rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-29 14:52:12 +01:00
Code Issues Releases Activity

OP-26 Flight/Stabilization First release of stabilization module. Tested using FlightGear, default tuning is for the HITL simulation. Works fairly well but a number of improvements can be made to aid tuning. The ManualControl settings must be first set as you would normally do for HITL simulation, flight mode is changed using the mode channel.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@887 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-06-25 02:28:16 +00:00 committed by vassilis
parent d652c853d0
commit c74eb2f0e9
8 changed files with 266 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
flight/OpenPilot/Makefile
View File

@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude
MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial

31
flight/OpenPilot/Modules/Stabilization/inc/stabilization.h Normal file
View File

@ -0,0 +1,31 @@
/**
******************************************************************************
*
* @file stabilization.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef STABILIZATION_H
#define STABILIZATION_H
int32_t StabilizationInitialize();
#endif // STABILIZATION_H

180
flight/OpenPilot/Modules/Stabilization/stabilization.c Normal file
View File

@ -0,0 +1,180 @@
/**
******************************************************************************
*
* @file stabilization.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "stabilization.h"
#include "stabilizationsettings.h"
#include "actuatordesired.h"
#include "attitudedesired.h"
#include "attitudeactual.h"
#include "manualcontrolcommand.h"
#include "systemsettings.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define PITCH_INTEGRAL_LIMIT 0.5
#define ROLL_INTEGRAL_LIMIT 0.5
#define YAW_INTEGRAL_LIMIT 0.5
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void stabilizationTask(void* parameters);
static float bound(float val, float min, float max);
/**
* Module initialization
*/
int32_t StabilizationInitialize()
{
// Initialize variables
// Start main task
xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module task
*/
static void stabilizationTask(void* parameters)
{
StabilizationSettingsData stabSettings;
ActuatorDesiredData actuatorDesired;
AttitudeDesiredData attitudeDesired;
AttitudeActualData attitudeActual;
ManualControlCommandData manualControl;
SystemSettingsData systemSettings;
portTickType lastSysTime;
float pitchError, pitchErrorLast;
float rollError, rollErrorLast;
float yawError, yawErrorLast;
float pitchDerivative;
float rollDerivative;
float yawDerivative;
float pitchIntegral, pitchIntegralLimit;
float rollIntegral, rollIntegralLimit;
float yawIntegral, yawIntegralLimit;
// Initialize
pitchIntegral = 0.0;
rollIntegral = 0.0;
yawIntegral = 0.0;
pitchErrorLast = 0.0;
rollErrorLast = 0.0;
yawErrorLast = 0.0;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Read settings and other objects
StabilizationSettingsGet(&stabSettings);
SystemSettingsGet(&systemSettings);
ManualControlCommandGet(&manualControl);
AttitudeDesiredGet(&attitudeDesired);
AttitudeActualGet(&attitudeActual);
// Pitch stabilization control loop
pitchError = bound(attitudeDesired.Pitch, -stabSettings.PitchMax, stabSettings.PitchMax) - attitudeActual.Pitch;
pitchDerivative = pitchError - pitchErrorLast;
pitchIntegralLimit = PITCH_INTEGRAL_LIMIT / stabSettings.PitchKi;
pitchIntegral = bound(pitchIntegral+pitchError*stabSettings.UpdatePeriod, -pitchIntegralLimit, pitchIntegralLimit);
actuatorDesired.Pitch = stabSettings.PitchKp*pitchError + stabSettings.PitchKi*pitchIntegral + stabSettings.PitchKd*pitchDerivative;
actuatorDesired.Pitch = bound(actuatorDesired.Pitch, -1.0, 1.0);
pitchErrorLast = pitchError;
// Roll stabilization control loop
rollError = bound(attitudeDesired.Roll, -stabSettings.RollMax, stabSettings.RollMax) - attitudeActual.Roll;
rollDerivative = rollError - rollErrorLast;
rollIntegralLimit = ROLL_INTEGRAL_LIMIT / stabSettings.RollKi;
rollIntegral = bound(rollIntegral+rollError*stabSettings.UpdatePeriod, -rollIntegralLimit, rollIntegralLimit);
actuatorDesired.Roll = stabSettings.RollKp*rollError + stabSettings.RollKi*rollIntegral + stabSettings.RollKd*rollDerivative;
actuatorDesired.Roll = bound(actuatorDesired.Roll, -1.0, 1.0);
rollErrorLast = rollError;
// Yaw stabilization control loop (only enabled on VTOL airframes)
if ( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )
{
yawError = attitudeDesired.Yaw - attitudeActual.Yaw;
yawDerivative = yawError - yawErrorLast;
yawIntegralLimit = YAW_INTEGRAL_LIMIT / stabSettings.YawKi;
yawIntegral = bound(yawIntegral+yawError*stabSettings.UpdatePeriod, -yawIntegralLimit, yawIntegralLimit);
actuatorDesired.Yaw = stabSettings.YawKp*yawError + stabSettings.YawKi*yawIntegral + stabSettings.YawKd*yawDerivative;;
actuatorDesired.Yaw = bound(actuatorDesired.Yaw, -1.0, 1.0);
yawErrorLast = yawError;
}
else
{
actuatorDesired.Yaw = 0.0;
}
// Setup throttle
actuatorDesired.Throttle = bound(attitudeDesired.Throttle, 0.0, stabSettings.ThrottleMax);
// Write actuator desired (if not in manual mode)
if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
{
ActuatorDesiredSet(&actuatorDesired);
}
else
{
pitchIntegral = 0.0;
rollIntegral = 0.0;
yawIntegral = 0.0;
pitchErrorLast = 0.0;
rollErrorLast = 0.0;
yawErrorLast = 0.0;
}
// Clear alarms
AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
// Wait until next update
vTaskDelayUntil(&lastSysTime, stabSettings.UpdatePeriod / portTICK_RATE_MS );
}
}
/**
* Bound input value between limits
*/
static float bound(float val, float min, float max)
{
if ( val < min )
{
val = min;
}
else if ( val > max )
{
val = max;
}
return val;
}

