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Merge branch 'bugfix-flight' of ssh://git.openpilot.org/OpenPilot into bugfix-flight

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This commit is contained in:
zedamota 2011-07-14 14:07:28 +01:00
commit c22bc2a675
86 changed files with 1918 additions and 1148 deletions
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6
MILESTONES.txt
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@ -127,6 +127,12 @@ C: Werner Backes
D: July 2011
V: http://vimeo.com/25983655
M: CopterControl Y4 flight
C: Mat Wellington
D: July 2011
V: http://www.youtube.com/watch?v=TxZ4MDGIj1o
M: First Altitude Hold using Sonar
C:
D:

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35
artwork/GCS Icons/dialog-warning.svg Normal file
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19
flight/CopterControl/Makefile
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@ -113,12 +113,9 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
ifndef TESTAPP
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/coptercontrol.c
@ -490,7 +487,7 @@ LSTFILES = $(addprefix $(OUTDIR)/, $(addsuffix .lst, $(ALLSRCBASE)))
DEPFILES = $(addprefix $(OUTDIR)/dep/, $(addsuffix .o.d, $(ALLSRCBASE)))
# Default target.
all: gencode build
all: build
ifeq ($(LOADFORMAT),ihex)
build: elf hex lss sym
@ -506,18 +503,6 @@ endif
endif
endif
# Generate intermediate code for objects
gencode: ${OUTDIR}/InitMods.c
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
#$(OUTDIR)/pmlib_img.c $(OUTDIR)/pmlib_nat.c $(OUTDIR)/pmlibusr_img.c $(OUTDIR)/pmlibusr_nat.c $(OUTDIR)/pmfeatures.h: $(wildcard $(PYMITELIB)/*.py) $(wildcard $(PYMITEPLAT)/*.py) $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(FLIGHTPLANS)/*.py)
# @echo $(MSG_PYMITEINIT) $(call toprel, $@)
@ -624,4 +609,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list gencode install
.PHONY : all build clean clean_list install

52
flight/CopterControl/System/coptercontrol.c
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@ -42,18 +42,16 @@
/* Global Variables */
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
/**
* OpenPilot Main function:
*
* Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler)<BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms
*
*/
@ -65,41 +63,33 @@ int main()
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Initialize the system thread */
SystemModInitialize();
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Start the FreeRTOS scheduler */
/* Initialize modules */
MODULE_INITIALISE_ALL
/* swap the stack to use the IRQ stack */
Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
#ifdef ERASE_FLASH
PIOS_Flash_W25X_EraseChip();
while(TRUE){};
#endif
/* Initialize modules */
InitModules();
}
/**
* @}
* @}

7
flight/CopterControl/System/inc/FreeRTOSConfig.h
View File

@ -30,7 +30,7 @@
#define configTICK_RATE_HZ ( ( portTickType ) 1000 )
#define configMAX_PRIORITIES ( ( unsigned portBASE_TYPE ) 5 )
#define configMINIMAL_STACK_SIZE ( ( unsigned short ) 48 )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 14 * 1024 ) )
#define configTOTAL_HEAP_SIZE ( ( size_t ) ( 55 * 256) )
#define configMAX_TASK_NAME_LEN ( 16 )
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
@ -71,6 +71,10 @@ configKERNEL_INTERRUPT_PRIORITY setting. Here 15 corresponds to the lowest
NVIC value of 255. */
#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY 15
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/* Enable run time stats collection */
//#if defined(DEBUG)
#define configGENERATE_RUN_TIME_STATS 1
@ -83,6 +87,7 @@ do {\
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
//#endif
/**
* @}
*/

4
flight/CopterControl/System/inc/pios_config.h
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@ -88,13 +88,15 @@
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 40
#define IRQSTACK_LIMIT_WARNING 100
#define IRQSTACK_LIMIT_CRITICAL 60
#define CPULOAD_LIMIT_WARNING 85
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 724
#define PIOS_SYSTEM_STACK_SIZE 560
#define PIOS_SYSTEM_STACK_SIZE 460
#define PIOS_STABILIZATION_STACK_SIZE 524
#define PIOS_TELEM_STACK_SIZE 500
#define PIOS_EVENTDISPATCHER_STACK_SIZE 96

4
flight/CopterControl/System/pios_board.c
View File

@ -434,7 +434,7 @@ static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
},
},
.rx = {
.gpio = GPIOA,
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
@ -442,7 +442,7 @@ static const struct pios_usart_cfg pios_usart_spektrum_flexi_cfg = {
},
},
.tx = {
.gpio = GPIOA,
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,

13
flight/Modules/AHRSComms/ahrs_comms.c
View File

@ -69,7 +69,7 @@ static void ahrscommsTask(void *parameters);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
int32_t AHRSCommsStart(void)
{
// Start main task
xTaskCreate(ahrscommsTask, (signed char *)"AHRSComms", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
@ -79,6 +79,17 @@ int32_t AHRSCommsInitialize(void)
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AHRSCommsInitialize(void)
{
return 0;
}
MODULE_INITCALL(AHRSCommsInitialize, 0, AHRSCommsStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* Module thread, should not return.
*/

19
flight/Modules/Actuator/actuator.c
View File

@ -85,6 +85,19 @@ typedef struct {
int8_t matrix[5];
} __attribute__((packed)) Mixer_t;
/**
* @brief Module initialization
* @return 0
*/
int32_t ActuatorStart()
{
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;
}
/**
* @brief Module initialization
@ -101,13 +114,9 @@ int32_t ActuatorInitialize()
// If settings change, update the output rate
ActuatorSettingsConnectCallback(actuator_update_rate);
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ACTUATOR, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ACTUATOR);
return 0;
}
MODULE_INITCALL(ActuatorInitialize, 0, ActuatorStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* @brief Main Actuator module task

15
flight/Modules/Altitude/altitude.c
View File

@ -37,6 +37,7 @@
*/
#include "openpilot.h"
#include "altitude.h"
#include "baroaltitude.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonaraltitude.h" // object that will be updated by the module
@ -66,12 +67,22 @@ static void altitudeTask(void *parameters);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
int32_t AltitudeStart()
{
// Start main task
xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ALTITUDE, taskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
{
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
@ -79,7 +90,7 @@ int32_t AltitudeInitialize()
return 0;
}
MODULE_INITCALL(AltitudeInitialize, 0, AltitudeStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* Module thread, should not return.
*/

84
flight/Modules/Attitude/attitude.c
View File

@ -89,6 +89,22 @@ static float q[4] = {1,0,0,0};
static float R[3][3];
static int8_t rotate = 0;
static bool zero_during_arming = false;
static bool bias_correct_gyro = true;
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AttitudeStart(void)
{
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
/**
* Initialise the module, called on startup
@ -105,27 +121,39 @@ int32_t AttitudeInitialize(void)
attitude.q4 = 0;
AttitudeActualSet(&attitude);
// Cannot trust the values to init right above if BL runs
gyro_correct_int[0] = 0;
gyro_correct_int[1] = 0;
gyro_correct_int[2] = 0;
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
for(uint8_t i = 0; i < 3; i++)
for(uint8_t j = 0; j < 3; j++)
R[i][j] = 0;
// Create queue for passing gyro data, allow 2 back samples in case
gyro_queue = xQueueCreate(1, sizeof(float) * 4);
if(gyro_queue == NULL)
return -1;
PIOS_ADC_SetQueue(gyro_queue);
AttitudeSettingsConnectCallback(&settingsUpdatedCb);
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_ATTITUDE, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
return 0;
}
MODULE_INITCALL(AttitudeInitialize, 0, AttitudeStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* Module thread, should not return.
*/
static void AttitudeTask(void *parameters)
{
uint8_t init = 0;
AlarmsClear(SYSTEMALARMS_ALARM_ATTITUDE);
@ -135,16 +163,17 @@ static void AttitudeTask(void *parameters)
PIOS_FLASH_DISABLE;
PIOS_ADXL345_Init();
zero_during_arming = false;
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
// Main task loop
while (1) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(xTaskGetTickCount() < 7000) {
// Force settings update to make sure rotation loaded
settingsUpdatedCb(AttitudeSettingsHandle());
if((xTaskGetTickCount() < 7000) && (xTaskGetTickCount() > 1000)) {
// For first 7 seconds use accels to get gyro bias
accelKp = 1;
accelKi = 0.9;
@ -157,7 +186,10 @@ static void AttitudeTask(void *parameters)
yawBiasRate = 0.23;
init = 0;
} else if (init == 0) {
settingsUpdatedCb(AttitudeSettingsHandle());
// Reload settings (all the rates)
AttitudeSettingsAccelKiGet(&accelKi);
AttitudeSettingsAccelKpGet(&accelKp);
AttitudeSettingsYawBiasRateGet(&yawBiasRate);
init = 1;
}
@ -228,25 +260,25 @@ static void updateSensors(AttitudeRawData * attitudeRaw)
attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Y] - accelbias[1]) * 0.004f * 9.81f;
attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] = (attitudeRaw->accels[ATTITUDERAW_ACCELS_Z] - accelbias[2]) * 0.004f * 9.81f;
if(bias_correct_gyro) {
// Applying integral component here so it can be seen on the gyros and correct bias
attitudeRaw->gyros[ATTITUDERAW_GYROS_X] += gyro_correct_int[0];
attitudeRaw->gyros[ATTITUDERAW_GYROS_Y] += gyro_correct_int[1];
// Because most crafts wont get enough information from gravity to zero yaw gyro
attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] += gyro_correct_int[2];
}
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - attitudeRaw->gyros[ATTITUDERAW_GYROS_Z] * yawBiasRate;
}
static void updateAttitude(AttitudeRawData * attitudeRaw)
{
float dT;
portTickType thisSysTime = xTaskGetTickCount();
static portTickType lastSysTime = 0;
static portTickType thisSysTime;
static float dT = 0;
thisSysTime = xTaskGetTickCount();
if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
dT = (thisSysTime == lastSysTime) ? 0.001 : (portMAX_DELAY & (thisSysTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisSysTime;
// Bad practice to assume structure order, but saves memory
@ -272,7 +304,7 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
accel_err[1] /= accel_mag;
accel_err[2] /= accel_mag;
// Accumulate integral of error. Scale here so that units are (rad/s) but Ki has units of s
// Accumulate integral of error. Scale here so that units are (deg/s) but Ki has units of s
gyro_correct_int[0] += accel_err[0] * accelKi;
gyro_correct_int[1] += accel_err[1] * accelKi;
//gyro_correct_int[2] += accel_err[2] * settings.AccelKI * dT;
@ -306,6 +338,15 @@ static void updateAttitude(AttitudeRawData * attitudeRaw)
q[2] = q[2] / qmag;
q[3] = q[3] / qmag;
// If quaternion has become inappropriately short or is nan reinit.
// THIS SHOULD NEVER ACTUALLY HAPPEN
if((fabs(qmag) < 1e-3) || (qmag != qmag)) {
q[0] = 1;
q[1] = 0;
q[2] = 0;
q[3] = 0;
}
AttitudeActualData attitudeActual;
AttitudeActualGet(&attitudeActual);
@ -328,11 +369,16 @@ static void settingsUpdatedCb(UAVObjEvent * objEv) {
gyroGain = attitudeSettings.GyroGain;
zero_during_arming = attitudeSettings.ZeroDuringArming == ATTITUDESETTINGS_ZERODURINGARMING_TRUE;
bias_correct_gyro = attitudeSettings.BiasCorrectGyro == ATTITUDESETTINGS_BIASCORRECTGYRO_TRUE;
accelbias[0] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_X];
accelbias[1] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Y];
accelbias[2] = attitudeSettings.AccelBias[ATTITUDESETTINGS_ACCELBIAS_Z];
gyro_correct_int[0] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_X] / 100.0f;
gyro_correct_int[1] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Y] / 100.0f;
gyro_correct_int[2] = attitudeSettings.GyroBias[ATTITUDESETTINGS_GYROBIAS_Z] / 100.0f;
// Indicates not to expend cycles on rotation
if(attitudeSettings.BoardRotation[0] == 0 && attitudeSettings.BoardRotation[1] == 0 &&
attitudeSettings.BoardRotation[2] == 0) {

