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Code Issues Releases Activity

Rework the altitude hold code a bit

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This commit is contained in:
James Cotton 2012-02-08 09:42:10 -06:00
parent 49a03a868b
commit c6b1d6b8df
5 changed files with 75 additions and 144 deletions
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86
flight/Modules/AltitudeHold/altitudehold.c
View File

@ -46,7 +46,9 @@
#include "openpilot.h" #include "openpilot.h"
#include "altitudeholdsettings.h" #include "altitudeholdsettings.h"
#include "altitudeholddesired.h" // object that will be updated by the module #include "altitudeholddesired.h" // object that will be updated by the module
#include "baroaltitude.h"
#include "positionactual.h" #include "positionactual.h"
#include "flightstatus.h"
#include "stabilizationdesired.h" #include "stabilizationdesired.h"
// Private constants // Private constants
@ -58,6 +60,7 @@
// Private variables // Private variables
static xTaskHandle altitudeHoldTaskHandle; static xTaskHandle altitudeHoldTaskHandle;
static xQueueHandle queue; static xQueueHandle queue;
static AltitudeHoldSettingsData altitudeHoldSettings;
// Private functions // Private functions
static void altitudeHoldTask(void *parameters); static void altitudeHoldTask(void *parameters);
@ -90,6 +93,7 @@ int32_t AltitudeHoldInitialize()
// Listen for updates. // Listen for updates.
AltitudeHoldDesiredConnectQueue(queue); AltitudeHoldDesiredConnectQueue(queue);
FlightStatusConnectQueue(queue);
AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb); AltitudeHoldSettingsConnectCallback(&SettingsUpdatedCb);
@ -97,7 +101,11 @@ int32_t AltitudeHoldInitialize()
} }
MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart) MODULE_INITCALL(AltitudeHoldInitialize, AltitudeHoldStart)
static float throttleIntegral = 0; float tau;
float velocity, lastAltitude;
float throttleIntegral;
float decay;
bool running = false;
/** /**
* Module thread, should not return. * Module thread, should not return.
@ -106,11 +114,10 @@ static void altitudeHoldTask(void *parameters)
{ {
AltitudeHoldSettingsData altitudeHoldSettings; AltitudeHoldSettingsData altitudeHoldSettings;
AltitudeHoldDesiredData altitudeHoldDesired; AltitudeHoldDesiredData altitudeHoldDesired;
PositionActualData positionActual; BaroAltitudeData baroAltitude;
StabilizationDesiredData stabilizationDesired; StabilizationDesiredData stabilizationDesired;
portTickType thisTime; portTickType thisTime, lastSysTime;
portTickType lastSysTime;
UAVObjEvent ev; UAVObjEvent ev;
// Force update of the settings // Force update of the settings
@ -124,35 +131,46 @@ static void altitudeHoldTask(void *parameters)
if ( xQueueReceive(queue, &ev, 100 / portTICK_RATE_MS) != pdTRUE ) if ( xQueueReceive(queue, &ev, 100 / portTICK_RATE_MS) != pdTRUE )
{ {
// Todo: Add alarm if it should be running // Todo: Add alarm if it should be running
throttleIntegral = 0;
continue; continue;
} else { } else if (ev.obj == BaroAltitudeHandle()) {
PositionActualGet(&positionActual); BaroAltitudeGet(&baroAltitude);
StabilizationDesiredGet(&stabilizationDesired); StabilizationDesiredGet(&stabilizationDesired);
float dT; float dT;
// Verify that we are still in altitude hold mode
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.FlightMode != FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) {
UAVObjDisconnectQueue(BaroAltitudeHandle(), queue);
running = false;
}
thisTime = xTaskGetTickCount(); thisTime = xTaskGetTickCount();
if(thisTime > lastSysTime) // reuse dt in case of wraparound dT = ((portTickType)(thisTime - lastSysTime)) / portTICK_RATE_MS / 1000.0f;
dT = (thisTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
lastSysTime = thisTime; lastSysTime = thisTime;
static float altitude;
const float altitudeTau = 0.1;
// Flipping sign on error since altitude is "down" // Flipping sign on error since altitude is "down"
float error = - (altitudeHoldDesired.Down - positionActual.Down); float error = (altitudeHoldDesired.Altitude - baroAltitude.Altitude);
static float
throttleIntegral += error * altitudeHoldSettings.Ki * dT * 1000; // Estimate velocity by smoothing derivative
if(throttleIntegral > altitudeHoldSettings.ILimit) decay = expf(-dT / tau);
throttleIntegral = altitudeHoldSettings.ILimit; velocity = velocity * decay + (baroAltitude.Altitude - lastAltitude) / dT * (1-decay); // m/s
else if (throttleIntegral < 0) lastAltitude = baroAltitude.Altitude;
throttleIntegral = 0;
stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp + throttleIntegral; // Compute integral off altitude error
if(stabilizationDesired.Throttle > 1) throttleIntegral += error * altitudeHoldSettings.Ki * dT;
// Instead of explicit limit on integral you output limit feedback
stabilizationDesired.Throttle = error * altitudeHoldSettings.Kp + throttleIntegral -
velocity * altitudeHoldSettings.Kd;
if(stabilizationDesired.Throttle > 1) {
throttleIntegral -= (stabilizationDesired.Throttle - 1);
stabilizationDesired.Throttle = 1; stabilizationDesired.Throttle = 1;
else if (stabilizationDesired.Throttle < 0) }
else if (stabilizationDesired.Throttle < 0) {
throttleIntegral -= stabilizationDesired.Throttle;
stabilizationDesired.Throttle = 0; stabilizationDesired.Throttle = 0;
}
stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_ROLL] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE; stabilizationDesired.StabilizationMode[STABILIZATIONDESIRED_STABILIZATIONMODE_PITCH] = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
@ -161,6 +179,20 @@ static void altitudeHoldTask(void *parameters)
stabilizationDesired.Pitch = altitudeHoldDesired.Pitch; stabilizationDesired.Pitch = altitudeHoldDesired.Pitch;
stabilizationDesired.Yaw = altitudeHoldDesired.Yaw; stabilizationDesired.Yaw = altitudeHoldDesired.Yaw;
StabilizationDesiredSet(&stabilizationDesired); StabilizationDesiredSet(&stabilizationDesired);
} else if (ev.obj == FlightStatusHandle()) {
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if(flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD && !running) {
BaroAltitudeConnectQueue(queue);
// Copy the current throttle as a starting point for integral
StabilizationDesiredThrottleGet(&throttleIntegral);
throttleIntegral /= altitudeHoldSettings.Ki;
running = true;
}
} else if (ev.obj == AltitudeHoldDesiredHandle()) {
AltitudeHoldDesiredGet(&altitudeHoldDesired);
} }
} }
@ -168,13 +200,7 @@ static void altitudeHoldTask(void *parameters)
static void SettingsUpdatedCb(UAVObjEvent * ev) static void SettingsUpdatedCb(UAVObjEvent * ev)
{ {
AltitudeHoldDesiredGet(&altitudeHoldDesired);
AltitudeHoldSettingsGet(&altitudeHoldSettings); AltitudeHoldSettingsGet(&altitudeHoldSettings);
const float fakeDt = 0.0025; tau = altitudeHoldSettings.Tau / 1000.0f;
if(settings.GyroTau < 0.0001)
gyro_alpha = 0; // not trusting this to resolve to 0
else
gyro_alpha = expf(-fakeDt / settings.GyroTau);
} }