28
flight/OpenPilot/UAVObjects/inc/actuatorsettings.h
View File

@ -81,46 +81,46 @@ typedef struct {
// Field information
// Field FixedWingRoll1 information
/* Enumeration options for field FixedWingRoll1 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGROLL1_NONE=8, } ActuatorSettingsFixedWingRoll1Options;
typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGROLL1_NONE=8, } ActuatorSettingsFixedWingRoll1Options;
// Field FixedWingRoll2 information
/* Enumeration options for field FixedWingRoll2 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGROLL2_NONE=8, } ActuatorSettingsFixedWingRoll2Options;
typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGROLL2_NONE=8, } ActuatorSettingsFixedWingRoll2Options;
// Field FixedWingPitch1 information
/* Enumeration options for field FixedWingPitch1 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE=8, } ActuatorSettingsFixedWingPitch1Options;
typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE=8, } ActuatorSettingsFixedWingPitch1Options;
// Field FixedWingPitch2 information
/* Enumeration options for field FixedWingPitch2 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE=8, } ActuatorSettingsFixedWingPitch2Options;
typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE=8, } ActuatorSettingsFixedWingPitch2Options;
// Field FixedWingYaw information
/* Enumeration options for field FixedWingYaw */
typedef enum { ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGYAW_NONE=8, } ActuatorSettingsFixedWingYawOptions;
typedef enum { ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGYAW_NONE=8, } ActuatorSettingsFixedWingYawOptions;
// Field FixedWingThrottle information
/* Enumeration options for field FixedWingThrottle */
typedef enum { ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE=8, } ActuatorSettingsFixedWingThrottleOptions;
typedef enum { ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL0=0, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL1=1, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL2=2, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL3=3, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL4=4, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL5=5, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL6=6, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL7=7, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE=8, } ActuatorSettingsFixedWingThrottleOptions;
// Field VTOLMotorN information
/* Enumeration options for field VTOLMotorN */
typedef enum { ACTUATORSETTINGS_VTOLMOTORN_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORN_NONE=8, } ActuatorSettingsVTOLMotorNOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORN_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORN_NONE=8, } ActuatorSettingsVTOLMotorNOptions;
// Field VTOLMotorNE information
/* Enumeration options for field VTOLMotorNE */
typedef enum { ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORNE_NONE=8, } ActuatorSettingsVTOLMotorNEOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORNE_NONE=8, } ActuatorSettingsVTOLMotorNEOptions;
// Field VTOLMotorE information
/* Enumeration options for field VTOLMotorE */
typedef enum { ACTUATORSETTINGS_VTOLMOTORE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORE_NONE=8, } ActuatorSettingsVTOLMotorEOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORE_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORE_NONE=8, } ActuatorSettingsVTOLMotorEOptions;
// Field VTOLMotorSE information
/* Enumeration options for field VTOLMotorSE */
typedef enum { ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORSE_NONE=8, } ActuatorSettingsVTOLMotorSEOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORSE_NONE=8, } ActuatorSettingsVTOLMotorSEOptions;
// Field VTOLMotorS information
/* Enumeration options for field VTOLMotorS */
typedef enum { ACTUATORSETTINGS_VTOLMOTORS_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORS_NONE=8, } ActuatorSettingsVTOLMotorSOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORS_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORS_NONE=8, } ActuatorSettingsVTOLMotorSOptions;
// Field VTOLMotorSW information
/* Enumeration options for field VTOLMotorSW */
typedef enum { ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORSW_NONE=8, } ActuatorSettingsVTOLMotorSWOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORSW_NONE=8, } ActuatorSettingsVTOLMotorSWOptions;
// Field VTOLMotorW information
/* Enumeration options for field VTOLMotorW */
typedef enum { ACTUATORSETTINGS_VTOLMOTORW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORW_NONE=8, } ActuatorSettingsVTOLMotorWOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORW_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORW_NONE=8, } ActuatorSettingsVTOLMotorWOptions;
// Field VTOLMotorNW information
/* Enumeration options for field VTOLMotorNW */
typedef enum { ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORNW_NONE=8, } ActuatorSettingsVTOLMotorNWOptions;
typedef enum { ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL0=0, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL1=1, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL2=2, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL3=3, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL4=4, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL5=5, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL6=6, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL7=7, ACTUATORSETTINGS_VTOLMOTORNW_NONE=8, } ActuatorSettingsVTOLMotorNWOptions;
// Field ChannelUpdateFreq information
/* Number of elements for field ChannelUpdateFreq */
#define ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM 2

