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Code Issues Releases Activity

Merge branch 'MikeL_MixerCurve' of ssh://git.openpilot.org/OpenPilot into pt/CC3D_Release

Browse Source 
Conflicts:
	ground/openpilotgcs/src/plugins/config/pipxtreme.ui
This commit is contained in:
PT_Dreamer 2012-07-24 16:04:03 +01:00
commit c8fdfb5dab
24 changed files with 1191 additions and 381 deletions
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3
.gitignore vendored
View File

@ -20,6 +20,9 @@
/flight/OpenPilot/Build
/flight/OpenPilot/Build.win32
#flight/Project/OpenPilotOSX
flight/Project/OpenPilotOSX/build
# /flight/PipBee/
/flight/PipBee/Build

2
flight/Libraries/inc/packet_handler.h
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@ -106,7 +106,7 @@ void PHRegisterStatusHandler(PHInstHandle h, PHStatusHandler f);
void PHRegisterPPMHandler(PHInstHandle h, PHPPMHandler f);
uint32_t PHConnect(PHInstHandle h, uint32_t dest_id);
PHPacketHandle PHGetRXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
void PHReleaseRXPacket(PHInstHandle h, PHPacketHandle p);
PHPacketHandle PHGetTXPacket(PHInstHandle h);
void PHReleaseTXPacket(PHInstHandle h, PHPacketHandle p);
uint8_t PHTransmitPacket(PHInstHandle h, PHPacketHandle p);

35
flight/Libraries/packet_handler.c
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@ -169,16 +169,15 @@ PHPacketHandle PHGetTXPacket(PHInstHandle h)
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
PHPacketHandle p = data->tx_packets + data->tx_win_end;
// Is the window full?
uint8_t next_end = (data->tx_win_end + 1) % data->cfg.winSize;
if(next_end == data->tx_win_start)
{
xSemaphoreGiveRecursive(data->lock);
return NULL;
}
data->tx_win_end = next_end;
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
if (data->tx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->tx_packets + i;
break;
}
// Release lock
xSemaphoreGiveRecursive(data->lock);
@ -224,17 +223,15 @@ PHPacketHandle PHGetRXPacket(PHInstHandle h)
// Lock
xSemaphoreTakeRecursive(data->lock, portMAX_DELAY);
PHPacketHandle p = data->rx_packets + data->rx_win_end;
// Is the window full?
uint8_t next_end = (data->rx_win_end + 1) % data->cfg.winSize;
if(next_end == data->rx_win_start)
{
// Release lock
xSemaphoreGiveRecursive(data->lock);
return NULL;
}
data->rx_win_end = next_end;
// Find a free packet.
PHPacketHandle p = NULL;
for (uint8_t i = 0; i < data->cfg.winSize; ++i)
if (data->rx_packets[i].header.type == PACKET_TYPE_NONE)
{
p = data->rx_packets + i;
break;
}
// Release lock
xSemaphoreGiveRecursive(data->lock);

339
flight/Modules/RadioComBridge/RadioComBridge.c
View File

@ -61,8 +61,9 @@
#define PACKET_QUEUE_SIZE 10
#define MAX_PORT_DELAY 200
#define EV_PACKET_RECEIVED 0x20
#define EV_TRANSMIT_PACKET 0x30
#define EV_SEND_ACK 0x40
#define EV_SEND_NACK 0x80
#define EV_SEND_NACK 0x50
// ****************
// Private types
@ -79,22 +80,36 @@ typedef struct {
} PairStats;
typedef struct {
uint32_t comPort;
UAVTalkConnection UAVTalkCon;
xQueueHandle sendQueue;
xQueueHandle recvQueue;
xQueueHandle gcsQueue;
uint16_t wdg;
bool checkHID;
} UAVTalkComTaskParams;
typedef struct {
// The task handles.
xTaskHandle comUAVTalkTaskHandle;
xTaskHandle GCSUAVTalkRecvTaskHandle;
xTaskHandle UAVTalkRecvTaskHandle;
xTaskHandle radioReceiveTaskHandle;
xTaskHandle sendPacketTaskHandle;
xTaskHandle sendDataTaskHandle;
xTaskHandle UAVTalkSendTaskHandle;
xTaskHandle radioStatusTaskHandle;
xTaskHandle transparentCommTaskHandle;
xTaskHandle ppmInputTaskHandle;
// The UAVTalk connection on the com side.