9
flight/Modules/ManualControl/manualcontrol.c
View File

@ -46,6 +46,7 @@
#include "receiveractivity.h" #include "receiveractivity.h"
#include "altitudeholddesired.h" #include "altitudeholddesired.h"
#include "positionactual.h" #include "positionactual.h"
#include "baroaltitude.h"
// Private constants // Private constants
#if defined(PIOS_MANUAL_STACK_SIZE) #if defined(PIOS_MANUAL_STACK_SIZE)
@ -626,12 +627,14 @@ static void altitudeHoldDesired(ManualControlCommandData * cmd)
PositionActualDownGet(&currentDown); PositionActualDownGet(&currentDown);
if(dT > 1) { if(dT > 1) {
// After not being in this mode for a while init at current height // After not being in this mode for a while init at current height
altitudeHoldDesired.Down = currentDown; BaroAltitudeData baroAltitude;
BaroAltitudeGet(&baroAltitude);
altitudeHoldDesired.Altitude = baroAltitude.Altitude;
zeroed = false; zeroed = false;
} else if (cmd->Throttle > DEADBAND_HIGH && zeroed) } else if (cmd->Throttle > DEADBAND_HIGH && zeroed)
altitudeHoldDesired.Down += (DEADBAND_HIGH - cmd->Throttle) * dT; altitudeHoldDesired.Altitude += (cmd->Throttle - DEADBAND_HIGH) * dT;
else if (cmd->Throttle < DEADBAND_LOW && zeroed) else if (cmd->Throttle < DEADBAND_LOW && zeroed)
altitudeHoldDesired.Down += (DEADBAND_LOW - cmd->Throttle) * dT; altitudeHoldDesired.Altitude += (cmd->Throttle - DEADBAND_LOW) * dT;
else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH) // Require the stick to enter the dead band before they can move height else if (cmd->Throttle >= DEADBAND_LOW && cmd->Throttle <= DEADBAND_HIGH) // Require the stick to enter the dead band before they can move height
zeroed = true; zeroed = true;