1
flight/Modules/Battery/battery.c
View File

@ -75,6 +75,7 @@ static void onTimer(UAVObjEvent* ev);
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
MODULE_INITCALL(BatteryInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG)
int32_t BatteryInitialize(void)
{
static UAVObjEvent ev;

9
flight/Modules/Example/example.c
View File

@ -49,9 +49,14 @@
#include "examplemodperiodic.h"
#include "examplemodthread.h"
void ExampleInitialize(void)
void ExampleStart(void)
{
ExampleModEventInitialize();
ExampleModPeriodicInitialize();
ExampleModThreadInitialize();
}
void ExampleInitialize(void)
{
ExampleModEventInitialize();
}
MODULE_INITCALL(ExampleInitialize, 0, ExampleStart, 0, MODULE_EXEC_NOORDER_FLAG)

4
flight/Modules/FirmwareIAP/firmwareiap.c
View File

@ -88,7 +88,7 @@ static void resetTask(UAVObjEvent *);
* \note
*
*/
MODULE_INITCALL(FirmwareIAPInitialize, 0, 0, 0, MODULE_EXEC_NOORDER_FLAG)
int32_t FirmwareIAPInitialize()
{
const struct pios_board_info * bdinfo = &pios_board_info_blob;
@ -100,7 +100,7 @@ int32_t FirmwareIAPInitialize()
data.ArmReset=0;
data.crc = 0;
FirmwareIAPObjSet( &data );
FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
if(bdinfo->magic==PIOS_BOARD_INFO_BLOB_MAGIC) FirmwareIAPObjConnectCallback( &FirmwareIAPCallback );
return 0;
}

21
flight/Modules/FlightPlan/flightplan.c
View File

@ -31,6 +31,7 @@
#include "openpilot.h"
#include "pm.h"
#include "flightplan.h"
#include "flightplanstatus.h"
#include "flightplancontrol.h"
#include "flightplansettings.h"
@ -53,6 +54,20 @@ static void objectUpdatedCb(UAVObjEvent * ev);
// External variables (temporary, TODO: this will be loaded from the SD card)
extern unsigned char usrlib_img[];
/**
* Module initialization
*/
int32_t FlightPlanStart()
{
taskHandle = NULL;
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
/**
* Module initialization
*/
@ -69,13 +84,9 @@ int32_t FlightPlanInitialize()
// Listen for FlightPlanControl updates
FlightPlanControlConnectQueue(queue);
// Start VM thread
xTaskCreate(flightPlanTask, (signed char *)"FlightPlan", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_FLIGHTPLAN, taskHandle);
return 0;
}
MODULE_INITCALL(FlightPlanInitialize, 0, FlightPlanStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* Module task
*/

22
flight/Modules/GPS/GPS.c
View File

@ -109,19 +109,27 @@ static uint32_t numParsingErrors;
* \return 0 on success
*/
int32_t GPSInitialize(void)
int32_t GPSStart(void)
{
signed portBASE_TYPE xReturn;
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
// Start gps task
xReturn = xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t GPSInitialize(void)
{
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
return 0;
}
MODULE_INITCALL(GPSInitialize, 0, GPSStart, 0, MODULE_EXEC_NOORDER_FLAG)
// ****************
/**

18
flight/Modules/Guidance/guidance.c
View File

@ -78,6 +78,19 @@ static void updateVtolDesiredVelocity();
static void manualSetDesiredVelocity();
static void updateVtolDesiredAttitude();
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceStart()
{
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
@ -90,12 +103,9 @@ int32_t GuidanceInitialize()
// Listen for updates.
AttitudeRawConnectQueue(queue);
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
return 0;
}
MODULE_INITCALL(GuidanceInitialize, 0, GuidanceStart, 0, MODULE_EXEC_NOORDER_FLAG)
static float northVelIntegral = 0;
static float eastVelIntegral = 0;

2
flight/Modules/Guidance/inc/guidance.h
View File

@ -27,5 +27,5 @@
#define EXAMPLEMODPERIODIC_H
int32_t ExampleModPeriodicInitialize();
int32_t GuidanceInitialize(void);
#endif // EXAMPLEMODPERIODIC_H

60
flight/Modules/ManualControl/inc/manualcontrol.h
View File

@ -45,4 +45,64 @@ typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABIL
int32_t ManualControlInitialize();
/*
* These are assumptions we make in the flight code about the order of settings and their consistency between
* objects. Please keep this synchronized to the UAVObjects
*/
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#endif // MANUALCONTROL_H

71
flight/Modules/ManualControl/manualcontrol.c
View File

@ -87,64 +87,12 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
static bool okToArm(void);
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
#define assumptions1 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions3 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define assumptions5 ( \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
)
#define ARMING_CHANNEL_ROLL 0
#define ARMING_CHANNEL_PITCH 1
#define ARMING_CHANNEL_YAW 2
#define assumptions7 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
)
#define assumptions8 ( \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
)
#define assumptions_flightmode ( \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
)
#define assumptions (assumptions1 && assumptions3 && assumptions5 && assumptions7 && assumptions8 && assumptions_flightmode)
/**
* Module initialization
*/
int32_t ManualControlInitialize()
int32_t ManualControlStart()
{
/* Check the assumptions about uavobject enum's are correct */
if(!assumptions)
@ -153,10 +101,18 @@ int32_t ManualControlInitialize()
xTaskCreate(manualControlTask, (signed char *)"ManualControl", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_MANUALCONTROL, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_MANUAL);
return 0;
}
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
return 0;
}
MODULE_INITCALL(ManualControlInitialize, 0, ManualControlStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* Module task
@ -367,17 +323,23 @@ static void updateStabilizationDesired(ManualControlCommandData * cmd, ManualCon
stabilization.Roll = (stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Roll * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_ROLL] :
0; // this is an invalid mode
;
stabilization.Pitch = (stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Pitch * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_PITCH] :
0; // this is an invalid mode
stabilization.Yaw = (stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) ? cmd->Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? fmod(cmd->Yaw * 180.0, 360) :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd->Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd->Yaw * stabSettings.ManualRate[STABILIZATIONSETTINGS_MANUALRATE_YAW] :
0; // this is an invalid mode
stabilization.Throttle = (cmd->Throttle < 0) ? -1 : cmd->Throttle;
@ -621,3 +583,4 @@ bool validInputRange(int16_t min, int16_t max, uint16_t value)
* @}
* @}
*/

165
flight/Modules/Stabilization/stabilization.c
View File

@ -77,6 +77,14 @@ static xTaskHandle taskHandle;
static StabilizationSettingsData settings;
static xQueueHandle queue;
float dT = 1;
float gyro_alpha = 0;
float gyro_filtered[3] = {0,0,0};
float axis_lock_accum[3] = {0,0,0};
uint8_t max_axis_lock = 0;
uint8_t max_axislock_rate = 0;
float weak_leveling_kp = 0;
uint8_t weak_leveling_max = 0;
pid_type pids[PID_MAX];
// Private functions
@ -86,6 +94,20 @@ static float bound(float val);
static void ZeroPids(void);
static void SettingsUpdatedCb(UAVObjEvent * ev);
/**
* Module initialization
*/
int32_t StabilizationStart()
{
// Initialize variables
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}
/**
* Module initialization
*/
@ -103,13 +125,12 @@ int32_t StabilizationInitialize()
StabilizationSettingsConnectCallback(SettingsUpdatedCb);
SettingsUpdatedCb(StabilizationSettingsHandle());
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_STABILIZATION, taskHandle);
PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
return 0;
}
MODULE_INITCALL(StabilizationInitialize, 0, StabilizationStart, 0, MODULE_EXEC_NOORDER_FLAG)
/**
* Module task
*/
@ -193,21 +214,59 @@ static void stabilizationTask(void* parameters)
local_error[2] = fmod(local_error[2] + 180, 360) - 180;
#endif
for(uint8_t i = 0; i < MAX_AXES; i++) {
gyro_filtered[i] = gyro_filtered[i] * gyro_alpha + attitudeRaw.gyros[i] * (1 - gyro_alpha);
}
float *attitudeDesiredAxis = &stabDesired.Roll;
float *actuatorDesiredAxis = &actuatorDesired.Roll;
float *rateDesiredAxis = &rateDesired.Roll;
//Calculate desired rate
for(int8_t ct=0; ct< MAX_AXES; ct++)
for(uint8_t i=0; i< MAX_AXES; i++)
{
switch(stabDesired.StabilizationMode[ct])
switch(stabDesired.StabilizationMode[i])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
rateDesiredAxis[ct] = attitudeDesiredAxis[ct];
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float weak_leveling = local_error[i] * weak_leveling_kp;
if(weak_leveling > weak_leveling_max)
weak_leveling = weak_leveling_max;
if(weak_leveling < -weak_leveling_max)
weak_leveling = -weak_leveling_max;
rateDesiredAxis[i] = attitudeDesiredAxis[i] + weak_leveling;
axis_lock_accum[i] = 0;
break;
}
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
rateDesiredAxis[ct] = ApplyPid(&pids[PID_ROLL + ct], local_error[ct]);
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], local_error[i]);
axis_lock_accum[i] = 0;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
if(fabs(attitudeDesiredAxis[i]) > max_axislock_rate) {
// While getting strong commands act like rate mode
rateDesiredAxis[i] = attitudeDesiredAxis[i];
axis_lock_accum[i] = 0;
} else {
// For weaker commands or no command simply attitude lock (almost) on no gyro change
axis_lock_accum[i] += (attitudeDesiredAxis[i] - gyro_filtered[i]) * dT;
if(axis_lock_accum[i] > max_axis_lock)
axis_lock_accum[i] = max_axis_lock;
else if(axis_lock_accum[i] < -max_axis_lock)
axis_lock_accum[i] = -max_axis_lock;
rateDesiredAxis[i] = ApplyPid(&pids[PID_ROLL + i], axis_lock_accum[i]);
}
break;
}
}
@ -218,23 +277,19 @@ static void stabilizationTask(void* parameters)
//Calculate desired command
for(int8_t ct=0; ct< MAX_AXES; ct++)
{
if(fabs(rateDesiredAxis[ct]) > settings.MaximumRate[ct])
{
if(rateDesiredAxis[ct] > 0)
{
if(rateDesiredAxis[ct] > settings.MaximumRate[ct])
rateDesiredAxis[ct] = settings.MaximumRate[ct];
}else
{
else if(rateDesiredAxis[ct] < -settings.MaximumRate[ct])
rateDesiredAxis[ct] = -settings.MaximumRate[ct];
}
}
switch(stabDesired.StabilizationMode[ct])
{
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
case STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK:
case STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING:
{
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct]-attitudeRaw.gyros[ct]);
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rateDesiredAxis[ct] - gyro_filtered[ct]);
actuatorDesiredAxis[ct] = bound(command);
break;
}
@ -274,7 +329,7 @@ static void stabilizationTask(void* parameters)
}
if(flightStatus.Armed != FLIGHTSTATUS_ARMED_ARMED ||
!shouldUpdate || (stabDesired.Throttle < 0))
!shouldUpdate)
{
ZeroPids();
}
@ -289,15 +344,15 @@ float ApplyPid(pid_type * pid, const float err)
{
float diff = (err - pid->lastErr);
pid->lastErr = err;
pid->iAccumulator += err * pid->i * dT;
if(fabs(pid->iAccumulator) > pid->iLim) {
if(pid->iAccumulator >0) {
pid->iAccumulator = pid->iLim;
} else {
pid->iAccumulator = -pid->iLim;
// Scale up accumulator by 1000 while computing to avoid losing precision
pid->iAccumulator += err * (pid->i * dT * 1000);
if(pid->iAccumulator > (pid->iLim * 1000)) {
pid->iAccumulator = pid->iLim * 1000;
} else if (pid->iAccumulator < -(pid->iLim * 1000)) {
pid->iAccumulator = -pid->iLim * 1000;
}
}
return ((err * pid->p) + pid->iAccumulator + (diff * pid->d / dT));
return ((err * pid->p) + pid->iAccumulator / 1000 + (diff * pid->d / dT));
}
@ -307,6 +362,8 @@ static void ZeroPids(void)
pids[ct].iAccumulator = 0;
pids[ct].lastErr = 0;
}
for(uint8_t i = 0; i < 3; i++)
axis_lock_accum[i] = 0;
}
@ -329,13 +386,57 @@ static void SettingsUpdatedCb(UAVObjEvent * ev)
memset(pids,0,sizeof (pid_type) * PID_MAX);
StabilizationSettingsGet(&settings);
float * data = settings.RollRatePI;
for(int8_t pid=0; pid < PID_MAX; pid++)
{
pids[pid].p = *data++;
pids[pid].i = *data++;
pids[pid].iLim = *data++;
}
// Set the roll rate PID constants
pids[0].p = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP];
pids[0].i = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI];
pids[0].d = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD];
pids[0].iLim = settings.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT];
// Set the pitch rate PID constants
pids[1].p = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP];
pids[1].i = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI];
pids[1].d = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD];
pids[1].iLim = settings.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT];
// Set the yaw rate PID constants
pids[2].p = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP];
pids[2].i = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI];
pids[2].d = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD];
pids[2].iLim = settings.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT];
// Set the roll attitude PI constants
pids[3].p = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP];
pids[3].i = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI];
pids[3].iLim = settings.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT];
// Set the pitch attitude PI constants
pids[4].p = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP];
pids[4].i = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI];
pids[4].iLim = settings.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT];
// Set the yaw attitude PI constants
pids[5].p = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KP];
pids[5].i = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_KI];
pids[5].iLim = settings.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT];
// Maximum deviation to accumulate for axis lock
max_axis_lock = settings.MaxAxisLock;
max_axislock_rate = settings.MaxAxisLockRate;
// Settings for weak leveling
weak_leveling_kp = settings.WeakLevelingKp;
weak_leveling_max = settings.MaxWeakLevelingRate;
// The dT has some jitter iteration to iteration that we don't want to
// make thie result unpredictable. Still, it's nicer to specify the constant
// based on a time (in ms) rather than a fixed multiplier. The error between
// update rates on OP (~300 Hz) and CC (~475 Hz) is negligible for this
// calculation
const float fakeDt = 0.0025;
if(settings.GyroTau < 0.0001)
gyro_alpha = 0; // not trusting this to resolve to 0
else
gyro_alpha = exp(-fakeDt / settings.GyroTau);
}