UAVTalkConnection inUAVTalkCon;
UAVTalkConnection outUAVTalkCon;
UAVTalkConnection UAVTalkCon;
UAVTalkConnection GCSUAVTalkCon;
// Queue handles.
xQueueHandle sendPacketQueue;
xQueueHandle objEventQueue;
xQueueHandle radioPacketQueue;
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
xQueueHandle ppmOutQueue;
// Error statistics.
uint32_t comTxErrors;
@ -122,6 +137,10 @@ typedef struct {
// The RSSI of the last packet received.
int8_t RSSI;
// Thread parameters.
UAVTalkComTaskParams uavtalk_params;
UAVTalkComTaskParams gcs_uavtalk_params;
} RadioComBridgeData;
typedef struct {
@ -135,21 +154,24 @@ typedef struct {
// ****************
// Private functions
static void comUAVTalkTask(void *parameters);
static void UAVTalkRecvTask(void *parameters);
static void radioReceiveTask(void *parameters);
static void sendPacketTask(void *parameters);
static void sendDataTask(void *parameters);
static void UAVTalkSendTask(void *parameters);
static void transparentCommTask(void * parameters);
static void radioStatusTask(void *parameters);
static void ppmInputTask(void *parameters);
static int32_t transmitData(uint8_t * data, int32_t length);
static int32_t UAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t GCSUAVTalkSendHandler(uint8_t * data, int32_t length);
static int32_t transmitPacket(PHPacketHandle packet);
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc);
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid);
static void StatusHandler(PHStatusPacketHandle p, int8_t rssi, int8_t afc);
static void PPMHandler(uint16_t *channels);
static BufferedReadHandle BufferedReadInit(uint32_t com_port, uint16_t buffer_length);
static bool BufferedRead(BufferedReadHandle h, uint8_t *value, uint32_t timeout_ms);
static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port);
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type);
static void updateSettings();
// ****************
@ -165,23 +187,34 @@ static RadioComBridgeData *data;
static int32_t RadioComBridgeStart(void)
{
if(data) {
// Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
xTaskCreate(UAVTalkRecvTask, (signed char *)"GCSUAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY + 2, &(data->GCSUAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"GCSUAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->gcs_uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
// If a UAVTalk (non-GCS) com port is set it implies that the com port is connected on the flight side.
// In this case we want to start another com thread on the HID port to talk to the GCS when connected.
if (PIOS_COM_UAVTALK)
{
xTaskCreate(UAVTalkRecvTask, (signed char *)"UAVTalkRecvTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY + 2, &(data->UAVTalkRecvTaskHandle));
xTaskCreate(UAVTalkSendTask, (signed char *)"UAVTalkSendTask", STACK_SIZE_BYTES, (void*)&(data->uavtalk_params), TASK_PRIORITY+ 2, &(data->UAVTalkSendTaskHandle));
}
// Start the tasks
xTaskCreate(comUAVTalkTask, (signed char *)"ComUAVTalk", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->comUAVTalkTaskHandle));
if(PIOS_COM_TRANS_COM)
xTaskCreate(transparentCommTask, (signed char *)"transparentComm", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->transparentCommTaskHandle));
xTaskCreate(radioReceiveTask, (signed char *)"RadioReceive", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->radioReceiveTaskHandle));
xTaskCreate(sendPacketTask, (signed char *)"SendPacketTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->sendPacketTaskHandle));
xTaskCreate(sendDataTask, (signed char *)"SendDataTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY+ 2, &(data->sendDataTaskHandle));
xTaskCreate(radioStatusTask, (signed char *)"RadioStatus", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioStatusTaskHandle));
if(PIOS_PPM_RECEIVER)
xTaskCreate(ppmInputTask, (signed char *)"PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY + 2, &(data->ppmInputTaskHandle));
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
PIOS_WDG_RegisterFlag(PIOS_WDG_COMGCS);
if(PIOS_COM_UAVTALK)
PIOS_WDG_RegisterFlag(PIOS_WDG_COMUAVTALK);
if(PIOS_COM_TRANS_COM)
PIOS_WDG_RegisterFlag(PIOS_WDG_TRANSCOMM);
PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORECEIVE);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDPACKET);
//PIOS_WDG_RegisterFlag(PIOS_WDG_SENDDATA);
if(PIOS_PPM_RECEIVER)
PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
#endif
@ -211,12 +244,21 @@ static int32_t RadioComBridgeInitialize(void)
updateSettings();
// Initialise UAVTalk
data->inUAVTalkCon = UAVTalkInitialize(0);
data->outUAVTalkCon = UAVTalkInitialize(&transmitData);
data->GCSUAVTalkCon = UAVTalkInitialize(&GCSUAVTalkSendHandler);
if (PIOS_COM_UAVTALK)
data->UAVTalkCon = UAVTalkInitialize(&UAVTalkSendHandler);
// Initialize the queues.