102
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -8,7 +8,6 @@
/* Begin PBXFileReference section */ /* Begin PBXFileReference section */
65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; }; 65003B31121249CA00C183DD /* pios_wdg.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_wdg.c; sourceTree = "<group>"; };
65078B09136FCEE600536549 /* flightstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = flightstatus.xml; sourceTree = "<group>"; };
650D8ED112DFE17500D05CC9 /* uavtalk.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavtalk.h; sourceTree = "<group>"; }; 650D8ED112DFE17500D05CC9 /* uavtalk.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = uavtalk.h; sourceTree = "<group>"; };
650D8ED212DFE17500D05CC9 /* uavtalk.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk.c; sourceTree = "<group>"; }; 650D8ED212DFE17500D05CC9 /* uavtalk.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavtalk.c; sourceTree = "<group>"; };
65173C9F12EBFD1700D6A7CB /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../../Makefile; sourceTree = SOURCE_ROOT; }; 65173C9F12EBFD1700D6A7CB /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../../Makefile; sourceTree = SOURCE_ROOT; };
@ -28,14 +27,11 @@
6528CCB412E406B800CF5144 /* pios_adxl345.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_adxl345.c; sourceTree = "<group>"; }; 6528CCB412E406B800CF5144 /* pios_adxl345.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_adxl345.c; sourceTree = "<group>"; };
6528CCE212E40F6700CF5144 /* pios_adxl345.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adxl345.h; sourceTree = "<group>"; }; 6528CCE212E40F6700CF5144 /* pios_adxl345.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adxl345.h; sourceTree = "<group>"; };
652A445514D116AE00835B68 /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = board_hw_defs.c; path = ../../board_hw_defs/revolution/board_hw_defs.c; sourceTree = "<group>"; }; 652A445514D116AE00835B68 /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = board_hw_defs.c; path = ../../board_hw_defs/revolution/board_hw_defs.c; sourceTree = "<group>"; };
652C8568132B632A00BFCC70 /* firmwareiapobj.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = firmwareiapobj.xml; sourceTree = "<group>"; };
652C856A132B6EA600BFCC70 /* sonaraltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = sonaraltitude.xml; sourceTree = "<group>"; };
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65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; }; 65322D3B122841F60046CD7C /* gpstime.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpstime.xml; sourceTree = "<group>"; };
65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; }; 65345C871288668B00A5E4E8 /* guidancesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = guidancesettings.xml; sourceTree = "<group>"; };
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6543A04514CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = "<group>"; }; 6543A04514CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = "<group>"; };
6543A04B14CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = "<group>"; }; 6543A04B14CF1823004EEC4C /* board_hw_defs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = board_hw_defs.c; sourceTree = "<group>"; };
@ -2758,45 +2754,6 @@
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65B367FF121C2620003EAD18 /* src.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = src.pro; sourceTree = "<group>"; }; 65B367FF121C2620003EAD18 /* src.pro */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; path = src.pro; sourceTree = "<group>"; };
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65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinittemplate.c; sourceTree = "<group>"; }; 65C35E9F12F0A834004811C2 /* uavobjectsinittemplate.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinittemplate.c; sourceTree = "<group>"; };
65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_cc.c; sourceTree = "<group>"; }; 65C35EA012F0A834004811C2 /* uavobjectsinit_cc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = uavobjectsinit_cc.c; sourceTree = "<group>"; };
@ -2813,7 +2770,7 @@
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; }; 65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = stm32f2xx_conf.h; sourceTree = "<group>"; }; 65DEA78513F0FE6000095B06 /* stm32f2xx_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = stm32f2xx_conf.h; sourceTree = "<group>"; };
65DEA78613F1118400095B06 /* pios_bma180.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bma180.h; sourceTree = "<group>"; }; 65DEA78613F1118400095B06 /* pios_bma180.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_bma180.h; sourceTree = "<group>"; };
65E410AE12F65AEA00725888 /* attitudesettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = attitudesettings.xml; sourceTree = "<group>"; }; 65E466BC14E244020075459C /* uavobjectdefinition */ = {isa = PBXFileReference; lastKnownFileType = folder; path = uavobjectdefinition; sourceTree = "<group>"; };
65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; }; 65E6DF7112E02E8E00058553 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; path = Makefile; sourceTree = "<group>"; };
65E6DF7312E02E8E00058553 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = alarms.c; sourceTree = "<group>"; }; 65E6DF7312E02E8E00058553 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = alarms.c; sourceTree = "<group>"; };
65E6DF7412E02E8E00058553 /* coptercontrol.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = coptercontrol.c; sourceTree = "<group>"; }; 65E6DF7412E02E8E00058553 /* coptercontrol.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = coptercontrol.c; sourceTree = "<group>"; };
@ -2860,7 +2817,6 @@