10
flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h
View File

@ -75,19 +75,19 @@ typedef struct {
typedef enum { MANUALCONTROLSETTINGS_INPUTMODE_PWM=0, MANUALCONTROLSETTINGS_INPUTMODE_PPM=1, MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM=2, } ManualControlSettingsInputModeOptions;
// Field Roll information
/* Enumeration options for field Roll */
typedef enum { MANUALCONTROLSETTINGS_ROLL_CHANNEL1=0, MANUALCONTROLSETTINGS_ROLL_CHANNEL2=1, MANUALCONTROLSETTINGS_ROLL_CHANNEL3=2, MANUALCONTROLSETTINGS_ROLL_CHANNEL4=3, MANUALCONTROLSETTINGS_ROLL_CHANNEL5=4, MANUALCONTROLSETTINGS_ROLL_CHANNEL6=5, MANUALCONTROLSETTINGS_ROLL_CHANNEL7=6, MANUALCONTROLSETTINGS_ROLL_CHANNEL8=7, MANUALCONTROLSETTINGS_ROLL_NONE=8, } ManualControlSettingsRollOptions;
typedef enum { MANUALCONTROLSETTINGS_ROLL_CHANNEL0=0, MANUALCONTROLSETTINGS_ROLL_CHANNEL1=1, MANUALCONTROLSETTINGS_ROLL_CHANNEL2=2, MANUALCONTROLSETTINGS_ROLL_CHANNEL3=3, MANUALCONTROLSETTINGS_ROLL_CHANNEL4=4, MANUALCONTROLSETTINGS_ROLL_CHANNEL5=5, MANUALCONTROLSETTINGS_ROLL_CHANNEL6=6, MANUALCONTROLSETTINGS_ROLL_CHANNEL7=7, MANUALCONTROLSETTINGS_ROLL_NONE=8, } ManualControlSettingsRollOptions;
// Field Pitch information
/* Enumeration options for field Pitch */
typedef enum { MANUALCONTROLSETTINGS_PITCH_CHANNEL1=0, MANUALCONTROLSETTINGS_PITCH_CHANNEL2=1, MANUALCONTROLSETTINGS_PITCH_CHANNEL3=2, MANUALCONTROLSETTINGS_PITCH_CHANNEL4=3, MANUALCONTROLSETTINGS_PITCH_CHANNEL5=4, MANUALCONTROLSETTINGS_PITCH_CHANNEL6=5, MANUALCONTROLSETTINGS_PITCH_CHANNEL7=6, MANUALCONTROLSETTINGS_PITCH_CHANNEL8=7, MANUALCONTROLSETTINGS_PITCH_NONE=8, } ManualControlSettingsPitchOptions;
typedef enum { MANUALCONTROLSETTINGS_PITCH_CHANNEL0=0, MANUALCONTROLSETTINGS_PITCH_CHANNEL1=1, MANUALCONTROLSETTINGS_PITCH_CHANNEL2=2, MANUALCONTROLSETTINGS_PITCH_CHANNEL3=3, MANUALCONTROLSETTINGS_PITCH_CHANNEL4=4, MANUALCONTROLSETTINGS_PITCH_CHANNEL5=5, MANUALCONTROLSETTINGS_PITCH_CHANNEL6=6, MANUALCONTROLSETTINGS_PITCH_CHANNEL7=7, MANUALCONTROLSETTINGS_PITCH_NONE=8, } ManualControlSettingsPitchOptions;
// Field Yaw information
/* Enumeration options for field Yaw */
typedef enum { MANUALCONTROLSETTINGS_YAW_CHANNEL1=0, MANUALCONTROLSETTINGS_YAW_CHANNEL2=1, MANUALCONTROLSETTINGS_YAW_CHANNEL3=2, MANUALCONTROLSETTINGS_YAW_CHANNEL4=3, MANUALCONTROLSETTINGS_YAW_CHANNEL5=4, MANUALCONTROLSETTINGS_YAW_CHANNEL6=5, MANUALCONTROLSETTINGS_YAW_CHANNEL7=6, MANUALCONTROLSETTINGS_YAW_CHANNEL8=7, MANUALCONTROLSETTINGS_YAW_NONE=8, } ManualControlSettingsYawOptions;
typedef enum { MANUALCONTROLSETTINGS_YAW_CHANNEL0=0, MANUALCONTROLSETTINGS_YAW_CHANNEL1=1, MANUALCONTROLSETTINGS_YAW_CHANNEL2=2, MANUALCONTROLSETTINGS_YAW_CHANNEL3=3, MANUALCONTROLSETTINGS_YAW_CHANNEL4=4, MANUALCONTROLSETTINGS_YAW_CHANNEL5=5, MANUALCONTROLSETTINGS_YAW_CHANNEL6=6, MANUALCONTROLSETTINGS_YAW_CHANNEL7=7, MANUALCONTROLSETTINGS_YAW_NONE=8, } ManualControlSettingsYawOptions;
