldTreeItem(UAVObjectField *field, int index, const QList<QVariant> &data, TreeItem *parent = 0) :
+        FieldTreeItem(index, data, parent), m_field(field)
+    {}
+
+    CharFieldTreeItem(UAVObjectField *field, int index, const QVariant &data, TreeItem *parent = 0) :
+        FieldTreeItem(index, data, parent), m_field(field)
+    {}
+
+    QWidget *createEditor(QWidget *parent)
     {
-        int maxLength = 0;
+        QLineEdit *lineEdit = new QLineEdit(parent);
 
-        switch (m_field->getType()) {
+        lineEdit->setInputMask(QString(1, 'N'));
-        case UAVObjectField::INT8:
+
-            maxLength = 2;
+        return lineEdit;
-            break;
-        case UAVObjectField::INT16:
-            maxLength = 4;
-            break;
-        case UAVObjectField::INT32:
-            maxLength = 8;
-            break;
-        case UAVObjectField::UINT8:
-            maxLength = 2;
-            break;
-        case UAVObjectField::UINT16:
-            maxLength = 4;
-            break;
-        case UAVObjectField::UINT32:
-            maxLength = 8;
-            break;
-        default:
-            Q_ASSERT(false);
-            break;
-        }
-        return maxLength;
     }
+
+    QVariant getEditorValue(QWidget *editor)
+    {
+        QLineEdit *lineEdit = static_cast<QLineEdit *>(editor);
+
+        return lineEdit->text();
+    }
+
+    void setEditorValue(QWidget *editor, QVariant value)
+    {
+        QLineEdit *lineEdit = static_cast<QLineEdit *>(editor);
+
+        lineEdit->setText(value.toString());
+    }
+
+    void setData(QVariant value, int column)
+    {
+        setChanged(m_field->getValue(m_index) != toUInt(value));
+        TreeItem::setData(value, column);
+    }
+
+    void apply()
+    {
+        m_field->setValue(toUInt(data()), m_index);
+        setChanged(false);
+    }
+
+    void update()
+    {
+        QVariant value = toChar(m_field->getValue(m_index));
+
+        if (data() != value || changed()) {
+            TreeItem::setData(value);
+            setHighlight(true);
+        }
+    }
+
+private:
+    UAVObjectField *m_field;
+
+    QVariant toChar(QVariant value)
+    {
+        return value.toChar();
+    }
+
+    QVariant toUInt(QVariant str)
+    {
+        return QVariant(str.toString().at(0).toLatin1());
+    }
+
 };
 
 #endif // FIELDTREEITEM_H

ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.cpp

@@ -228,3 +228,34 @@ QList<MetaObjectTreeItem *> TopTreeItem::getMetaObjectItems()
 {
     return m_metaObjectTreeItemsPerObjectIds.values();
 }
+
+QVariant ArrayFieldTreeItem::data(int column) const
+{
+    if (column == 1) {
+        if (m_field->getType() == UAVObjectField::UINT8 && m_field->getUnits().toLower() == "char") {
+            QString dataString;
+            for (uint i = 0; i < m_field->getNumElements(); ++i) {
+                dataString.append(m_field->getValue(i).toChar());
+            }
+            QString data = QString("'%1'").arg(dataString);
+            return data;
+        } else if (m_field->getUnits().toLower() == "hex") {
+            QString dataString;
+            for (uint i = 0; i < m_field->getNumElements(); ++i) {
+                if (i > 0) {
+                    dataString.append(' ');
+                }
+                bool ok;
+                dataString.append(QString("%1")
+                                  .arg(m_field->getValue(i).toUInt(&ok), TreeItem::maxHexStringLength(m_field->getType()),
+                                       16, QChar('0')).toUpper());
+            }
+            QString data =  QString("{%1}").arg(dataString);
+            return data;
+        } else {
+            return QVariant();
+        }
+    } else {
+        return TreeItem::data(column);
+    }
+}

ground/openpilotgcs/src/plugins/uavobjectbrowser/treeitem.h

@@ -102,7 +102,7 @@ public:
     }
     int childCount() const;
     int columnCount() const;
-    QVariant data(int column = 1) const;
+    virtual QVariant data(int column = 1) const;
     QString description()
     {
         return m_description;
@@ -179,6 +179,27 @@ public:
         return 0;
     }
 