data->sendPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(PHPacketHandle));
data->objEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
data->ppmOutQueue = 0;
data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
data->gcsEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
if (PIOS_COM_UAVTALK)
data->uavtalkEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
else
{
data->uavtalkEventQueue = 0;
data->ppmOutQueue = data->radioPacketQueue;
}
// Initialize the statistics.
data->radioTxErrors = 0;
@ -232,8 +274,8 @@ static int32_t RadioComBridgeInitialize(void)
// Register the callbacks with the packet handler
PHRegisterOutputStream(pios_packet_handler, transmitPacket);
PHRegisterDataHandler(pios_packet_handler, receiveData);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
PHRegisterPPMHandler(pios_packet_handler, PPMHandler);
PHRegisterStatusHandler(pios_packet_handler, StatusHandler);
// Initialize the packet send timeout
data->send_timeout = 25; // ms
@ -255,9 +297,28 @@ static int32_t RadioComBridgeInitialize(void)
PipXSettingsPairIDGet(&(data->pairStats[0].pairID));
// Configure our UAVObjects for updates.
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->objEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
UAVObjConnectQueue(UAVObjGetByID(PIPXSTATUS_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(GCSRECEIVER_OBJID), data->uavtalkEventQueue ? data->uavtalkEventQueue : data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->gcsEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
// Initialize the UAVTalk comm parameters.
data->gcs_uavtalk_params.UAVTalkCon = data->GCSUAVTalkCon;
data->gcs_uavtalk_params.sendQueue = data->radioPacketQueue;
data->gcs_uavtalk_params.recvQueue = data->gcsEventQueue;
data->gcs_uavtalk_params.wdg = PIOS_WDG_COMGCS;
data->gcs_uavtalk_params.checkHID = true;
data->gcs_uavtalk_params.comPort = PIOS_COM_GCS;
if (PIOS_COM_UAVTALK)
{
data->gcs_uavtalk_params.sendQueue = data->uavtalkEventQueue;
data->uavtalk_params.UAVTalkCon = data->UAVTalkCon;
data->uavtalk_params.sendQueue = data->radioPacketQueue;
data->uavtalk_params.recvQueue = data->uavtalkEventQueue;
data->uavtalk_params.gcsQueue = data->gcsEventQueue;
data->uavtalk_params.wdg = PIOS_WDG_COMUAVTALK;
data->uavtalk_params.checkHID = false;
data->uavtalk_params.comPort = PIOS_COM_UAVTALK;
}
return 0;
}
@ -266,30 +327,32 @@ MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart)
/**
* Reads UAVTalk messages froma com port and creates packets out of them.
*/
static void comUAVTalkTask(void *parameters)
static void UAVTalkRecvTask(void *parameters)
{
UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
PHPacketHandle p = NULL;
// Create the buffered reader.
BufferedReadHandle f = BufferedReadInit(PIOS_COM_UAVTALK, TEMP_BUFFER_SIZE);
BufferedReadHandle f = BufferedReadInit(params->comPort, TEMP_BUFFER_SIZE);
while (1) {
#ifdef PIOS_INCLUDE_WDG
// Update the watchdog timer.