// Field Throttle information
/* Enumeration options for field Throttle */
typedef enum { MANUALCONTROLSETTINGS_THROTTLE_CHANNEL1=0, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL2=1, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL3=2, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL4=3, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL5=4, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL6=5, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL7=6, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL8=7, MANUALCONTROLSETTINGS_THROTTLE_NONE=8, } ManualControlSettingsThrottleOptions;
typedef enum { MANUALCONTROLSETTINGS_THROTTLE_CHANNEL0=0, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL1=1, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL2=2, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL3=3, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL4=4, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL5=5, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL6=6, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL7=7, MANUALCONTROLSETTINGS_THROTTLE_NONE=8, } ManualControlSettingsThrottleOptions;
// Field FlightMode information
/* Enumeration options for field FlightMode */
typedef enum { MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL1=0, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL2=1, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL3=2, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL4=3, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL5=4, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL6=5, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL7=6, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL8=7, MANUALCONTROLSETTINGS_FLIGHTMODE_NONE=8, } ManualControlSettingsFlightModeOptions;
typedef enum { MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL0=0, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL1=1, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL2=2, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL3=3, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL4=4, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL5=5, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL6=6, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL7=7, MANUALCONTROLSETTINGS_FLIGHTMODE_NONE=8, } ManualControlSettingsFlightModeOptions;
// Field ChannelMax information
/* Number of elements for field ChannelMax */
#define MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM 8

