rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-02-11 01:54:14 +01:00
Code Issues Releases Activity

OP-1063 Multi_config_Hexa_fixes Added OctoX, define new mixer table for Octo(p) and OctoX. New motor definition for OctoX (NNE, ENE...) Fixes for svg frames. Defined default settings for OctoP/X in setupwizard (but disabled)

Browse Source
This commit is contained in:
Laurent Lalanne 2014-07-13 13:58:18 +02:00
parent 5b3f2513c6
commit c26e33964a
9 changed files with 269 additions and 65 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
flight/libraries/sanitycheck.c
View File

@ -265,6 +265,7 @@ FrameType_t GetCurrentFrameType()
case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP: case SYSTEMSETTINGS_AIRFRAMETYPE_QUADP:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA: case SYSTEMSETTINGS_AIRFRAMETYPE_HEXA:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO: case SYSTEMSETTINGS_AIRFRAMETYPE_OCTO:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOX:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX: case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX:
case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH: case SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH:
case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV: case SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV:

3
flight/modules/VtolPathFollower/vtolpathfollower.c
View File

@ -190,7 +190,8 @@ static void vtolPathFollowerTask(__attribute__((unused)) void *parameters)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAX)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTO) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXACOAX) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTO)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOV) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOCOAXP)
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_TRI) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH)) { && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_TRI) && (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_HEXAH))
&& (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_OCTOX) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING); AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
vTaskDelay(1000); vTaskDelay(1000);
continue; continue;

147
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/configmultirotorwidget.cpp
View File