85
flight/Modules/System/systemmod.c
View File

@ -84,18 +84,34 @@ static void updateSystemAlarms();
static void systemTask(void *parameters);
/**
* Initialise the module, called on startup.
* \returns 0 on success or -1 if initialisation failed
* Create the module task.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
int32_t SystemModStart(void)
{
// Initialize vars
stackOverflow = 0;
// Create system task
xTaskCreate(systemTask, (signed char *)"System", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &systemTaskHandle);
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
return 0;
}
/**
* Initialize the module, called on startup.
* \returns 0 on success or -1 if initialization failed
*/
int32_t SystemModInitialize(void)
{
SystemModStart();
return 0;
}
MODULE_INITCALL(SystemModInitialize, 0, 0, 0, MODULE_EXEC_FIRST_FLAG)
/**
* System task, periodically executes every SYSTEM_UPDATE_PERIOD_MS
*/
@ -103,11 +119,8 @@ static void systemTask(void *parameters)
{
portTickType lastSysTime;
// System initialization
OpenPilotInit();
// Register task
TaskMonitorAdd(TASKINFO_RUNNING_SYSTEM, systemTaskHandle);
/* create all modules thread */
MODULE_TASKCREATE_ALL
// Initialize vars
idleCounter = 0;
@ -260,6 +273,48 @@ static void updateWDGstats()
WatchdogStatusSet(&watchdogStatus);
}
/**
* Called periodically to update the system stats
*/
static uint16_t GetFreeIrqStackSize(void)
{
uint32_t i = 0x200;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
extern uint32_t _irq_stack_top;
extern uint32_t _irq_stack_end;
uint32_t pattern = 0x0000A5A5;
uint32_t *ptr = &_irq_stack_end;
#if 1 /* the ugly way accurate but takes more time, useful for debugging */
uint32_t stack_size = (((uint32_t)&_irq_stack_top - (uint32_t)&_irq_stack_end) & ~3 ) / 4;
for (i=0; i< stack_size; i++)
{
if (ptr[i] != pattern)
{
i=i*4;
break;
}
}
#else /* faster way but not accurate */
if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_CRITICAL) != pattern)
{
i = IRQSTACK_LIMIT_CRITICAL - 1;
}
else if (*(volatile uint32_t *)((uint32_t)ptr + IRQSTACK_LIMIT_WARNING) != pattern)
{
i = IRQSTACK_LIMIT_WARNING - 1;
}
else
{
i = IRQSTACK_LIMIT_WARNING;
}
#endif
#endif
return i;
}
/**
* Called periodically to update the system stats
*/
@ -278,6 +333,9 @@ static void updateStats()
stats.HeapRemaining = xPortGetFreeHeapSize();
#endif
// Get Irq stack status
stats.IRQStackRemaining = GetFreeIrqStackSize();
// When idleCounterClear was not reset by the idle-task, it means the idle-task did not run
if (idleCounterClear) {
idleCounter = 0;
@ -320,6 +378,17 @@ static void updateSystemAlarms()
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32) && defined(CHECK_IRQ_STACK)
// Check IRQ stack
if (stats.IRQStackRemaining < IRQSTACK_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (stats.IRQStackRemaining < IRQSTACK_LIMIT_WARNING) {
AlarmsSet(SYSTEMALARMS_ALARM_OUTOFMEMORY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_OUTOFMEMORY);
}
#endif
// Check CPU load
if (stats.CPULoad > CPULOAD_LIMIT_CRITICAL) {
AlarmsSet(SYSTEMALARMS_ALARM_CPUOVERLOAD, SYSTEMALARMS_ALARM_CRITICAL);

36
flight/Modules/Telemetry/telemetry.c
View File

@ -31,6 +31,7 @@
*/
#include "openpilot.h"
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
@ -80,6 +81,28 @@ static void updateTelemetryStats();
static void gcsTelemetryStatsUpdated();
static void updateSettings();
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
* \return 0 on success
*/
int32_t TelemetryStart(void)
{
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
/**
* Initialise the telemetry module
* \return -1 if initialisation failed
@ -117,20 +140,11 @@ int32_t TelemetryInitialize(void)
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
xTaskCreate(telemetryTxPriTask, (signed char *)"TelPriTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TXPRI, &telemetryTxPriTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_TELEMETRYTXPRI, telemetryTxPriTaskHandle);
#endif
return 0;
}
MODULE_INITCALL(TelemetryInitialize, 0, TelemetryStart, 0, MODULE_EXEC_LAST_FLAG)
/**
* Register a new object, adds object to local list and connects the queue depending on the object's
* telemetry settings.

14
flight/OpenPilot/Makefile
View File

@ -112,8 +112,6 @@ UAVOBJSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
# List C source files here. (C dependencies are automatically generated.)
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES} ${PYMODULES})
ifndef TESTAPP
## PyMite files and modules
@ -128,7 +126,6 @@ SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
SRC += $(OPSYSTEM)/openpilot.c
@ -472,19 +469,10 @@ endif
endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
$(PYSRC): gencode
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile
@echo $(MSG_MODINIT) $(call toprel, $@)
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
@echo $(MSG_PYMITEINIT) $(call toprel, $@)

4
flight/OpenPilot/Makefile.posix
View File

@ -441,9 +441,13 @@ ${OUTDIR}/InitMods.c: Makefile.posix
@echo ${MSG_MODINIT}
@echo ${quote}// Autogenerated file${quote} > ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Initialize(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, extern unsigned int ${MOD}Start(void);}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void InitModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Initialize();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}void StartModules() {${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}${foreach MOD, ${MODNAMES}, ${MOD}Start();}${quote} >> ${OUTDIR}/InitMods.c
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)

3
flight/OpenPilot/System/inc/FreeRTOSConfig.h
View File

@ -83,6 +83,9 @@ do {\
#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004)/* DWT_CYCCNT */
#endif
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
#define CHECK_IRQ_STACK
#endif
/**
* @}

2
flight/OpenPilot/System/inc/pios_config.h
View File

@ -84,6 +84,8 @@
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95

61
flight/OpenPilot/System/openpilot.c
View File

@ -62,11 +62,10 @@ static void TaskSDCard(void *pvParameters);
int32_t CONSOLE_Parse(uint8_t port, char c);
void OP_ADC_NotifyChange(uint32_t pin, uint32_t pin_value);
/* Prototype of generated InitModules() function */
extern void InitModules(void);
/* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void);
extern void Stack_Change(void);
static void Stack_Change_Weak () __attribute__ ((weakref ("Stack_Change")));
/**
* OpenPilot Main function:
@ -85,48 +84,42 @@ int main()
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
/* Initialize the system thread */
SystemModInitialize();
/* Start the FreeRTOS scheduler */
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* If we do get here, it will most likely be because we ran out of heap space. */
PIOS_LED_Off(LED1);
PIOS_LED_Off(LED2);
for(;;) {
PIOS_LED_Toggle(LED1);
PIOS_LED_Toggle(LED2);
PIOS_DELAY_WaitmS(100);
}
return 0;
}
/**
* Initialize the hardware, libraries and modules (called by the System thread in systemmod.c)
*/
void OpenPilotInit()
{
/* Architecture dependant Hardware and
* core subsystem initialisation
* (see pios_board.c for your arch)
* */
PIOS_Board_Init();
/* Initialize modules */
InitModules();
MODULE_INITIALISE_ALL
#if INCLUDE_TEST_TASKS
/* Create test tasks */
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
#endif
/* swap the stack to use the IRQ stack (does nothing in sim mode) */
Stack_Change_Weak();
/* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \
for(;;) { \
PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \
};
return 0;
}
#if INCLUDE_TEST_TASKS
static void TaskTesting(void *pvParameters)
{

17
flight/PiOS.posix/inc/pios_initcall.h
View File

@ -38,7 +38,22 @@
* and we cannot define a linker script for each of them atm
*/
#define uavobj_initcall(fn)
extern void InitModules();
extern void StartModules();
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
#define MODULE_TASKCREATE_ALL { \
/* Start all module threads */ \
StartModules(); \
}
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Initialize the system thread */ \
SystemModInitialize();}
#endif /* PIOS_INITCALL_H */

13
flight/PiOS.win32/inc/pios_initcall.h
View File

@ -38,7 +38,18 @@
* and we cannot define a linker script for each of them atm
*/
#define uavobj_initcall(fn)
#define UAVOBJ_INITCALL(fn)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags)
#define MODULE_TASKCREATE_ALL
#define MODULE_INITIALISE_ALL { \
/* Initialize modules */ \
InitModules(); \
/* Start the FreeRTOS scheduler which never returns.*/ \
/* Initialize the system thread */ \
SystemModInitialize();}
#endif /* PIOS_INITCALL_H */

18
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_1.c
View File

@ -81,9 +81,11 @@ static union xRTOS_HEAP
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap;
} xHeap __attribute__ ((section (".heap")));
static size_t xNextFreeByte = ( size_t ) 0;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/*-----------------------------------------------------------*/
void *pvPortMalloc( size_t xWantedSize )
@ -102,7 +104,7 @@ void *pvReturn = NULL;
vTaskSuspendAll();
{
/* Check there is enough room left for the allocation. */
if( ( ( xNextFreeByte + xWantedSize ) < configTOTAL_HEAP_SIZE ) &&
if( ( ( xNextFreeByte + xWantedSize ) < currentTOTAL_HEAP_SIZE ) &&
( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
{
/* Return the next free byte then increment the index past this
@ -145,8 +147,14 @@ void vPortInitialiseBlocks( void )
size_t xPortGetFreeHeapSize( void )
{
return ( configTOTAL_HEAP_SIZE - xNextFreeByte );
return ( currentTOTAL_HEAP_SIZE - xNextFreeByte );
}
/*-----------------------------------------------------------*/
void xPortIncreaseHeapSize( size_t bytes )
{
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

24
flight/PiOS/STM32F10x/Libraries/FreeRTOS/Source/portable/MemMang/heap_2.c
View File