22
flight/OpenPilot/UAVObjects/inc/stabilizationsettings.h
View File

@ -33,7 +33,7 @@
#define STABILIZATIONSETTINGS_H
// Object constants
#define STABILIZATIONSETTINGS_OBJID 1855169608U
#define STABILIZATIONSETTINGS_OBJID 2185681924U
#define STABILIZATIONSETTINGS_NAME "StabilizationSettings"
#define STABILIZATIONSETTINGS_METANAME "StabilizationSettingsMeta"
#define STABILIZATIONSETTINGS_ISSINGLEINST 1
@ -57,16 +57,36 @@
// Object data
typedef struct {
uint16_t UpdatePeriod;
float RollMax;
float PitchMax;
float ThrottleMax;
float PitchKp;
float PitchKi;
float PitchKd;
float RollKp;
float RollKi;
float RollKd;
float YawKp;
float YawKi;
float YawKd;
} __attribute__((packed)) StabilizationSettingsData;
// Field information
// Field UpdatePeriod information
// Field RollMax information
// Field PitchMax information
// Field ThrottleMax information
// Field PitchKp information
// Field PitchKi information
// Field PitchKd information
// Field RollKp information
// Field RollKi information
// Field RollKd information
// Field YawKp information
// Field YawKi information
// Field YawKd information
// Generic interface functions

6
flight/OpenPilot/UAVObjects/inc/systemalarms.h
View File

@ -57,7 +57,7 @@
// Object data
typedef struct {
uint8_t Alarm[8];
uint8_t Alarm[9];
} __attribute__((packed)) SystemAlarmsData;
@ -66,9 +66,9 @@ typedef struct {
/* Enumeration options for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3, } SystemAlarmsAlarmOptions;
/* Array element names for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, } SystemAlarmsAlarmElem;
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, } SystemAlarmsAlarmElem;
/* Number of elements for field Alarm */
#define SYSTEMALARMS_ALARM_NUMELEM 8
#define SYSTEMALARMS_ALARM_NUMELEM 9
// Generic interface functions

12
flight/OpenPilot/UAVObjects/stabilizationsettings.c
View File

@ -73,9 +73,19 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(StabilizationSettingsData));
data.UpdatePeriod = 10;
data.RollMax = 35;
data.PitchMax = 35;
data.ThrottleMax = 100;
data.ThrottleMax = 1;
data.PitchKp = 0.04;
data.PitchKi = 4e-06;
data.PitchKd = 0.01;
data.RollKp = 0.02;
data.RollKi = 4e-06;
data.RollKd = 0.01;
data.YawKp = 1;
data.YawKi = 0;
data.YawKd = 0;
UAVObjSetInstanceData(obj, instId, &data);