@ -55,6 +55,32 @@ QStringList ConfigMultiRotorWidget::getChannelDescriptions()
// get the gui config data // get the gui config data
GUIConfigDataUnion configData = getConfigData(); GUIConfigDataUnion configData = getConfigData();
multiGUISettingsStruct multi = configData.multi; multiGUISettingsStruct multi = configData.multi;
/* Octocopter X motor definition */
if (multi.VTOLMotorNNE > 0 && multi.VTOLMotorNNE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorNNE - 1] = QString("VTOLMotorNNE");
}
if (multi.VTOLMotorENE > 0 && multi.VTOLMotorENE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorENE - 1] = QString("VTOLMotorENE");
}
if (multi.VTOLMotorESE > 0 && multi.VTOLMotorESE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorESE - 1] = QString("VTOLMotorESE");
}
if (multi.VTOLMotorSSE > 0 && multi.VTOLMotorSSE <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorSSE - 1] = QString("VTOLMotorSSE");
}
if (multi.VTOLMotorSSW > 0 && multi.VTOLMotorSSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorSSW - 1] = QString("VTOLMotorSSW");
}
if (multi.VTOLMotorWSW > 0 && multi.VTOLMotorWSW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorWSW - 1] = QString("VTOLMotorWSW");
}
if (multi.VTOLMotorWNW > 0 && multi.VTOLMotorWNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorWNW - 1] = QString("VTOLMotorWNW");
}
if (multi.VTOLMotorNNW > 0 && multi.VTOLMotorNNW <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorNNW - 1] = QString("VTOLMotorNNW");
}
// End OctocopterX
if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) { if (multi.VTOLMotorN > 0 && multi.VTOLMotorN <= ConfigMultiRotorWidget::CHANNEL_NUMELEM) {
channelDesc[multi.VTOLMotorN - 1] = QString("VTOLMotorN"); channelDesc[multi.VTOLMotorN - 1] = QString("VTOLMotorN");
@ -111,7 +137,7 @@ ConfigMultiRotorWidget::ConfigMultiRotorWidget(QWidget *parent) :
QStringList multiRotorTypes; QStringList multiRotorTypes;
multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Hexacopter" << "Hexacopter X" << "Hexacopter H" << "Hexacopter Y6" multiRotorTypes << "Tricopter Y" << "Quad +" << "Quad X" << "Hexacopter" << "Hexacopter X" << "Hexacopter H" << "Hexacopter Y6"
<< "Octocopter" << "Octocopter V" << "Octo Coax +" << "Octo Coax X"; << "Octocopter" << "Octocopter X" << "Octocopter V" << "Octo Coax +" << "Octo Coax X";
m_aircraft->multirotorFrameType->addItems(multiRotorTypes); m_aircraft->multirotorFrameType->addItems(multiRotorTypes);
// Set default model to "Quad X" // Set default model to "Quad X"
@ -185,9 +211,15 @@ void ConfigMultiRotorWidget::setupUI(QString frameType)
} else if (frameType == "Octo" || frameType == "Octocopter") { } else if (frameType == "Octo" || frameType == "Octocopter") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter")); setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter"));
m_aircraft->mrRollMixLevel->setValue(33); m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
m_aircraft->mrPitchMixLevel->setValue(33); m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
setYawMixLevel(25); setYawMixLevel(100);
} else if (frameType == "OctoX" || frameType == "Octocopter X") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, m_aircraft->multirotorFrameType->findText("Octocopter X"));
m_aircraft->mrRollMixLevel->setValue(100); // Do not alter mixer matrix
m_aircraft->mrPitchMixLevel->setValue(100); // All mixers RPY levels = 100%
setYawMixLevel(100);
} else if (frameType == "OctoV" || frameType == "Octocopter V") { } else if (frameType == "OctoV" || frameType == "Octocopter V") {
setComboCurrentIndex(m_aircraft->multirotorFrameType, setComboCurrentIndex(m_aircraft->multirotorFrameType,
m_aircraft->multirotorFrameType->findText("Octocopter V")); m_aircraft->multirotorFrameType->findText("Octocopter V"));