@ -81,7 +81,7 @@ static union xRTOS_HEAP
volatile unsigned long ulDummy;
#endif
unsigned char ucHeap[ configTOTAL_HEAP_SIZE ];
} xHeap;
} xHeap __attribute__ ((section (".heap")));
/* Define the linked list structure. This is used to link free blocks in order
of their size. */
@ -101,6 +101,7 @@ static xBlockLink xStart, xEnd;
/* Keeps track of the number of free bytes remaining, but says nothing about
fragmentation. */
static size_t xFreeBytesRemaining = configTOTAL_HEAP_SIZE;
static size_t currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE;
/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
@ -140,13 +141,13 @@ xBlockLink *pxFirstFreeBlock; \
xStart.xBlockSize = ( size_t ) 0; \
\
/* xEnd is used to mark the end of the list of free blocks. */ \
xEnd.xBlockSize = configTOTAL_HEAP_SIZE; \
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE; \
xEnd.pxNextFreeBlock = NULL; \
\
/* To start with there is a single free block that is sized to take up the \
entire heap space. */ \
pxFirstFreeBlock = ( void * ) xHeap.ucHeap; \
pxFirstFreeBlock->xBlockSize = configTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->xBlockSize = currentTOTAL_HEAP_SIZE; \
pxFirstFreeBlock->pxNextFreeBlock = &xEnd; \
}
/*-----------------------------------------------------------*/
@ -181,7 +182,7 @@ void *pvReturn = NULL;
}
}
if( ( xWantedSize > 0 ) && ( xWantedSize < configTOTAL_HEAP_SIZE ) )
if( ( xWantedSize > 0 ) && ( xWantedSize < currentTOTAL_HEAP_SIZE ) )
{
/* Blocks are stored in byte order - traverse the list from the start
(smallest) block until one of adequate size is found. */
@ -276,3 +277,18 @@ void vPortInitialiseBlocks( void )
{
/* This just exists to keep the linker quiet. */
}
void xPortIncreaseHeapSize( size_t bytes )
{
xBlockLink *pxNewBlockLink;
vTaskSuspendAll();
currentTOTAL_HEAP_SIZE = configTOTAL_HEAP_SIZE + bytes;
xEnd.xBlockSize = currentTOTAL_HEAP_SIZE;
xFreeBytesRemaining += bytes;
/* Insert the new block into the list of free blocks. */
pxNewBlockLink = ( void * ) &xHeap.ucHeap[ configTOTAL_HEAP_SIZE ];
pxNewBlockLink->xBlockSize = bytes;
prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
xTaskResumeAll();
}
/*-----------------------------------------------------------*/

21
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_BL_sections.ld
View File

@ -3,7 +3,8 @@ PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
PROVIDE ( xPortSysTickHandler = 0 ) ;
_estack = 0x20004FF0;
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
/* Section Definitions */
SECTIONS
@ -59,6 +60,24 @@ SECTIONS
_ebss = . ;
} > SRAM
/*
* This stack is used both as the initial sp during early init as well as ultimately
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
* is used for _all_ interrupt handlers. The end of this stack should be placed
* against the lowest address in RAM so that a stack overrun results in a hard fault
* at the first access beyond the end of the stack.
*/
.irq_stack :
{
. = ALIGN(4);
_irq_stack_end = . ;
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
_init_stack_top = _irq_stack_top;
. = ALIGN(4);
} > SRAM
. = ALIGN(4);
_end = . ;

59
flight/PiOS/STM32F10x/link_STM32103CB_CC_Rev1_sections.ld
View File

@ -1,3 +1,10 @@
/* This is the size of the stack for all FreeRTOS IRQs */
_irq_stack_size = 0x180;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x80;
/* there is probably a way to get that from the MEMORY section */
_eram = ORIGIN(SRAM) + LENGTH(SRAM);
/* Stub out these functions since we don't use them anyway */
PROVIDE ( vPortSVCHandler = 0 ) ;
PROVIDE ( xPortPendSVHandler = 0 ) ;
@ -5,8 +12,6 @@ PROVIDE ( xPortSysTickHandler = 0 ) ;
PROVIDE(pios_board_info_blob = ORIGIN(BD_INFO));
_estack = 0x20004FF0;
/* Section Definitions */
SECTIONS
{
@ -29,6 +34,16 @@ SECTIONS
__uavobj_initcall_end = .;
} >FLASH
/* module sections */
.initcallmodule.init :
{
. = ALIGN(4);
__module_initcall_start = .;
KEEP(*(.initcallmodule.init))
. = ALIGN(4);
__module_initcall_end = .;
} >FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
@ -43,6 +58,23 @@ SECTIONS
_etext = .;
_sidata = .;
/*
* This stack is used both as the initial sp during early init as well as ultimately
* being used as the STM32's MSP (Main Stack Pointer) which is the same stack that
* is used for _all_ interrupt handlers. The end of this stack should be placed
* against the lowest address in RAM so that a stack overrun results in a hard fault
* at the first access beyond the end of the stack.
*/
.irq_stack :
{
. = ALIGN(4);
_irq_stack_end = . ;
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
. = ALIGN(4);
} > SRAM
.data : AT (_etext)
{
_sdata = .;
@ -51,6 +83,8 @@ SECTIONS
_edata = . ;
} > SRAM
/* .bss section which is used for uninitialized data */
.bss (NOLOAD) :
{
@ -61,6 +95,27 @@ SECTIONS
_ebss = . ;
} > SRAM
.heap (NOLOAD) :
{
_sheap = . ;
_sheap_pre_rtos = . ;
*(.heap)
. = ALIGN(4);
_eheap = . ;
_eheap_pre_rtos = . ;
_init_stack_end = . ;
_sheap_post_rtos = . ;
. = . + _init_stack_size ;
. = ALIGN(4);
_eheap_post_rtos = . ;
_init_stack_top = . - 4 ;
} > SRAM
/* keep the heap section at the end of the SRAM */
/* this will allow to claim the remaining bytes not used
/* at run time! (done by the reset vector).
. = ALIGN(4);
_end = . ;

1
flight/PiOS/STM32F10x/link_STM3210E_INS_sections.ld
View File

@ -250,6 +250,7 @@ SECTIONS
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
_init_stack_top = _irq_stack_top;
. = ALIGN(4);
} >RAM

3
flight/PiOS/STM32F10x/link_STM3210E_OP_BL_sections.ld
View File

@ -223,6 +223,7 @@ SECTIONS
. = . + _irq_stack_size ;
. = ALIGN(4);
_irq_stack_top = . - 4 ;
_init_stack_top = _irq_stack_top;
. = ALIGN(4);
} >RAM
@ -364,5 +365,3 @@ SECTIONS
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
}

34
flight/PiOS/STM32F10x/link_STM3210E_OP_sections.ld
View File

@ -1,5 +1,9 @@
/* This is the size of the stack for early init and for all FreeRTOS IRQs */
_irq_stack_size = 0x400;
/* This is the size of the stack for early init: life span is until scheduler starts */
_init_stack_size = 0x400;
/* there is probably a way to get that from the MEMORY section */
_eram = ORIGIN(RAM) + LENGTH(RAM);
/* Check valid alignment for VTOR */
ASSERT(ORIGIN(FLASH) == ALIGN(ORIGIN(FLASH), 0x80), "Start of memory region flash not aligned for startup vector table");
@ -191,6 +195,16 @@ SECTIONS
__uavobj_initcall_end = .;
} >FLASH
/* module sections */
.initcallmodule.init :
{
. = ALIGN(4);
__module_initcall_start = .;
KEEP(*(.initcallmodule.init))
. = ALIGN(4);
__module_initcall_end = .;
} >FLASH
/* the program code is stored in the .text section, which goes to Flash */
.text :
{
@ -261,6 +275,26 @@ SECTIONS
_ebss = . ;
} >RAM
.heap (NOLOAD) :
{
_sheap = . ;
_sheap_pre_rtos = . ;
*(.heap)
. = ALIGN(4);
_eheap = . ;
_eheap_pre_rtos = . ;
_init_stack_end = . ;
_sheap_post_rtos = . ;
. = . + _init_stack_size ;
. = ALIGN(4);
_eheap_post_rtos = . ;
_init_stack_top = . - 4 ;
} > RAM
/* keep the heap section at the end of the SRAM */
/* this will allow to claim the remaining bytes not used
/* at run time! (done by the reset vector).
PROVIDE ( end = _ebss );
PROVIDE ( _end = _ebss );

32
flight/PiOS/STM32F10x/pios_spektrum.c
View File

@ -98,37 +98,23 @@ static int32_t PIOS_SPEKTRUM_Get(uint32_t chan_id)
*/
static bool PIOS_SPEKTRUM_Bind(const struct pios_spektrum_cfg * cfg)
{
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
#define BIND_PULSES 5
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
//PIOS_DELAY_WaitmS(75);
/* RX line, drive high for 10us */
GPIO_Init(cfg->bind.gpio, &cfg->bind.init);
/* RX line, set high */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(10);
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* on CC works upto 140ms, I guess bind window is around 20-140ms after powerup */
PIOS_DELAY_WaitmS(60);
for (int i = 0; i < BIND_PULSES ; i++) {
/* RX line, drive low for 120us */
GPIO_ResetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
/* RX line, drive high for 120us */
GPIO_SetBits(cfg->bind.gpio, cfg->bind.init.GPIO_Pin);
PIOS_DELAY_WaituS(120);
}
/* RX line, set input and wait for data, PIOS_SPEKTRUM_Init */
return true;

59
flight/PiOS/STM32F10x/startup_stm32f10x_HD_OP.S
View File

@ -36,6 +36,8 @@
.global g_pfnVectors
.global SystemInit_ExtMemCtl_Dummy
.global Default_Handler
.global xPortIncreaseHeapSize
.global Stack_Change
/* start address for the initialization values of the .data section.
defined in linker script */
@ -71,6 +73,35 @@ Reset_Handler:
/* restore original stack pointer */
LDR r0, =_irq_stack_top
MSR msp, r0
LDR r2, =_init_stack_top
MSR psp, r2
/* check if irq and init stack are the same */
/* if they are, we don't do stack swap */
/* and lets bypass the monitoring as well for now */
cmp r0, r2
beq SectionBssInit
/* DO
* - stay in thread process mode
* - stay in privilege level
* - use process stack
*/
movs r0, #2
MSR control, r0
ISB
/* Fill IRQ stack for watermark monitoring */
ldr r2, =_irq_stack_end
b LoopFillIRQStack
FillIRQStack:
movw r3, #0xA5A5
str r3, [r2], #4
LoopFillIRQStack:
ldr r3, = _irq_stack_top
cmp r2, r3
bcc FillIRQStack
SectionBssInit:
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
@ -100,9 +131,37 @@ LoopFillZerobss:
bcc FillZerobss
/* Call the application's entry point.*/
bl main
/* will never return here */
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that swaps stack (from end of heap to irq_stack).
* Also reclaim the heap that was used as a stack.
* @param None
* @retval : None
*/
.section .text.Stack_Change
.weak Stack_Change
.type Stack_Change, %function
Stack_Change:
mov r4, lr
/* Switches stack back momentarily to MSP */
movs r0, #0
msr control, r0
Heap_Reclaim:
/* add heap_post_rtos to the heap (if the capability/function exist) */
/* Also claim the unused memory (between end of heap to end of memory */
/* CAREFULL: the heap section must be the last section in RAM in order this to work */
ldr r0, = _init_stack_size
ldr r1, = _eheap_post_rtos
ldr r2, = _eram
subs r2, r2, r1
adds r0, r0, r2
bl xPortIncreaseHeapSize
bx r4
.size Stack_Change, .-Stack_Change
/**
* @brief Dummy SystemInit_ExtMemCtl function
* @param None