65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; }; 65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; }; 65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; }; 65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
65E8C788139AA2A800E1F979 /* accessorydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = accessorydesired.xml; sourceTree = "<group>"; };
65E8F03211EFF25C00BBF654 /* pios_com.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_com.c; path = ../../PiOS/Common/pios_com.c; sourceTree = SOURCE_ROOT; }; 65E8F03211EFF25C00BBF654 /* pios_com.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_com.c; path = ../../PiOS/Common/pios_com.c; sourceTree = SOURCE_ROOT; };
65E8F03311EFF25C00BBF654 /* pios_hmc5843.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_hmc5843.c; path = ../../PiOS/Common/pios_hmc5843.c; sourceTree = SOURCE_ROOT; }; 65E8F03311EFF25C00BBF654 /* pios_hmc5843.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_hmc5843.c; path = ../../PiOS/Common/pios_hmc5843.c; sourceTree = SOURCE_ROOT; };
65E8F03411EFF25C00BBF654 /* pios_opahrs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_opahrs.c; path = ../../PiOS/Common/pios_opahrs.c; sourceTree = SOURCE_ROOT; }; 65E8F03411EFF25C00BBF654 /* pios_opahrs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_opahrs.c; path = ../../PiOS/Common/pios_opahrs.c; sourceTree = SOURCE_ROOT; };
@ -3259,7 +3215,6 @@
65FA9B8314709E9E0019A260 /* pios_tim_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim_priv.h; sourceTree = "<group>"; }; 65FA9B8314709E9E0019A260 /* pios_tim_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim_priv.h; sourceTree = "<group>"; };
65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; }; 65FA9B8414709E9F0019A260 /* pios_tim.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_tim.h; sourceTree = "<group>"; };
65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_priv.h; sourceTree = "<group>"; }; 65FA9B8514709E9F0019A260 /* pios_usb_hid_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_priv.h; sourceTree = "<group>"; };
65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = receiveractivity.xml; sourceTree = "<group>"; };
65FAB8FC1480DA19000FF8B2 /* pios_dsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_dsm.c; sourceTree = "<group>"; }; 65FAB8FC1480DA19000FF8B2 /* pios_dsm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_dsm.c; sourceTree = "<group>"; };
65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_pwm.c; sourceTree = "<group>"; }; 65FAB8FD1480DA19000FF8B2 /* pios_pwm.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_pwm.c; sourceTree = "<group>"; };
65FAB8FE1481A5C5000FF8B2 /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; }; 65FAB8FE1481A5C5000FF8B2 /* pios_rtc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_rtc.c; sourceTree = "<group>"; };
@ -7866,65 +7821,12 @@
65C35E4E12EFB2F3004811C2 /* shared */ = { 65C35E4E12EFB2F3004811C2 /* shared */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (
65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */, 65E466BC14E244020075459C /* uavobjectdefinition */,
); );
name = shared; name = shared;
path = ../../../shared; path = ../../../shared;
sourceTree = SOURCE_ROOT; sourceTree = SOURCE_ROOT;
}; };
65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
isa = PBXGroup;
children = (
65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */,
65C35E5312EFB2F3004811C2 /* ahrscalibration.xml */,
65C35E5412EFB2F3004811C2 /* ahrssettings.xml */,
65C35E5512EFB2F3004811C2 /* ahrsstatus.xml */,
65C35E5612EFB2F3004811C2 /* attitudeactual.xml */,
65C35E5812EFB2F3004811C2 /* attituderaw.xml */,
65E410AE12F65AEA00725888 /* attitudesettings.xml */,
65C35E5912EFB2F3004811C2 /* baroaltitude.xml */,
652C8568132B632A00BFCC70 /* firmwareiapobj.xml */,
65C35E5C12EFB2F3004811C2 /* flightbatterystate.xml */,
65C35E5D12EFB2F3004811C2 /* flightplancontrol.xml */,
65C35E5E12EFB2F3004811C2 /* flightplansettings.xml */,
65C35E5F12EFB2F3004811C2 /* flightplanstatus.xml */,
65C35E6012EFB2F3004811C2 /* flighttelemetrystats.xml */,
65078B09136FCEE600536549 /* flightstatus.xml */,
65C35E6112EFB2F3004811C2 /* gcstelemetrystats.xml */,
65C35E6212EFB2F3004811C2 /* gpsposition.xml */,
65C35E6312EFB2F3004811C2 /* gpssatellites.xml */,
65C35E6412EFB2F3004811C2 /* gpstime.xml */,
65C35E6512EFB2F3004811C2 /* guidancesettings.xml */,
65C35E6612EFB2F3004811C2 /* homelocation.xml */,
65C35E6712EFB2F3004811C2 /* i2cstats.xml */,
65C35E6812EFB2F3004811C2 /* manualcontrolcommand.xml */,
65C35E6912EFB2F3004811C2 /* manualcontrolsettings.xml */,
65C35E6A12EFB2F3004811C2 /* mixersettings.xml */,
65C35E6B12EFB2F3004811C2 /* mixerstatus.xml */,
65C35E6C12EFB2F3004811C2 /* nedaccel.xml */,
65C35E6D12EFB2F3004811C2 /* objectpersistence.xml */,
65C35E6E12EFB2F3004811C2 /* positionactual.xml */,
65C35E6F12EFB2F3004811C2 /* positiondesired.xml */,
65C35E7012EFB2F3004811C2 /* ratedesired.xml */,
65FAB8CF147FFD76000FF8B2 /* receiveractivity.xml */,
652C856A132B6EA600BFCC70 /* sonaraltitude.xml */,
6536D47B1307962C0042A298 /* stabilizationdesired.xml */,
65C35E7112EFB2F3004811C2 /* stabilizationsettings.xml */,
65C35E7212EFB2F3004811C2 /* systemalarms.xml */,
65C35E7312EFB2F3004811C2 /* systemsettings.xml */,
65C35E7412EFB2F3004811C2 /* systemstats.xml */,
65C35E7512EFB2F3004811C2 /* taskinfo.xml */,
65C35E7612EFB2F3004811C2 /* telemetrysettings.xml */,
65C35E7712EFB2F3004811C2 /* velocityactual.xml */,
65C35E7812EFB2F3004811C2 /* velocitydesired.xml */,
65C35E7912EFB2F3004811C2 /* watchdogstatus.xml */,
);
path = uavobjectdefinition;
sourceTree = "<group>";
};
65C35EA212F0A834004811C2 /* inc */ = { 65C35EA212F0A834004811C2 /* inc */ = {
isa = PBXGroup; isa = PBXGroup;
children = ( children = (