@ -248,6 +280,8 @@ void ConfigMultiRotorWidget::setupEnabledControls(QString frameType)
enableComboBoxes(this, CHANNELBOXNAME, 6, true); enableComboBoxes(this, CHANNELBOXNAME, 6, true);
} else if (frameType == "Octo" || frameType == "Octocopter") { } else if (frameType == "Octo" || frameType == "Octocopter") {
enableComboBoxes(this, CHANNELBOXNAME, 8, true); enableComboBoxes(this, CHANNELBOXNAME, 8, true);
} else if (frameType == "OctoX" || frameType == "Octocopter X") {
enableComboBoxes(this, CHANNELBOXNAME, 8, true);
} else if (frameType == "OctoV" || frameType == "Octocopter V") { } else if (frameType == "OctoV" || frameType == "Octocopter V") {
enableComboBoxes(this, CHANNELBOXNAME, 8, true); enableComboBoxes(this, CHANNELBOXNAME, 8, true);
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") { } else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
@ -288,6 +322,14 @@ void ConfigMultiRotorWidget::resetActuators(GUIConfigDataUnion *configData)
configData->multi.VTOLMotorW = 0; configData->multi.VTOLMotorW = 0;
configData->multi.VTOLMotorNW = 0; configData->multi.VTOLMotorNW = 0;
configData->multi.TRIYaw = 0; configData->multi.TRIYaw = 0;
configData->multi.VTOLMotorNNE = 0;
configData->multi.VTOLMotorENE = 0;
configData->multi.VTOLMotorESE = 0;
configData->multi.VTOLMotorSSE = 0;
configData->multi.VTOLMotorSSW = 0;
configData->multi.VTOLMotorWSW = 0;
configData->multi.VTOLMotorWNW = 0;
configData->multi.VTOLMotorNNW = 0;
} }
/** /**
@ -380,7 +422,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27)); m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
//get motor 2 value for Yaw and Roll //get motor 2 value for Yaw and Roll
channel += 1; channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
@ -409,7 +451,7 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27)); m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
//get motor 2 value for Yaw and Roll //get motor 2 value for Yaw and Roll
channel += 1; channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
@ -492,8 +534,8 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27)); setYawMixLevel(-qRound(value / 1.27));
// change channels // Get M3 Roll value
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1; channel = m_aircraft->multiMotorChannelBox3->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL); value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27)); m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} else if (frameType == "OctoV") { } else if (frameType == "OctoV") {
@ -520,6 +562,34 @@ void ConfigMultiRotorWidget::refreshWidgetsValues(QString frameType)
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27)); m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
} }
} }
} else if (frameType == "OctoX") {
// Motors 1 to 8 are NNE / ENE / ESE / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNNE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox2, multi.VTOLMotorENE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox3, multi.VTOLMotorESE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox4, multi.VTOLMotorSSE);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox5, multi.VTOLMotorSSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox6, multi.VTOLMotorWSW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox7, multi.VTOLMotorWNW);
setComboCurrentIndex(m_aircraft->multiMotorChannelBox8, multi.VTOLMotorNNW);
// Now, read the 1st mixer R/P/Y levels and initialize the mix sliders.
// This assumes that all vectors are identical - if not, the user should use the
// "custom" setting.
int channel = m_aircraft->multiMotorChannelBox1->currentIndex() - 1;
if (channel > -1) {
double value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_PITCH);
m_aircraft->mrPitchMixLevel->setValue(qRound(value / 1.27));
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_YAW);