74
flight/PiOS/STM32F10x/startup_stm32f10x_MD_CC.S
View File

@ -33,6 +33,8 @@
.global g_pfnVectors
.global Default_Handler
.global xPortIncreaseHeapSize
.global Stack_Change
/* start address for the initialization values of the .data section.
defined in linker script */
@ -61,6 +63,47 @@ defined in linker script */
.type Reset_Handler, %function
Reset_Handler:
/*
* From COrtex-M3 reference manual:
* - Handler IRQ always use SP_main
* - Process use SP_main or SP_process
* Here, we will use beginning of SRAM for IRQ (SP_main)
* and end of heap for initialization (SP_process).
* Once the schedule starts, all threads will use their own stack
* from heap and NOBOBY should use SP_process again.
*/
/* Do set/reset the stack pointers */
LDR r0, =_irq_stack_top
MSR msp, r0
LDR r2, =_init_stack_top
MSR psp, r2
/* check if irq and init stack are the same */
/* if they are, we don't do stack swap */
/* and lets bypass the monitoring as well for now */
cmp r0, r2
beq SectionBssInit
/* DO
* - stay in thread process mode
* - stay in privilege level
* - use process stack
*/
movs r0, #2
MSR control, r0
ISB
/* Fill IRQ stack for watermark monitoring */
ldr r2, =_irq_stack_end
b LoopFillIRQStack
FillIRQStack:
movw r3, #0xA5A5
str r3, [r2], #4
LoopFillIRQStack:
ldr r3, = _irq_stack_top
cmp r2, r3
bcc FillIRQStack
SectionBssInit:
/* Copy the data segment initializers from flash to SRAM */
movs r1, #0
b LoopCopyDataInit
@ -90,9 +133,38 @@ LoopFillZerobss:
bcc FillZerobss
/* Call the application's entry point.*/
bl main
/* will never return here */
bx lr
.size Reset_Handler, .-Reset_Handler
/**
* @brief This is the code that swaps stack (from end of heap to irq_stack).
* Also reclaim the heap that was used as a stack.
* @param None
* @retval : None
*/
.section .text.Stack_Change
.weak Stack_Change
.type Stack_Change, %function
Stack_Change:
mov r4, lr
/* Switches stack back momentarily to MSP */
movs r0, #0
msr control, r0
Heap_Reclaim:
/* add heap_post_rtos to the heap (if the capability/function exist) */
/* Also claim the unused memory (between end of heap to end of memory */
/* CAREFULL: the heap section must be the last section in RAM in order this to work */
ldr r0, = _init_stack_size
ldr r1, = _eheap_post_rtos
ldr r2, = _eram
subs r2, r2, r1
adds r0, r0, r2
bl xPortIncreaseHeapSize
bx r4
.size Stack_Change, .-Stack_Change
/**
* @brief This is the code that gets called when the processor receives an
* unexpected interrupt. This simply enters an infinite loop, preserving
@ -119,7 +191,7 @@ Infinite_Loop:
g_pfnVectors:
.word _estack
.word _irq_stack_top
.word Reset_Handler
.word NMI_Handler
.word HardFault_Handler

35
flight/PiOS/inc/pios_initcall.h
View File

@ -41,7 +41,21 @@
/*
* Used for initialization calls..
*/
#define MODULE_EXEC_NOORDER_FLAG 0xFA000000
#define MODULE_EXEC_FIRST_FLAG 0xFA000001
#define MODULE_EXEC_LAST_FLAG 0xFA000002
typedef int32_t (*initcall_t)(void);
typedef struct {
uint32_t flag;
uint32_t param_minit;
initcall_t fn_minit;
uint32_t param_tinit;
initcall_t fn_tinit;
} initmodule_t;
/* Init module section */
extern initmodule_t __module_initcall_start[], __module_initcall_end[];
/* initcalls are now grouped by functionality into separate
* subsections. Ordering inside the subsections is determined
@ -55,7 +69,26 @@ typedef int32_t (*initcall_t)(void);
static initcall_t __initcall_##fn##id __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = fn
#define uavobj_initcall(fn) __define_initcall("uavobj",fn,1)
#define __define_module_initcall(level,ifn,iparam,sfn,sparam, param) \
static initmodule_t __initcall_##fn __attribute__((__used__)) \
__attribute__((__section__(".initcall" level ".init"))) = { .flag = param, .param_minit = iparam, .fn_minit = ifn, .param_tinit = sparam, .fn_tinit = sfn };
#define UAVOBJ_INITCALL(fn) __define_initcall("uavobj",fn,1)
#define MODULE_INITCALL(ifn, iparam, sfn, sparam, flags) __define_module_initcall("module", ifn, iparam, sfn, sparam, flags)
#define MODULE_INITIALISE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_FIRST_FLAG) == MODULE_EXEC_FIRST_FLAG) ) \
(fn->fn_minit)(); \
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit && ( (fn->flag & (MODULE_EXEC_LAST_FLAG | MODULE_EXEC_FIRST_FLAG)) == MODULE_EXEC_NOORDER_FLAG) ) \
(fn->fn_minit)(); \
for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_minit && ( (fn->flag & MODULE_EXEC_LAST_FLAG) == MODULE_EXEC_LAST_FLAG) ) \
(fn->fn_minit)(); }
#define MODULE_TASKCREATE_ALL { for (initmodule_t *fn = __module_initcall_start; fn < __module_initcall_end; fn++) \
if (fn->fn_tinit) \
(fn->fn_tinit)(); }
#endif /* PIOS_INITCALL_H */

2
flight/UAVObjects/uavobjecttemplate.c
View File

@ -64,7 +64,7 @@ int32_t $(NAME)Initialize(void)
}
}
uavobj_initcall($(NAME)Initialize);
UAVOBJ_INITCALL($(NAME)Initialize);
/**
* Initialize object fields and metadata with the default values.

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2
ground/openpilotgcs/src/libs/glc_lib/3rdparty/lib3ds/light.c vendored
View File

@ -30,8 +30,6 @@
/*!
* \defgroup light Lights
*/
/*!
/*!
* \ingroup light

1
ground/openpilotgcs/src/plugins/config/ahrs.ui
View File

@ -110,7 +110,6 @@
</layout>
</item>
</layout>
<zorder></zorder>
</widget>
</item>
<item>

76
ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp
View File

@ -27,6 +27,7 @@
#include "configccattitudewidget.h"
#include "ui_ccattitude.h"
#include "utils/coordinateconversions.h"
#include "attitudesettings.h"
#include <QMutexLocker>
#include <QMessageBox>
#include <QDebug>
@ -48,7 +49,7 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
enableControls(true);
refreshValues(); // The 1st time this panel is instanciated, the autopilot is already connected.
UAVObject * settings = getObjectManager()->getObject(QString("AttitudeSettings"));
UAVObject * settings = AttitudeSettings::GetInstance(getObjectManager());
connect(settings,SIGNAL(objectUpdated(UAVObject*)), this, SLOT(refreshValues()));
// Connect the help button
@ -79,7 +80,10 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
x_accum.append(field->getDouble(0));
y_accum.append(field->getDouble(1));
z_accum.append(field->getDouble(2));
qDebug("update %d: %f, %f, %f\n",updates,field->getDouble(0),field->getDouble(1),field->getDouble(2));
field = obj->getField(QString("gyros"));
x_gyro_accum.append(field->getDouble(0));
y_gyro_accum.append(field->getDouble(1));
z_gyro_accum.append(field->getDouble(2));;
} else if ( updates == NUM_ACCEL_UPDATES ) {
updates++;
timer.stop();
@ -90,17 +94,22 @@ void ConfigCCAttitudeWidget::attitudeRawUpdated(UAVObject * obj) {
float y_bias = listMean(y_accum) / ACCEL_SCALE;
float z_bias = (listMean(z_accum) + 9.81) / ACCEL_SCALE;
float x_gyro_bias = listMean(x_gyro_accum) * 100.0f;
float y_gyro_bias = listMean(y_gyro_accum) * 100.0f;
float z_gyro_bias = listMean(z_gyro_accum) * 100.0f;
obj->setMetadata(initialMdata);
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("AccelBias");
field->setDouble(field->getDouble(0) + x_bias,0);
field->setDouble(field->getDouble(1) + y_bias,1);
field->setDouble(field->getDouble(2) + z_bias,2);
qDebug("New X bias: %f\n", field->getDouble(0)+x_bias);
qDebug("New Y bias: %f\n", field->getDouble(1)+y_bias);
qDebug("New Z bias: %f\n", field->getDouble(2)+z_bias);
settings->updated();
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
// We offset the gyro bias by current bias to help precision
attitudeSettingsData.AccelBias[0] += x_bias;
attitudeSettingsData.AccelBias[1] += y_bias;
attitudeSettingsData.AccelBias[2] += z_bias;
attitudeSettingsData.GyroBias[0] = -x_gyro_bias;
attitudeSettingsData.GyroBias[1] = -y_gyro_bias;
attitudeSettingsData.GyroBias[2] = -z_gyro_bias;
attitudeSettingsData.BiasCorrectGyro = initialBiasCorrected;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
ui->status->setText("Calibration done.");
} else {
// Possible to get here if weird threading stuff happens. Just ignore updates.
@ -123,32 +132,22 @@ void ConfigCCAttitudeWidget::timeout() {
}
void ConfigCCAttitudeWidget::applyAttitudeSettings() {
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("BoardRotation");
field->setValue(ui->rollBias->value(),0);
field->setValue(ui->pitchBias->value(),1);
field->setValue(ui->yawBias->value(),2);
field = settings->getField("ZeroDuringArming");
// Handling of boolean values is done through enums on
// uavobjects...
field->setValue((ui->zeroGyroBiasOnArming->isChecked()) ? "TRUE": "FALSE");
settings->updated();
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_ROLL] = ui->rollBias->value();
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_PITCH] = ui->pitchBias->value();
attitudeSettingsData.BoardRotation[AttitudeSettings::BOARDROTATION_YAW] = ui->yawBias->value();
attitudeSettingsData.ZeroDuringArming = ui->zeroGyroBiasOnArming->isChecked() ? AttitudeSettings::ZERODURINGARMING_TRUE :
AttitudeSettings::ZERODURINGARMING_FALSE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
}
void ConfigCCAttitudeWidget::refreshValues() {
UAVDataObject * settings = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeSettings")));
UAVObjectField * field = settings->getField("BoardRotation");
ui->rollBias->setValue(field->getDouble(0));
ui->pitchBias->setValue(field->getDouble(1));
ui->yawBias->setValue(field->getDouble(2));
field = settings->getField("ZeroDuringArming");
// Handling of boolean values is done through enums on
// uavobjects...
bool enabled = (field->getValue().toString() == "FALSE") ? false : true;
ui->zeroGyroBiasOnArming->setChecked(enabled);
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
ui->rollBias->setValue(attitudeSettingsData.BoardRotation[0]);
ui->pitchBias->setValue(attitudeSettingsData.BoardRotation[1]);
ui->yawBias->setValue(attitudeSettingsData.BoardRotation[2]);
ui->zeroGyroBiasOnArming->setChecked(attitudeSettingsData.ZeroDuringArming == AttitudeSettings::ZERODURINGARMING_TRUE);
}
@ -159,9 +158,18 @@ void ConfigCCAttitudeWidget::startAccelCalibration() {
x_accum.clear();
y_accum.clear();
z_accum.clear();
x_gyro_accum.clear();
y_gyro_accum.clear();
z_gyro_accum.clear();
ui->status->setText(tr("Calibrating..."));
// Disable gyro bias correction to see raw data
AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
initialBiasCorrected = attitudeSettingsData.BiasCorrectGyro;
attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
// Set up to receive updates
UAVDataObject * obj = dynamic_cast<UAVDataObject*>(getObjectManager()->getObject(QString("AttitudeRaw")));
connect(obj,SIGNAL(objectUpdated(UAVObject*)),this,SLOT(attitudeRawUpdated(UAVObject*)));

2
ground/openpilotgcs/src/plugins/config/configccattitudewidget.h
View File

@ -60,10 +60,12 @@ private:
Ui_ccattitude *ui;
QTimer timer;
UAVObject::Metadata initialMdata;
quint8 initialBiasCorrected;
int updates;
QList<double> x_accum, y_accum, z_accum;
QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
static const int NUM_ACCEL_UPDATES = 60;
static const float ACCEL_SCALE = 0.004f * 9.81f;