PIOS_WDG_UpdateFlag(PIOS_WDG_COMUAVTALK);
if (params->wdg)
PIOS_WDG_UpdateFlag(params->wdg);
#endif /* PIOS_INCLUDE_WDG */
// Receive from USB HID if available, otherwise UAVTalk com if it's available.
#if defined(PIOS_INCLUDE_USB)
// Determine input port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0))
if (params->checkHID && PIOS_USB_CheckAvailable(0))
BufferedReadSetCom(f, PIOS_COM_USB_HID);
else
#endif /* PIOS_INCLUDE_USB */
{
if (PIOS_COM_UAVTALK)
BufferedReadSetCom(f, PIOS_COM_UAVTALK);
if (params->comPort)
BufferedReadSetCom(f, params->comPort);
else
{
vTaskDelay(5);
@ -307,7 +370,7 @@ static void comUAVTalkTask(void *parameters)
{
// Wait until we receive a sync.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
if (state != UAVTALK_STATE_TYPE)
continue;
@ -324,7 +387,6 @@ static void comUAVTalkTask(void *parameters)
// Initialize the packet.
p->header.destination_id = data->destination_id;
p->header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
//p->header.type = PACKET_TYPE_ACKED_DATA;
p->header.type = PACKET_TYPE_DATA;
p->data[0] = rx_byte;
p->header.data_size = 1;
@ -335,12 +397,19 @@ static void comUAVTalkTask(void *parameters)
p->data[p->header.data_size++] = rx_byte;
// Keep reading until we receive a completed packet.
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(data->inUAVTalkCon, rx_byte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(data->inUAVTalkCon);
UAVTalkRxState state = UAVTalkProcessInputStreamQuiet(params->UAVTalkCon, rx_byte);
UAVTalkConnectionData *connection = (UAVTalkConnectionData*)(params->UAVTalkCon);
UAVTalkInputProcessor *iproc = &(connection->iproc);
if (state == UAVTALK_STATE_COMPLETE)
{
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
// Is this a local UAVObject?
// We only generate GcsReceiver ojects, we don't consume them.
if ((iproc->obj != NULL) && (iproc->objId != GCSRECEIVER_OBJID))
@ -359,11 +428,7 @@ static void comUAVTalkTask(void *parameters)
if (obj_per.ObjectID == PIPXSETTINGS_OBJID)
{
// Queue up the ACK.
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = iproc->instId;
ev.event = EV_SEND_ACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
// Is this a save, load, or delete?
bool success = true;
@ -390,6 +455,19 @@ static void comUAVTalkTask(void *parameters)
int32_t ret = PIOS_EEPROM_Save((uint8_t*)&pipxSettings, sizeof(PipXSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
case OBJECTPERSISTENCE_OPERATION_DELETE:
{
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
// Erase the settings.
PipXSettingsData pipxSettings;
uint8_t *ptr = (uint8_t*)&pipxSettings;
memset(ptr, 0, sizeof(PipXSettingsData));
int32_t ret = PIOS_EEPROM_Save(ptr, sizeof(PipXSettingsData));
if (ret != 0)
success = false;
#endif
break;
}
@ -408,14 +486,11 @@ static void comUAVTalkTask(void *parameters)
else
{
// Otherwise, queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
}
else
{
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.instId = 0;
switch (iproc->type)
{
case UAVTALK_TYPE_OBJ:
@ -424,16 +499,12 @@ static void comUAVTalkTask(void *parameters)
break;
case UAVTALK_TYPE_OBJ_REQ:
// Queue up an object send request.
ev.event = EV_UPDATE_REQ;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_UPDATE_REQ);
break;
case UAVTALK_TYPE_OBJ_ACK:
if (UAVObjUnpack(iproc->obj, iproc->instId, connection->rxBuffer) == 0)
{
// Queue up an ACK
ev.event = EV_SEND_ACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
}
queueEvent(params->recvQueue, (void*)iproc->obj, iproc->instId, EV_SEND_ACK);
break;
}
@ -444,22 +515,24 @@ static void comUAVTalkTask(void *parameters)
else
{
// Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
p = NULL;
} else if(state == UAVTALK_STATE_ERROR) {
DEBUG_PRINTF(1, "UAVTalk FAILED!\n\r");
xQueueHandle sendQueue = params->sendQueue;
#if defined(PIOS_INCLUDE_USB)
if (params->gcsQueue)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
sendQueue = params->gcsQueue;
#endif /* PIOS_INCLUDE_USB */
data->UAVTalkErrors++;
// Send a NACK if required.