setYawMixLevel(-qRound(value / 1.27));
// Get M2 Roll value
channel = m_aircraft->multiMotorChannelBox2->currentIndex() - 1;
value = getMixerVectorValue(mixer, channel, VehicleConfig::MIXERVECTOR_ROLL);
m_aircraft->mrRollMixLevel->setValue(-qRound(value / 1.27));
}
} else if (frameType == "OctoCoaxX") { } else if (frameType == "OctoCoaxX") {
// Motors 1 to 8 are N / NE / E / etc // Motors 1 to 8 are N / NE / E / etc
setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW); setComboCurrentIndex(m_aircraft->multiMotorChannelBox1, multi.VTOLMotorNW);
@ -657,16 +727,40 @@ QString ConfigMultiRotorWidget::updateConfigObjectsFromWidgets()
<< "VTOLMotorW" << "VTOLMotorNW"; << "VTOLMotorW" << "VTOLMotorNW";
setupMotors(motorList); setupMotors(motorList);
// Motor 1 to 8: // Motor 1 to 8:
// pitch roll yaw // pitch roll yaw (OctoP)
double mixerMatrix[8][3] = { double mixerMatrix[8][3] = {
{ 1, 0, -1 }, { 1 , 0 , -1 },
{ 1, -1, 1 }, { 0.71,-0.71, 1 },
{ 0, -1, -1 }, { 0 ,-1 , -1 },
{ -1, -1, 1 }, { -0.71,-0.71, 1 },
{ -1, 0, -1 }, { -1 , 0 , -1 },
{ -1, 1, 1 }, { -0.71, 0.71, 1 },
{ 0, 1, -1 }, { 0 , 1 , -1 },
{ 1, 1, 1 } { 0.71, 0.71, 1 }
};
setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText("Configuration OK");
} else if (m_aircraft->multirotorFrameType->currentText() == "Octocopter X") {
airframeType = "OctoX";
// Show any config errors in GUI
if (throwConfigError(8)) {
return airframeType;
}
motorList << "VTOLMotorNNE" << "VTOLMotorENE" << "VTOLMotorESE" << "VTOLMotorSSE" << "VTOLMotorSSW" << "VTOLMotorWSW"
<< "VTOLMotorWNW" << "VTOLMotorNNW";
setupMotors(motorList);
// Motor 1 to 8:
// pitch roll yaw (OctoX)
double mixerMatrix[8][3] = {
{ 1 ,-0.41, -1 },
{ 0.41, -1 , 1 },
{ -0.41, -1 , -1 },
{ -1 ,-0.41, 1 },
{ -1 , 0.41, -1 },
{ -0.41, 1 , 1 },
{ 0.41, 1 , -1 },
{ 1 , 0.41, 1 }
}; };
setupMultiRotorMixer(mixerMatrix); setupMultiRotorMixer(mixerMatrix);
m_aircraft->mrStatusLabel->setText("Configuration OK"); m_aircraft->mrStatusLabel->setText("Configuration OK");
@ -828,6 +922,8 @@ void ConfigMultiRotorWidget::updateAirframe(QString frameType)
elementId = "hexa-coax"; elementId = "hexa-coax";
} else if (frameType == "Octo" || frameType == "Octocopter") { } else if (frameType == "Octo" || frameType == "Octocopter") {
elementId = "quad-octo"; elementId = "quad-octo";
} else if (frameType == "OctoX" || frameType == "Octocopter X") {
elementId = "quad-octo-X";
} else if (frameType == "OctoV" || frameType == "Octocopter V") { } else if (frameType == "OctoV" || frameType == "Octocopter V") {
elementId = "quad-octo-v"; elementId = "quad-octo-v";
} else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") { } else if (frameType == "OctoCoaxP" || frameType == "Octo Coax +") {
@ -899,6 +995,23 @@ void ConfigMultiRotorWidget::setupMotors(QList<QString> motorList)
configData.multi.VTOLMotorW = index; configData.multi.VTOLMotorW = index;
} else if (motor == QString("VTOLMotorNW")) { } else if (motor == QString("VTOLMotorNW")) {
configData.multi.VTOLMotorNW = index; configData.multi.VTOLMotorNW = index;
//OctoX
} else if (motor == QString("VTOLMotorNNE")) {
configData.multi.VTOLMotorNNE = index;
} else if (motor == QString("VTOLMotorENE")) {
configData.multi.VTOLMotorENE = index;
} else if (motor == QString("VTOLMotorESE")) {
configData.multi.VTOLMotorESE = index;
} else if (motor == QString("VTOLMotorSSE")) {
configData.multi.VTOLMotorSSE = index;
} else if (motor == QString("VTOLMotorSSW")) {
configData.multi.VTOLMotorSSW = index;
} else if (motor == QString("VTOLMotorWSW")) {
configData.multi.VTOLMotorWSW = index;
} else if (motor == QString("VTOLMotorWNW")) {
configData.multi.VTOLMotorWNW = index;
} else if (motor == QString("VTOLMotorNNW")) {
configData.multi.VTOLMotorNNW = index;
} }
} }
setConfigData(configData); setConfigData(configData);