84
ground/openpilotgcs/src/plugins/config/configinputwidget.cpp
View File

@ -174,11 +174,13 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
connect(m_config->ch5Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch6Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->ch7Rev, SIGNAL(toggled(bool)), this, SLOT(reverseCheckboxClicked(bool)));
connect(m_config->doRCInputCalibration,SIGNAL(stateChanged(int)),this,SLOT(updateTips(int)));
firstUpdate = true;
// Connect the help button
connect(m_config->inputHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
updateTips(Qt::Unchecked);
}
ConfigInputWidget::~ConfigInputWidget()
@ -469,10 +471,15 @@ void ConfigInputWidget::updateChannels(UAVObject* controlCommand)
QString fieldName = QString("Connected");
UAVObjectField *field = controlCommand->getField(fieldName);
if (field->getValue().toBool())
{
m_config->RCInputConnected->setText("RC Receiver connected");
m_config->lblMissingInputs->setText("");
}
else
{
m_config->RCInputConnected->setText("RC Receiver not connected or invalid input configuration (missing channels)");
receiverHelp();
}
if (m_config->doRCInputCalibration->isChecked()) {
if (firstUpdate) {
// Increase the data rate from the board so that the sliders
@ -655,4 +662,77 @@ void ConfigInputWidget::openHelp()
QDesktopServices::openUrl( QUrl("http://wiki.openpilot.org/display/Doc/Input+Configuration", QUrl::StrictMode) );
}
void ConfigInputWidget::receiverHelp()
{
QString unassigned;
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* controlCommand = dynamic_cast<UAVDataObject*>(objManager->getObject(QString("ManualControlSettings")));
UAVObjectField *field;
field= controlCommand->getField("Roll");
if(field->getValue().toString()=="None")
unassigned.append("Roll");
field =controlCommand->getField("Pitch");
if(field->getValue().toString()=="None")
{
if(unassigned.length()>0)
unassigned.append(", ");
unassigned.append("Pitch");
}
field =controlCommand->getField("Yaw");
if(field->getValue().toString()=="None")
{
if(unassigned.length()>0)
unassigned.append(", ");
unassigned.append("Yaw");
}
field =controlCommand->getField("Throttle");
if(field->getValue().toString()=="None")
{
if(unassigned.length()>0)
unassigned.append(", ");
unassigned.append("Throttle");
}
field =controlCommand->getField("FlightMode");
if(field->getValue().toString()=="None")
{
if(unassigned.length()>0)
unassigned.append(", ");
unassigned.append("FlightMode");
}
if(unassigned.length()>0)
m_config->lblMissingInputs->setText(QString("Channels left to assign:")+unassigned);
else
m_config->lblMissingInputs->setText("");
}
void ConfigInputWidget::updateTips(int value)
{
if(value==Qt::Checked)
{
m_config->ch0Cur->setToolTip("Current channel value");
m_config->ch1Cur->setToolTip("Current channel value");
m_config->ch2Cur->setToolTip("Current channel value");
m_config->ch3Cur->setToolTip("Current channel value");
m_config->ch4Cur->setToolTip("Current channel value");
m_config->ch5Cur->setToolTip("Current channel value");
m_config->ch6Cur->setToolTip("Current channel value");
m_config->ch7Cur->setToolTip("Current channel value");
}
else
{
m_config->ch0Cur->setToolTip("Channel neutral point");
m_config->ch1Cur->setToolTip("Channel neutral point");
m_config->ch2Cur->setToolTip("Channel neutral point");
m_config->ch3Cur->setToolTip("Channel neutral point");
m_config->ch4Cur->setToolTip("Channel neutral point");
m_config->ch5Cur->setToolTip("Channel neutral point");
m_config->ch6Cur->setToolTip("Channel neutral point");
m_config->ch7Cur->setToolTip("Channel neutral point");
}
}

3
ground/openpilotgcs/src/plugins/config/configinputwidget.h
View File

@ -71,7 +71,7 @@ private:
bool firstUpdate;
virtual void enableControls(bool enable);
void receiverHelp();
private slots:
void updateChannels(UAVObject* obj);
virtual void refreshValues();
@ -79,6 +79,7 @@ private slots:
void saveRCInputObject();
void reverseCheckboxClicked(bool state);
void openHelp();
void updateTips(int);
};
#endif

36
ground/openpilotgcs/src/plugins/config/configstabilizationwidget.cpp
View File

@ -194,17 +194,17 @@ void ConfigStabilizationWidget::refreshValues()
// stabSettings->requestUpdate();
StabilizationSettings::DataFields stabData = stabSettings->getData();
// Now fill in all the fields, this is fairly tedious:
m_stabilization->rateRollKp->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP]);
m_stabilization->rateRollKi->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI]);
m_stabilization->rateRollILimit->setValue(stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT]);
m_stabilization->rateRollKp->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP]);
m_stabilization->rateRollKi->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI]);
m_stabilization->rateRollILimit->setValue(stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT]);
m_stabilization->ratePitchKp->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP]);
m_stabilization->ratePitchKi->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI]);
m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT]);
m_stabilization->ratePitchKp->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP]);
m_stabilization->ratePitchKi->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI]);
m_stabilization->ratePitchILimit->setValue(stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT]);
m_stabilization->rateYawKp->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP]);
m_stabilization->rateYawKi->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI]);
m_stabilization->rateYawILimit->setValue(stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT]);
m_stabilization->rateYawKp->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP]);
m_stabilization->rateYawKi->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI]);
m_stabilization->rateYawILimit->setValue(stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT]);
m_stabilization->rollKp->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KP]);
m_stabilization->rollKi->setValue(stabData.RollPI[StabilizationSettings::ROLLPI_KI]);
@ -241,17 +241,17 @@ void ConfigStabilizationWidget::sendStabilizationUpdate()
{
StabilizationSettings::DataFields stabData = stabSettings->getData();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KP] = m_stabilization->rateRollKp->value();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_KI] = m_stabilization->rateRollKi->value();
stabData.RollRatePI[StabilizationSettings::ROLLRATEPI_ILIMIT] = m_stabilization->rateRollILimit->value();
stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KP] = m_stabilization->rateRollKp->value();
stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_KI] = m_stabilization->rateRollKi->value();
stabData.RollRatePID[StabilizationSettings::ROLLRATEPID_ILIMIT] = m_stabilization->rateRollILimit->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KP] = m_stabilization->ratePitchKp->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_KI] = m_stabilization->ratePitchKi->value();
stabData.PitchRatePI[StabilizationSettings::PITCHRATEPI_ILIMIT] = m_stabilization->ratePitchILimit->value();
stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KP] = m_stabilization->ratePitchKp->value();
stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_KI] = m_stabilization->ratePitchKi->value();
stabData.PitchRatePID[StabilizationSettings::PITCHRATEPID_ILIMIT] = m_stabilization->ratePitchILimit->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KP] = m_stabilization->rateYawKp->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_KI] = m_stabilization->rateYawKi->value();
stabData.YawRatePI[StabilizationSettings::YAWRATEPI_ILIMIT] = m_stabilization->rateYawILimit->value();
stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KP] = m_stabilization->rateYawKp->value();
stabData.YawRatePID[StabilizationSettings::YAWRATEPID_KI] = m_stabilization->rateYawKi->value();
stabData.YawRatePID[StabilizationSettings::YAWRATEPID_ILIMIT] = m_stabilization->rateYawILimit->value();
stabData.RollPI[StabilizationSettings::ROLLPI_KP] = m_stabilization->rollKp->value();
stabData.RollPI[StabilizationSettings::ROLLPI_KI] = m_stabilization->rollKi->value();

397
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -6,7 +6,7 @@
<rect>
<x>0</x>
<y>0</y>
<width>557</width>
<width>560</width>
<height>467</height>
</rect>
</property>
@ -24,6 +24,186 @@
<string>RC Input</string>
</attribute>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="0">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Receiver Type:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1" colspan="2">
<widget class="QComboBox" name="receiverType">
<property name="toolTip">
<string>Select the receiver type here:
- PWM is the most usual type
- PPM is connected to input XXX
- Spektrum is used with Spektrum 'satellite' receivers</string>
</property>
</widget>
</item>
<item row="0" column="4">
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QLabel" name="RCInputConnected">
<property name="minimumSize">
<size>
<width>234</width>
<height>54</height>
</size>
</property>
<property name="font">
<font>
<pointsize>11</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
</property>
<property name="text">
<string>RC Receiver not connected or invalid input configuration (missing channels)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item row="0" column="8">
<widget class="QLabel" name="label">
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="ch0Assign">
<property name="font">
<font>
<family>MS Shell Dlg 2</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="iconSize">
<size>
<width>16</width>
<height>16</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="ch0Cur">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="ch0Min">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="4" colspan="3">
<widget class="QSlider" name="inSlider0">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QLabel" name="ch0Max">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="1" column="8">
<widget class="QCheckBox" name="ch0Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="ch1Assign">
<property name="font">
@ -80,7 +260,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="2" column="3" colspan="3">
<item row="2" column="4" colspan="3">
<widget class="QSlider" name="inSlider1">
<property name="mouseTracking">
<bool>true</bool>
@ -99,7 +279,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="2" column="6">
<item row="2" column="7">
<widget class="QLabel" name="ch1Max">
<property name="font">
<font>
@ -120,7 +300,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="2" column="7">
<item row="2" column="8">
<widget class="QCheckBox" name="ch1Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -188,7 +368,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="3" column="3" colspan="3">
<item row="3" column="4" colspan="3">
<widget class="QSlider" name="inSlider2">
<property name="mouseTracking">
<bool>true</bool>
@ -207,7 +387,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="3" column="6">
<item row="3" column="7">
<widget class="QLabel" name="ch2Max">
<property name="font">
<font>
@ -228,7 +408,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="3" column="7">
<item row="3" column="8">
<widget class="QCheckBox" name="ch2Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -296,7 +476,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="4" column="3" colspan="3">
<item row="4" column="4" colspan="3">
<widget class="QSlider" name="inSlider3">
<property name="mouseTracking">
<bool>true</bool>
@ -315,7 +495,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="4" column="6">
<item row="4" column="7">
<widget class="QLabel" name="ch3Max">
<property name="font">
<font>
@ -336,7 +516,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="4" column="7">
<item row="4" column="8">
<widget class="QCheckBox" name="ch3Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -404,7 +584,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="3" colspan="3">
<item row="5" column="4" colspan="3">
<widget class="QSlider" name="inSlider4">
<property name="mouseTracking">
<bool>true</bool>
@ -423,7 +603,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="6">
<item row="5" column="7">
<widget class="QLabel" name="ch4Max">
<property name="font">
<font>
@ -444,7 +624,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="5" column="7">
<item row="5" column="8">
<widget class="QCheckBox" name="ch4Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -512,7 +692,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="3" colspan="3">
<item row="6" column="4" colspan="3">
<widget class="QSlider" name="inSlider5">
<property name="mouseTracking">
<bool>true</bool>
@ -531,7 +711,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="6">
<item row="6" column="7">
<widget class="QLabel" name="ch5Max">
<property name="font">
<font>
@ -552,7 +732,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="6" column="7">
<item row="6" column="8">
<widget class="QCheckBox" name="ch5Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -620,7 +800,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="3" colspan="3">
<item row="7" column="4" colspan="3">
<widget class="QSlider" name="inSlider6">
<property name="mouseTracking">
<bool>true</bool>
@ -639,7 +819,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="6">
<item row="7" column="7">
<widget class="QLabel" name="ch6Max">
<property name="font">
<font>
@ -660,7 +840,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="7" column="7">
<item row="7" column="8">
<widget class="QCheckBox" name="ch6Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -728,7 +908,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="3" colspan="3">
<item row="8" column="4" colspan="3">
<widget class="QSlider" name="inSlider7">
<property name="mouseTracking">
<bool>true</bool>
@ -747,7 +927,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="6">
<item row="8" column="7">
<widget class="QLabel" name="ch7Max">
<property name="font">
<font>
@ -768,7 +948,7 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="8" column="7">
<item row="8" column="8">
<widget class="QCheckBox" name="ch7Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
@ -800,7 +980,7 @@ Neutral should be put at the bottom of the slider for the throttle.</string>
</property>
</widget>
</item>
<item row="10" column="0" colspan="8">
<item row="13" column="0" colspan="9">
<widget class="QLabel" name="label_20">
<property name="text">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
@ -811,176 +991,19 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item row="0" column="7">
<widget class="QLabel" name="label">
<property name="text">
<string>Rev.</string>
</property>
</widget>
</item>
<item row="1" column="7">
<widget class="QCheckBox" name="ch0Rev">
<property name="toolTip">
<string>Check this to reverse the channel.
(Useful for transmitters without channel
reversal capabilities).</string>
<item row="10" column="0" colspan="9">
<widget class="QLabel" name="lblMissingInputs">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="6">
<widget class="QLabel" name="ch0Max">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Maximum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>2000</string>
</property>
</widget>
</item>
<item row="1" column="3" colspan="3">
<widget class="QSlider" name="inSlider0">
<property name="mouseTracking">
<bool>true</bool>
</property>
<property name="minimum">
<number>1000</number>
</property>
<property name="maximum">
<number>2000</number>
</property>
<property name="value">
<number>1500</number>
</property>
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QLabel" name="ch0Min">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:8pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;Minimum channel pulse width&lt;/p&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;(microseconds)&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1000</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QLabel" name="ch0Cur">
<property name="font">
<font>
<family>FreeSans</family>
<pointsize>10</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'FreeSans'; font-size:10pt; font-weight:400; font-style:normal;&quot;&gt;
&lt;p style=&quot; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-size:9pt;&quot;&gt;Current channel value.&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>1500</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QComboBox" name="ch0Assign">
<property name="font">
<font>
<family>MS Shell Dlg 2</family>
<pointsize>8</pointsize>
</font>
</property>
<property name="iconSize">
<size>
<width>16</width>
<height>16</height>
</size>
</property>
<property name="frame">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="3" colspan="4">
<widget class="QLabel" name="RCInputConnected">
<property name="font">
<font>
<pointsize>11</pointsize>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>Indicates whether OpenPilot is getting a signal from the RC receiver.</string>
</property>
<property name="text">
<string>RC Receiver not connected or invalid input configuration (missing channels)</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="0" column="1" colspan="2">
<widget class="QComboBox" name="receiverType">
<property name="toolTip">
<string>Select the receiver type here:
- PWM is the most usual type
- PPM is connected to input XXX
- Spektrum is used with Spektrum 'satellite' receivers</string>
</property>
</widget>
</item>
<item row="0" column="0">
<widget class="QLabel" name="label_2">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Receiver Type:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
<widget class="QWidget" name="tab_3">