+    static int maxHexStringLength(UAVObjectField::FieldType type)
+    {
+        switch (type) {
+        case UAVObjectField::INT8:
+            return 2;
+        case UAVObjectField::INT16:
+            return 4;
+        case UAVObjectField::INT32:
+            return 8;
+        case UAVObjectField::UINT8:
+            return 2;
+        case UAVObjectField::UINT16:
+            return 4;
+        case UAVObjectField::UINT32:
+            return 8;
+        default:
+            Q_ASSERT(false);
+        }
+        return 0;
+    }
+
 signals:
     void updateHighlight(TreeItem *);
 
@@ -324,8 +345,14 @@ public:
 class ArrayFieldTreeItem : public TreeItem {
     Q_OBJECT
 public:
-    ArrayFieldTreeItem(const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent) {}
+    ArrayFieldTreeItem(UAVObjectField *field, const QList<QVariant> &data, TreeItem *parent = 0) : TreeItem(data, parent), m_field(field)
-    ArrayFieldTreeItem(const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent) {}
+    {}
+    ArrayFieldTreeItem(UAVObjectField *field, const QVariant &data, TreeItem *parent = 0) : TreeItem(data, parent), m_field(field)
+    {}
+    QVariant data(int column) const;
+
+private:
+    UAVObjectField*m_field;
 };
 
 #endif // TREEITEM_H

ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp

@@ -188,7 +188,7 @@ void UAVObjectTreeModel::addInstance(UAVObject *obj, TreeItem *parent)
 
 void UAVObjectTreeModel::addArrayField(UAVObjectField *field, TreeItem *parent)
 {
-    TreeItem *item = new ArrayFieldTreeItem(field->getName());
+    TreeItem *item = new ArrayFieldTreeItem(field, field->getName());
 
     item->setHighlightManager(m_highlightManager);
     connect(item, SIGNAL(updateHighlight(TreeItem *)), this, SLOT(updateHighlight(TreeItem *)));
@@ -230,6 +230,8 @@ void UAVObjectTreeModel::addSingleField(int index, UAVObjectField *field, TreeIt
         data.append(field->getUnits());
         if (field->getUnits().toLower() == "hex") {
             item = new HexFieldTreeItem(field, index, data);
+        } else if (field->getUnits().toLower() == "char") {
+            item = new CharFieldTreeItem(field, index, data);
         } else {
             item = new IntFieldTreeItem(field, index, data);
         }

shared/uavobjectdefinition/firmwareiapobj.xml

@@ -3,7 +3,7 @@
         <description>Queries board for SN, model, revision, and sends reset command</description> 
         <field name="Command" units="" type="uint16" elements="1"/> 
         <field name="Description" units="" type="uint8" elements="100"/> 
-        <field name="CPUSerial" units="" type="uint8" elements="12" /> 
+        <field name="CPUSerial" units="hex" type="uint8" elements="12" /> 
         <field name="BoardRevision" units="" type="uint16" elements="1"/> 
         <field name="BoardType" units="" type="uint8" elements="1"/> 
         <field name="BootloaderRevision" units="" type="uint8" elements="1"/>

shared/uavobjectdefinition/gpsextendedstatus.xml

@@ -3,9 +3,9 @@
         <description>Extended GPS status.</description>
         <field name="Status" units="" type="enum" elements="1" options="NONE,GPSV9" defaultvalue="NONE"/>
         <field name="FlightTime" units="" type="uint32" elements="1"/>
-        <field name="BoardType" units="bytes" type="uint8" elements="2"/>
+        <field name="BoardType" units="hex" type="uint8" elements="2"/>
-        <field name="FirmwareHash" units=" bytes" type="uint8" elements="8"/>
+        <field name="FirmwareHash" units="hex" type="uint8" elements="8"/>
-        <field name="FirmwareTag" units="bytes" type="uint8" elements="26"/>
+        <field name="FirmwareTag" units="char" type="uint8" elements="26"/>
         <field name="Options" units="" type="uint16" elements="1"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>