9
ground/openpilotgcs/src/plugins/config/cfg_vehicletypes/vehicleconfig.h
View File

@ -42,6 +42,15 @@ typedef struct {
uint VTOLMotorNE : 4; uint VTOLMotorNE : 4;
uint VTOLMotorSW : 4; uint VTOLMotorSW : 4;
uint VTOLMotorSE : 4; // 32 bits uint VTOLMotorSE : 4; // 32 bits
/* OctoX */
uint VTOLMotorNNE : 4;
uint VTOLMotorENE : 4;
uint VTOLMotorESE : 4;
uint VTOLMotorSSE : 4;
uint VTOLMotorSSW : 4;
uint VTOLMotorWSW : 4;
uint VTOLMotorWNW : 4;
uint VTOLMotorNNW : 4; // 32 bits
uint TRIYaw : 4; uint TRIYaw : 4;
quint32 padding : 28; // 64 bits quint32 padding : 28; // 64 bits
quint32 padding1; quint32 padding1;

9
ground/openpilotgcs/src/plugins/config/configvehicletypewidget.cpp
View File

@ -85,6 +85,7 @@ QStringList ConfigVehicleTypeWidget::getChannelDescriptions()
case SystemSettings::AIRFRAMETYPE_OCTOCOAXX: case SystemSettings::AIRFRAMETYPE_OCTOCOAXX:
case SystemSettings::AIRFRAMETYPE_OCTOCOAXP: case SystemSettings::AIRFRAMETYPE_OCTOCOAXP:
case SystemSettings::AIRFRAMETYPE_OCTO: case SystemSettings::AIRFRAMETYPE_OCTO:
case SystemSettings::AIRFRAMETYPE_OCTOX:
case SystemSettings::AIRFRAMETYPE_HEXAX: case SystemSettings::AIRFRAMETYPE_HEXAX:
case SystemSettings::AIRFRAMETYPE_HEXACOAX: case SystemSettings::AIRFRAMETYPE_HEXACOAX:
case SystemSettings::AIRFRAMETYPE_HEXA: case SystemSettings::AIRFRAMETYPE_HEXA:
@ -263,9 +264,11 @@ int ConfigVehicleTypeWidget::frameCategory(QString frameType)
} else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X" } else if (frameType == "Tri" || frameType == "Tricopter Y" || frameType == "QuadX" || frameType == "Quad X"
|| frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter" || frameType == "QuadP" || frameType == "Quad +" || frameType == "Hexa" || frameType == "Hexacopter"
|| frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax" || frameType == "HexaX" || frameType == "Hexacopter X" || frameType == "HexaCoax"
|| frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "HexaH" || frameType == "Hexacopter H" || frameType == "Hexacopter Y6"
|| frameType == "Hexacopter Y6" || frameType == "Octo" || frameType == "Octocopter" || frameType == "OctoV" || frameType == "Octo" || frameType == "Octocopter"
|| frameType == "Octocopter V" || frameType == "OctoCoaxP" || frameType == "Octo Coax +" || frameType == "OctoX" || frameType == "Octocopter X"
|| frameType == "OctoV" || frameType == "Octocopter V"
|| frameType == "OctoCoaxP" || frameType == "Octo Coax +"
|| frameType == "OctoCoaxX" || frameType == "Octo Coax X") { || frameType == "OctoCoaxX" || frameType == "Octo Coax X") {
return ConfigVehicleTypeWidget::MULTIROTOR; return ConfigVehicleTypeWidget::MULTIROTOR;
} else if (frameType == "HeliCP") { } else if (frameType == "HeliCP") {

22
ground/openpilotgcs/src/plugins/config/images/multirotor-shapes.svg
View File

File diff suppressed because one or more lines are too long
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 899 KiB