44
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -1539,6 +1539,50 @@
<enableVbo>false</enableVbo>
</data>
</Hexacopter>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
<Quadcopter>
<configInfo>
<locked>false</locked>

13
ground/openpilotgcs/src/plugins/hitlnew/hitlwidget.cpp
View File

@ -53,10 +53,10 @@ HITLWidget::HITLWidget(QWidget *parent)
greenColor = "rgb(35, 221, 35)";
strAutopilotDisconnected = " Autopilot disconnected ";
strSimulatorDisconnected = " Simulator disconnected ";
strAutopilotConnected = " Autopilot connected ";
strSimulatorConnected = " Simulator connected ";
strAutopilotDisconnected = " Autopilot OFF ";
strSimulatorDisconnected = " Simulator OFF ";
strAutopilotConnected = " Autopilot ON ";
strSimulatorConnected = " Simulator ON ";
widget->apLabel->setText(strAutopilotDisconnected);
widget->simLabel->setText(strSimulatorDisconnected);
@ -188,8 +188,7 @@ void HITLWidget::buttonClearLogClicked()
void HITLWidget::onAutopilotConnect()
{
widget->simLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
widget->apLabel->setStyleSheet(QString::fromUtf8("QFrame{\n""background-color: %1; color: white}").arg(greenColor));
widget->apLabel->setText(strAutopilotConnected);
qxtLog->info("HITL: Autopilot connected, initializing for HITL simulation");
}
@ -214,5 +213,3 @@ void HITLWidget::onSimulatorDisconnect()
widget->simLabel->setText(" " + simulator->Name() +" disconnected ");
qxtLog->info(QString("HITL: %1 disconnected").arg(simulator->Name()));
}

2
ground/openpilotgcs/src/plugins/notify/notifypluginoptionspage.ui
View File

@ -31,7 +31,7 @@
<property name="title">
<string>Sound Collection</string>
</property>
<widget class="QWidget" name="layoutWidget">
<widget class="QWidget" name="layoutWidget_2">
<property name="geometry">
<rect>
<x>10</x>

8
ground/openpilotgcs/src/plugins/uploader/devicedescriptorstruct.h
View File

@ -14,16 +14,16 @@ public:
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("Board name: OpenPilot MainBoard");
return QString("OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("Board name: PipXtreame");
return QString("PipXtreame");
break;
case 0x0411://Coptercontrol
return QString("Board name: CopterControl");
return QString("CopterControl");
break;
case 0x0211://INS
return QString("Board name: OpenPilot INS");
return QString("OpenPilot INS");
break;
default:
return QString("");

38
ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp
View File

@ -82,16 +82,16 @@ QString deviceWidget::idToBoardName(int id)
{
switch (id | 0x0011) {
case 0x0111://MB
return QString("Board name: OpenPilot MainBoard");
return QString("OpenPilot MainBoard");
break;
case 0x0311://PipX
return QString("Board name: PipXtreame");
return QString("PipXtreme");
break;
case 0x0411://Coptercontrol
return QString("Board name: CopterControl");
return QString("CopterControl");
break;
case 0x0211://INS
return QString("Board name: OpenPilot INS");
return QString("OpenPilot INS");
break;
default:
return QString("");
@ -141,7 +141,7 @@ void deviceWidget::populate()
myDevice->lblAccess->setText(QString("Flash access: ") + QString(r ? "R" : "-") + QString(w ? "W" : "-"));
myDevice->lblMaxCode->setText(QString("Max code size: ") +QString::number(m_dfu->devices[deviceID].SizeOfCode));
myDevice->lblCRC->setText(QString("Firmware CRC: ") + QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->lblCRC->setText(QString::number(m_dfu->devices[deviceID].FW_CRC));
myDevice->lblBLVer->setText(QString("BL version: ") + QString::number(m_dfu->devices[deviceID].BL_Version));
int size=((OP_DFU::device)m_dfu->devices[deviceID]).SizeOfDesc;
m_dfu->enterDFU(deviceID);
@ -182,8 +182,8 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
{
if(UploaderGadgetWidget::descriptionToStructure(desc,&onBoardDescrition))
{
myDevice->lblGitTag->setText("Git commit tag: "+onBoardDescrition.gitTag);
myDevice->lblBuildDate->setText(QString("Firmware date: ") + onBoardDescrition.buildDate);
myDevice->lblGitTag->setText(onBoardDescrition.gitTag);
myDevice->lblBuildDate->setText(onBoardDescrition.buildDate);
if(onBoardDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description);
@ -194,7 +194,7 @@ bool deviceWidget::populateBoardStructuredDescription(QByteArray desc)
}
else
{
myDevice->lblDescription->setText(QString("Firmware tag: ")+onBoardDescrition.description+QString(" (beta or custom build)"));
myDevice->lblDescription->setText(onBoardDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
@ -212,11 +212,11 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
{
if(UploaderGadgetWidget::descriptionToStructure(desc,&LoadedDescrition))
{
myDevice->lblGitTagL->setText("Git commit tag: "+LoadedDescrition.gitTag);
myDevice->lblBuildDateL->setText(QString("Firmware date: ") + LoadedDescrition.buildDate);
myDevice->lblGitTagL->setText(LoadedDescrition.gitTag);
myDevice->lblBuildDateL->setText( LoadedDescrition.buildDate);
if(LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
{
myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description);
myDevice->lblDescritpionL->setText(LoadedDescrition.description);
myDevice->description->setText(LoadedDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/application-certificate.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
@ -224,7 +224,7 @@ bool deviceWidget::populateLoadedStructuredDescription(QByteArray desc)
}
else
{
myDevice->lblDescritpionL->setText(QString("Firmware tag: ")+LoadedDescrition.description+QString(" (beta or custom build)"));
myDevice->lblDescritpionL->setText(LoadedDescrition.description);
myDevice->description->setText(LoadedDescrition.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertifiedL->setPixmap(pix);
@ -303,8 +303,8 @@ void deviceWidget::loadFirmware()
myDevice->youdont->setChecked(false);
QByteArray desc = loadedFW.right(100);
QPixmap px;
myDevice->lblCRCL->setText(QString("FW CRC: ") + QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
myDevice->lblCRCL->setText( QString::number(DFUObject::CRCFromQBArray(loadedFW,m_dfu->devices[deviceID].SizeOfCode)));
//myDevice->lblFirmwareSizeL->setText(QString("Firmware size: ")+QVariant(loadedFW.length()).toString()+ QString(" bytes"));
if (populateLoadedStructuredDescription(desc))
{
myDevice->youdont->setChecked(true);
@ -312,7 +312,7 @@ void deviceWidget::loadFirmware()
myDevice->groupCustom->setVisible(false);
if(myDevice->lblCRC->text()==myDevice->lblCRCL->text())
{
myDevice->statusLabel->setText(tr("The loaded firmware maches the firmware on the board. You shouldn't upload it"));
myDevice->statusLabel->setText(tr("The loaded firmware the same as on the board. You should not upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(myDevice->lblDevName->text()!=myDevice->lblBrdNameL->text())
@ -322,7 +322,7 @@ void deviceWidget::loadFirmware()
}
else if(QDateTime::fromString(onBoardDescrition.buildDate)>QDateTime::fromString(LoadedDescrition.buildDate))
{
myDevice->statusLabel->setText(tr("The loaded firmware is older then the firmware on the board. You shouldn't upload it"));
myDevice->statusLabel->setText(tr("The loaded firmware is older than the firmware on the board. You should not upload it"));
px.load(QString(":/uploader/images/warning.svg"));
}
else if(!LoadedDescrition.description.startsWith("release",Qt::CaseInsensitive))
@ -332,13 +332,13 @@ void deviceWidget::loadFirmware()
}
else
{
myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'upload'"));
myDevice->statusLabel->setText(tr("Everything seems OK. You should upload the loaded firmware by pressing 'Flash'"));
px.load(QString(":/uploader/images/gtk-info.svg"));
}
}
else
{
myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with a compatible format. You shouldn't' upload it, if you know what you are doing and still want to upload it confirm it by checking the checkbox bellow"));
myDevice->statusLabel->setText(tr("The loaded firmware was not packaged with the OpenPilot format. You should not upload it unless you know what you are doing."));
px.load(QString(":/uploader/images/warning.svg"));
myDevice->youdont->setChecked(false);
myDevice->youdont->setVisible(true);
@ -406,7 +406,7 @@ void deviceWidget::uploadFirmware()
connect(m_dfu, SIGNAL(progressUpdated(int)), this, SLOT(setProgress(int)));
connect(m_dfu, SIGNAL(operationProgress(QString)), this, SLOT(dfuStatus(QString)));
connect(m_dfu, SIGNAL(uploadFinished(OP_DFU::Status)), this, SLOT(uploadFinished(OP_DFU::Status)));
bool retstatus = m_dfu->UploadFirmware(filename.toAscii(),verify, deviceID);
bool retstatus = m_dfu->UploadFirmware(filename,verify, deviceID);
if(!retstatus ) {
status("Could not start upload", STATUSICON_FAIL);
return;

117
ground/openpilotgcs/src/plugins/uploader/devicewidget.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>516</width>
<height>582</height>
<width>576</width>
<height>500</height>
</rect>
</property>
<property name="windowTitle">
@ -33,8 +33,15 @@
<property name="styleSheet">
<string notr="true">background: transparent</string>
</property>
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
</widget>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_10">
<item>
<layout class="QHBoxLayout" name="horizontalLayout_7">
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
@ -89,7 +96,17 @@
<string>Loads the firmware</string>
</property>
<property name="text">
<string>Open</string>
<string>Load...</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="youdont">
<property name="text">
<string>I know what I'm doing</string>
</property>
<property name="checked">
<bool>true</bool>
</property>
</widget>
</item>
@ -127,6 +144,10 @@
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
@ -160,13 +181,67 @@
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="youdont">
<property name="text">
<string>I know what I'm doing</string>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QGroupBox" name="groupBox">
<property name="title">
<string>Firmware:</string>
</property>
<property name="checked">
<bool>true</bool>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_9">
<item>
<widget class="QLabel" name="label_2">
<property name="text">
<string>Board name:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_5">
<property name="text">
<string>Description:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Build date:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>GIT Tag:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>CRC:</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
@ -176,7 +251,7 @@
<item>
<widget class="QGroupBox" name="verticalGroupBox_3">
<property name="title">
<string>Firmware currently on the device</string>
<string>On Device</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
@ -241,7 +316,7 @@
<bool>true</bool>
</property>
<property name="title">
<string>Loaded Firmware</string>
<string>Loaded</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
@ -283,13 +358,6 @@
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="lblFirmwareSizeL">
<property name="text">
<string>lblFirmwareSizeL</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
@ -304,6 +372,21 @@
</layout>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QGroupBox" name="groupCustom">
<layout class="QHBoxLayout" name="horizontalLayout_3">