4
shared/uavobjectdefinition/altitudeholddesired.xml
View File

@ -1,10 +1,10 @@
<xml> <xml>
<object name="AltitudeHoldDesired" singleinstance="true" settings="false"> <object name="AltitudeHoldDesired" singleinstance="true" settings="false">
<description>Holds the desired altitude (from manual control) as well as the desired attitude to pass through</description> <description>Holds the desired altitude (from manual control) as well as the desired attitude to pass through</description>
<field name="Down" units="m" type="float" elements="1"/> <field name="Altitude" units="m" type="float" elements="1"/>
<field name="Roll" units="deg" type="float" elements="1"/> <field name="Roll" units="deg" type="float" elements="1"/>
<field name="Pitch" units="deg" type="float" elements="1"/> <field name="Pitch" units="deg" type="float" elements="1"/>
<field name="Yaw" units="deg/s" type="float" elements="1"/> <field name="Yaw" units="deg/s" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/> <telemetryflight acked="false" updatemode="onchange" period="0"/>

2
shared/uavobjectdefinition/altitudeholdsettings.xml
View File

@ -4,7 +4,7 @@
<field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/> <field name="Kp" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/>
<field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/> <field name="Ki" units="throttle/m" type="float" elements="1" defaultvalue="0.025"/>
<field name="Kd" units="throttle/m" type="float" elements="1" defaultvalue="0.25"/> <field name="Kd" units="throttle/m" type="float" elements="1" defaultvalue="0.25"/>
<field name="AltitudeTau" units="s" type="float" elements="1" defaultvalue="0.1"/> <field name="Tau" units="s" type="float" elements="1" defaultvalue="0.1"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/> <telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/> <telemetryflight acked="true" updatemode="onchange" period="0"/>