After

Width:  |  Height:  |  Size: 898 KiB

133
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -206,6 +206,7 @@ void VehicleConfigurationHelper::applyVehicleConfiguration()
setupHexaCopter(); setupHexaCopter();
break; break;
case VehicleConfigurationSource::MULTI_ROTOR_OCTO: case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
@ -282,6 +283,7 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H: case VehicleConfigurationSource::MULTI_ROTOR_HEXA_H:
case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X: case VehicleConfigurationSource::MULTI_ROTOR_HEXA_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO: case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_PLUS:
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_V:
@ -1089,62 +1091,71 @@ void VehicleConfigurationHelper::setupOctoCopter()
case VehicleConfigurationSource::MULTI_ROTOR_OCTO: case VehicleConfigurationSource::MULTI_ROTOR_OCTO:
{ {
frame = SystemSettings::AIRFRAMETYPE_OCTO; frame = SystemSettings::AIRFRAMETYPE_OCTO;
// OctoP according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw
//M1{ 1 , 0 , -1 },
//M2{ 0.71,-0.71, 1 },
//M3{ 0 ,-1 , -1 },
//M4{ -0.71,-0.71, 1 },
//M5{ -1 , 0 , -1 },
//M6{ -0.71, 0.71, 1 },
//M7{ 0 , 1 , -1 },
//M8{ 0.71, 0.71, 1 }
channels[0].type = MIXER_TYPE_MOTOR; channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100; channels[0].throttle1 = 100;
channels[0].throttle2 = 0; channels[0].throttle2 = 0;
channels[0].roll = 0; channels[0].roll = 0;
channels[0].pitch = 33; channels[0].pitch = 100;
channels[0].yaw = -25; channels[0].yaw = -100;
channels[1].type = MIXER_TYPE_MOTOR; channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100; channels[1].throttle1 = 100;
channels[1].throttle2 = 0; channels[1].throttle2 = 0;
channels[1].roll = -33; channels[1].roll = -71;
channels[1].pitch = 33; channels[1].pitch = 71;
channels[1].yaw = 25; channels[1].yaw = 100;
channels[2].type = MIXER_TYPE_MOTOR; channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100; channels[2].throttle1 = 100;
channels[2].throttle2 = 0; channels[2].throttle2 = 0;
channels[2].roll = -33; channels[2].roll = -71;
channels[2].pitch = 0; channels[2].pitch = 0;
channels[2].yaw = -25; channels[2].yaw = -100;
channels[3].type = MIXER_TYPE_MOTOR; channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100; channels[3].throttle1 = 100;
channels[3].throttle2 = 0; channels[3].throttle2 = 0;
channels[3].roll = -33; channels[3].roll = -71;
channels[3].pitch = -33; channels[3].pitch = -71;
channels[3].yaw = 25; channels[3].yaw = 100;
channels[4].type = MIXER_TYPE_MOTOR; channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100; channels[4].throttle1 = 100;
channels[4].throttle2 = 0; channels[4].throttle2 = 0;
channels[4].roll = 0; channels[4].roll = 0;
channels[4].pitch = -33; channels[4].pitch = -100;
channels[4].yaw = -25; channels[4].yaw = -100;
channels[5].type = MIXER_TYPE_MOTOR; channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100; channels[5].throttle1 = 100;
channels[5].throttle2 = 0; channels[5].throttle2 = 0;
channels[5].roll = 33; channels[5].roll = 71;
channels[5].pitch = -33; channels[5].pitch = -71;
channels[5].yaw = 25; channels[5].yaw = 100;
channels[6].type = MIXER_TYPE_MOTOR; channels[6].type = MIXER_TYPE_MOTOR;
channels[6].throttle1 = 100; channels[6].throttle1 = 100;
channels[6].throttle2 = 0; channels[6].throttle2 = 0;
channels[6].roll = 33; channels[6].roll = 100;
channels[6].pitch = 0; channels[6].pitch = 0;
channels[6].yaw = -25; channels[6].yaw = -100;
channels[7].type = MIXER_TYPE_MOTOR; channels[7].type = MIXER_TYPE_MOTOR;
channels[7].throttle1 = 100; channels[7].throttle1 = 100;
channels[7].throttle2 = 0; channels[7].throttle2 = 0;
channels[7].roll = 33; channels[7].roll = 71;
channels[7].pitch = 33; channels[7].pitch = 71;
channels[7].yaw = 25; channels[7].yaw = 100;
guiSettings.multi.VTOLMotorN = 1; guiSettings.multi.VTOLMotorN = 1;
guiSettings.multi.VTOLMotorNE = 2; guiSettings.multi.VTOLMotorNE = 2;
@ -1157,6 +1168,86 @@ void VehicleConfigurationHelper::setupOctoCopter()
break; break;
} }
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_X:
{
frame = SystemSettings::AIRFRAMETYPE_OCTOX;
// OctoX according to new mixer table and pitch-roll-yaw mixing at 100%
// Pitch Roll Yaw
//M1{ 1 ,-0.41, -1 },
//M2{ 0.41, -1 , 1 },
//M3{ -0.41, -1 , -1 },
//M4{ -1 ,-0.41, 1 },
//M5{ -1 , 0.41, -1 },
//M6{ -0.41, 1 , 1 },
//M7{ 0.41, 1 , -1 },
//M8{ 1 , 0.41, 1 }
channels[0].type = MIXER_TYPE_MOTOR;
channels[0].throttle1 = 100;
channels[0].throttle2 = 0;
channels[0].roll = -41;
channels[0].pitch = 100;
channels[0].yaw = -100;
channels[1].type = MIXER_TYPE_MOTOR;
channels[1].throttle1 = 100;
channels[1].throttle2 = 0;
channels[1].roll = -100;
channels[1].pitch = 41;
channels[1].yaw = 100;
channels[2].type = MIXER_TYPE_MOTOR;
channels[2].throttle1 = 100;
channels[2].throttle2 = 0;
channels[2].roll = -100;
channels[2].pitch = -41;
channels[2].yaw = -100;
channels[3].type = MIXER_TYPE_MOTOR;
channels[3].throttle1 = 100;
channels[3].throttle2 = 0;
channels[3].roll = -41;
channels[3].pitch = -100;
channels[3].yaw = 100;
channels[4].type = MIXER_TYPE_MOTOR;
channels[4].throttle1 = 100;
channels[4].throttle2 = 0;
channels[4].roll = 41;
channels[4].pitch = -100;
channels[4].yaw = -100;
channels[5].type = MIXER_TYPE_MOTOR;
channels[5].throttle1 = 100;
channels[5].throttle2 = 0;
channels[5].roll = 100;
channels[5].pitch = -41;
channels[5].yaw = 100;
channels[6].type = MIXER_TYPE_MOTOR;
channels[6].throttle1 = 100;
channels[6].throttle2 = 0;
channels[6].roll = 100;
channels[6].pitch = 41;
channels[6].yaw = -100;
channels[7].type = MIXER_TYPE_MOTOR;
channels[7].throttle1 = 100;
channels[7].throttle2 = 0;
channels[7].roll = 41;
channels[7].pitch = 100;
channels[7].yaw = 100;
guiSettings.multi.VTOLMotorNNE = 1;
guiSettings.multi.VTOLMotorENE = 2;
guiSettings.multi.VTOLMotorESE = 3;
guiSettings.multi.VTOLMotorSSE = 4;
guiSettings.multi.VTOLMotorSSW = 5;
guiSettings.multi.VTOLMotorWSW = 6;
guiSettings.multi.VTOLMotorWNW = 7;
guiSettings.multi.VTOLMotorNNW = 8;
break;
}
case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X: case VehicleConfigurationSource::MULTI_ROTOR_OCTO_COAX_X:
{ {
frame = SystemSettings::AIRFRAMETYPE_OCTOCOAXX; frame = SystemSettings::AIRFRAMETYPE_OCTOCOAXX;