131
ground/openpilotgcs/src/plugins/uploader/images/warning.svg
View File

@ -1,102 +1,35 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!-- Generator: Adobe Illustrator 15.0.0, SVG Export Plug-In . SVG Version: 6.00 Build 0) -->
<svg
xmlns:dc="http://purl.org/dc/elements/1.1/"
xmlns:cc="http://creativecommons.org/ns#"
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
xmlns:svg="http://www.w3.org/2000/svg"
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10
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp
View File

@ -37,8 +37,10 @@ runningDeviceWidget::runningDeviceWidget(QWidget *parent) :
// Initialization of the Device icon display
myDevice->devicePicture->setScene(new QGraphicsScene(this));
/*
QPixmap pix = QPixmap(QString(":uploader/images/view-refresh.svg"));
myDevice->statusIcon->setPixmap(pix);
*/
}
@ -104,7 +106,7 @@ void runningDeviceWidget::populate()
myDevice->devicePicture->fitInView(devicePic,Qt::KeepAspectRatio);
QString serial = utilMngr->getBoardCPUSerial().toHex();
myDevice->lblCPU->setText(QString("CPU serial number: "+serial));
myDevice->CPUSerial->setText(serial);
QByteArray description = utilMngr->getBoardDescription();
deviceDescriptorStruct devDesc;
@ -120,7 +122,7 @@ void runningDeviceWidget::populate()
}
else
{
myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description+QString(" (beta or custom build)"));
myDevice->lblFWTag->setText(QString("Firmware tag: ")+devDesc.description);
QPixmap pix = QPixmap(QString(":uploader/images/warning.svg"));
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
@ -138,13 +140,14 @@ void runningDeviceWidget::populate()
myDevice->lblCertified->setPixmap(pix);
myDevice->lblCertified->setToolTip(tr("Custom Firmware Build"));
}
status("Ready...", STATUSICON_INFO);
//status("Ready...", STATUSICON_INFO);
}
/**
Updates status message
*/
/*
void runningDeviceWidget::status(QString str, StatusIcon ic)
{
QPixmap px;
@ -164,3 +167,4 @@ void runningDeviceWidget::status(QString str, StatusIcon ic)
}
myDevice->statusIcon->setPixmap(px);
}
*/

2
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.h
View File

@ -55,7 +55,7 @@ private:
Ui_runningDeviceWidget *myDevice;
int deviceID;
QGraphicsSvgItem *devicePic;
void status(QString str, StatusIcon ic);
//void status(QString str, StatusIcon ic);
signals:

58
ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>516</width>
<height>253</height>
<height>299</height>
</rect>
</property>
<property name="windowTitle">
@ -34,6 +34,15 @@
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Plain</enum>
</property>
<property name="verticalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
</widget>
</item>
<item>
@ -59,13 +68,24 @@
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="lblCPU">
<property name="text">
<string>TextLabel</string>
<string>CPU Serial:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="CPUSerial">
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
@ -119,40 +139,6 @@
</layout>
</widget>
</item>
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="3" column="0" colspan="2">
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="statusIcon">
<property name="text">
<string>ic</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="statusLabel">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Status</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</widget>
<resources/>

55
package/Makefile
View File

@ -19,14 +19,10 @@ PACKAGE_DIR := $(BUILD_DIR)/package-$(PACKAGE_LBL)
FW_DIR := $(PACKAGE_DIR)/firmware-$(PACKAGE_LBL)
BL_DIR := $(FW_DIR)/bootloaders
BU_DIR := $(FW_DIR)/bootloader-updaters
FE_DIR := $(FW_DIR)/flash-erase-tools
# Clean build options (recommended for package testing only)
ifeq ($(CLEAN_BUILD), NO)
CLEAN_GROUND := NO
CLEAN_FLIGHT := YES
else ifeq ($(CLEAN_BUILD), NEVER)
CLEAN_GROUND := NO
CLEAN_FLIGHT := NO
else
CLEAN_GROUND := YES
@ -34,11 +30,7 @@ CLEAN_FLIGHT := YES
endif
# Set up targets (PPM target seems to be broken at the moment)
FW_TARGETS_COMMON := $(addprefix fw_, ahrs pipxtreme)
FW_TARGETS_PWM := $(addprefix fw_, coptercontrol openpilot)
FW_TARGETS_DSM2 := $(addprefix fw_, coptercontrol openpilot)
FW_TARGETS_SBUS := $(addprefix fw_, coptercontrol)
FW_TARGETS_PPM := $(addprefix fw_, openpilot)
FW_TARGETS := $(addprefix fw_, ahrs pipxtreme coptercontrol openpilot)
FW_TARGETS_TOOLS := $(addprefix fw_, coptercontrol)
BL_TARGETS := $(addprefix bl_, coptercontrol openpilot ahrs pipxtreme)
BU_TARGETS := $(addprefix bu_, coptercontrol openpilot ahrs pipxtreme)
@ -57,16 +49,9 @@ help:
@echo " Notes:"
@echo " - package will be placed in $(PACKAGE_DIR)"
@echo
@echo " - the build directory will be removed first on every run unless one"
@echo " of CLEAN_BUILD=NO or CLEAN_BUILD=NEVER options is defined."
@echo
@echo " CLEAN_BUILD=NO means no clean before build except for multi-input"
@echo " firmware binaries like CopterControl or OpenPilot. This usually is"
@echo " safe."
@echo
@echo " CLEAN_BUILD=NEVER means no clean will be done at all. This will,"
@echo " probably, give invalid multi-input firmware and is recommended"
@echo " for package testing only. Do not use for release builds."
@echo " - the build directory will be removed first on every run unless"
@echo " CLEAN_BUILD=NO is defined. It means no clean before build."
@echo " This usually is safe."
@echo
# Clean and build uavobjects since all parts depend on them
@ -99,12 +84,8 @@ endif
.PHONY: $(1)
endef
# Firmware for different input drivers
$(eval $(call INSTALL_TEMPLATE,fw_common,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS_COMMON),install))
$(eval $(call INSTALL_TEMPLATE,fw_pwm,uavobjects,$(FW_DIR),,-pwm-$(PACKAGE_LBL),,clean,$(FW_TARGETS_PWM),install))
$(eval $(call INSTALL_TEMPLATE,fw_dsm2,uavobjects,$(FW_DIR),,-dsm2sat-$(PACKAGE_LBL),USE_SPEKTRUM=YES,clean,$(FW_TARGETS_DSM2),install))
$(eval $(call INSTALL_TEMPLATE,fw_sbus,uavobjects,$(FW_DIR),,-sbus-$(PACKAGE_LBL),USE_SBUS=YES USE_TELEMETRY=3,clean,$(FW_TARGETS_SBUS),install))
$(eval $(call INSTALL_TEMPLATE,fw_ppm,uavobjects,$(FW_DIR),,-ppm-$(PACKAGE_LBL),USE_PPM=YES,clean,$(FW_TARGETS_PPM),install))
# Firmware
$(eval $(call INSTALL_TEMPLATE,all_fw,uavobjects,$(FW_DIR),,-$(PACKAGE_LBL),,,$(FW_TARGETS),install))
# Bootloaders (change 'install' to 'bin' if you don't want to install bootloaders)
$(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(BL_TARGETS),install))
@ -112,34 +93,14 @@ $(eval $(call INSTALL_TEMPLATE,all_bl,uavobjects,$(BL_DIR),,-$(PACKAGE_LBL),,,$(
# Bootloader updaters
$(eval $(call INSTALL_TEMPLATE,all_bu,all_bl,$(BU_DIR),,-$(PACKAGE_LBL),,,$(BU_TARGETS),install))
# CopterControl flash eraser tool
$(eval $(call INSTALL_TEMPLATE,fw_tools,uavobjects,$(FE_DIR),,-flash-erase-$(PACKAGE_LBL),ERASE_FLASH=YES,clean,$(FW_TARGETS_TOOLS),install))
# Order-only dependencies
# They are bit complicated to support parallel (-j) builds and to create
# the pwm/ppm/spektrum and CC flash eraser targets in some fixed order
fw_pwm: | # default dependencies, will be built first
fw_dsm2: | fw_pwm # ordered build
fw_sbus: | fw_dsm2 # ordered build
fw_ppm: | fw_sbus # ordered build
fw_tools: | fw_ppm # ordered build
package_fw: | fw_common fw_pwm fw_dsm2 fw_sbus fw_ppm
package_bu: | all_bu
package_flight: | package_fw package_bu fw_tools
package_flight: | all_fw all_bu
package_ground: | ground_package
package: | package_flight package_ground
.PHONY: help uavobjects all_clean package package_flight package_fw package_bu package_ground
.PHONY: help uavobjects all_clean package_flight package_ground package
# Decide on a verbosity level based on the V= parameter
export AT := @

4
shared/uavobjectdefinition/attitudesettings.xml
View File

@ -2,12 +2,14 @@
<object name="AttitudeSettings" singleinstance="true" settings="true">
<description>Settings for the @ref Attitude module used on CopterControl</description>
<field name="AccelBias" units="lsb" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="GyroBias" units="deg/s * 100" type="int16" elementnames="X,Y,Z" defaultvalue="0"/>
<field name="BoardRotation" units="deg" type="int16" elementnames="Roll,Pitch,Yaw" defaultvalue="0,0,0"/>
<field name="GyroGain" units="(rad/s)/lsb" type="float" elements="1" defaultvalue="0.42"/>
<field name="AccelKp" units="channel" type="float" elements="1" defaultvalue="0.03"/>
<field name="AccelKi" units="channel" type="float" elements="1" defaultvalue="0.0001"/>
<field name="YawBiasRate" units="channel" type="float" elements="1" defaultvalue="0.000001"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="ZeroDuringArming" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="BiasCorrectGyro" units="channel" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

6
shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -13,9 +13,9 @@
<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 -->
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling" defaultvalue="Attitude,Attitude,Rate"/>
<!-- Note these options values should be identical to those defined in FlightMode -->
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>

2
shared/uavobjectdefinition/stabilizationdesired.xml
View File

@ -6,7 +6,7 @@
<field name="Yaw" units="degrees" type="float" elements="1"/>
<field name="Throttle" units="%" type="float" elements="1"/>
<!-- These values should match those in ManualControlCommand.Stabilization{1,2,3}Settings -->
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude"/>
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

14
shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -7,13 +7,21 @@
<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
<field name="RollRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="PitchRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.002,0,0.3"/>
<field name="YawRatePI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="0.0035,0.0035,0.3"/>
<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.002,0,0,0.3"/>
<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3"/>
<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50"/>
<field name="GyroTau" units="" type="float" elements="1" defaultvalue="0.005"/>
<field name="MaxAxisLock" units="deg" type="uint8" elements="1" defaultvalue="5"/>
<field name="MaxAxisLockRate" units="deg/s" type="uint8" elements="1" defaultvalue="2"/>
<field name="WeakLevelingKp" units="(deg/s)/deg" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxWeakLevelingRate" units="deg/s" type="uint8" elements="1" defaultvalue="5"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

1
shared/uavobjectdefinition/systemstats.xml
View File

@ -3,6 +3,7 @@
<description>CPU and memory usage from OpenPilot computer. </description>
<field name="FlightTime" units="ms" type="uint32" elements="1"/>
<field name="HeapRemaining" units="bytes" type="uint16" elements="1"/>
<field name="IRQStackRemaining" units="bytes" type="uint16" elements="1"/>
<field name="CPULoad" units="%" type="uint8" elements="1"/>
<field name="CPUTemp" units="C" type="int8" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>