4
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -59,8 +59,8 @@ public:
enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE }; enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS, enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS,
MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO, MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,
MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS, FIXED_WING_AILERON, MULTI_ROTOR_OCTO_X, MULTI_ROTOR_OCTO_V, MULTI_ROTOR_OCTO_COAX_X, MULTI_ROTOR_OCTO_COAX_PLUS,
FIXED_WING_VTAIL, HELI_CCPM }; FIXED_WING_AILERON, FIXED_WING_VTAIL, HELI_CCPM };
enum ESC_TYPE { ESC_RAPID, ESC_LEGACY, ESC_UNKNOWN }; enum ESC_TYPE { ESC_RAPID, ESC_LEGACY, ESC_UNKNOWN };
enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSMX10, INPUT_DSMX11, INPUT_DSM2, INPUT_UNKNOWN }; enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSMX10, INPUT_DSMX11, INPUT_DSM2, INPUT_UNKNOWN };

2
shared/uavobjectdefinition/systemsettings.xml
View File

@ -1,7 +1,7 @@
<xml> <xml>
<object name="SystemSettings" singleinstance="true" settings="true" category="System"> <object name="SystemSettings" singleinstance="true" settings="true" category="System">
<description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description> <description>Select airframe type. Currently used by @ref ActuatorModule to choose mixing from @ref ActuatorDesired to @ref ActuatorCommand</description>
<field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/> <field name="AirframeType" units="" type="enum" elements="1" options="FixedWing,FixedWingElevon,FixedWingVtail,VTOL,HeliCP,QuadX,QuadP,Hexa,Octo,Custom,HexaX,HexaH,OctoV,OctoCoaxP,OctoCoaxX,OctoX,HexaCoax,Tri,GroundVehicleCar,GroundVehicleDifferential,GroundVehicleMotorcycle" defaultvalue="QuadX"/>
<field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" /> <field name="ThrustControl" units="" type="enum" elements="1" options="Throttle,Collective,None" defaultvalue="Throttle" />
<!-- Which way the vehicle controls its thrust. Can be through <!-- Which way the vehicle controls its thrust. Can be through
"Throttle" (quadcopter, simple brushless planes, "Throttle" (quadcopter, simple brushless planes,