if((iproc->obj) && (iproc->type == UAVTALK_TYPE_OBJ_ACK))
{
// Queue up a NACK
UAVObjEvent ev;
ev.obj = iproc->obj;
ev.event = EV_SEND_NACK;
xQueueSend(data->objEventQueue, &ev, MAX_PORT_DELAY);
queueEvent(params->recvQueue, iproc->obj, iproc->instId, EV_SEND_NACK);
// Release the packet and start over again.
PHReleaseTXPacket(pios_packet_handler, p);
@ -467,7 +540,7 @@ static void comUAVTalkTask(void *parameters)
else
{
// Transmit the packet anyway...
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(sendQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
}
p = NULL;
}
@ -512,7 +585,7 @@ static void radioReceiveTask(void *parameters)
UAVObjEvent ev;
ev.obj = (UAVObjHandle)p;
ev.event = EV_PACKET_RECEIVED;
xQueueSend(data->objEventQueue, &ev, portMAX_DELAY);
xQueueSend(data->gcsEventQueue, &ev, portMAX_DELAY);
} else
{
data->packetErrors++;
@ -527,7 +600,7 @@ static void radioReceiveTask(void *parameters)
*/
static void sendPacketTask(void *parameters)
{
PHPacketHandle p;
UAVObjEvent ev;
// Loop forever
while (1) {
@ -536,19 +609,21 @@ static void sendPacketTask(void *parameters)
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDPACKET);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(data->sendPacketQueue, &p, MAX_PORT_DELAY) == pdTRUE) {
if (xQueueReceive(data->radioPacketQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
PHPacketHandle p = (PHPacketHandle)ev.obj;
// Send the packet.
if(!PHTransmitPacket(pios_packet_handler, p))
PHReleaseTXPacket(pios_packet_handler, p);
PHReleaseRXPacket(pios_packet_handler, p);
}
}
}
/**
* Send packets to the radio.
* Send packets to the com port.
*/
static void sendDataTask(void *parameters)
static void UAVTalkSendTask(void *parameters)
{
UAVTalkComTaskParams *params = (UAVTalkComTaskParams *)parameters;
UAVObjEvent ev;
// Loop forever
@ -560,15 +635,16 @@ static void sendDataTask(void *parameters)
//PIOS_WDG_UpdateFlag(PIOS_WDG_SENDDATA);
#endif /* PIOS_INCLUDE_WDG */
// Wait for a packet on the queue.
if (xQueueReceive(data->objEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if (xQueueReceive(params->recvQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ))
{
// Send update (with retries)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->outUAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS);
++retries;
success = UAVTalkSendObject(params->UAVTalkCon, ev.obj, 0, 0, RETRY_TIMEOUT_MS) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
@ -578,8 +654,9 @@ static void sendDataTask(void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendAck(data->outUAVTalkCon, ev.obj, ev.instId);
++retries;
success = UAVTalkSendAck(params->UAVTalkCon, ev.obj, ev.instId) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
@ -589,8 +666,9 @@ static void sendDataTask(void *parameters)
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendNack(data->outUAVTalkCon, UAVObjGetID(ev.obj));
++retries;
success = UAVTalkSendNack(params->UAVTalkCon, UAVObjGetID(ev.obj)) == 0;
if (!success)
++retries;
}
data->comTxRetries += retries;
}
@ -599,6 +677,13 @@ static void sendDataTask(void *parameters)
// Receive the packet.
PHReceivePacket(pios_packet_handler, (PHPacketHandle)ev.obj, false);
}
else if(ev.event == EV_TRANSMIT_PACKET)
{
// Transmit the packet.
PHPacketHandle p = (PHPacketHandle)ev.obj;
transmitData(params->comPort, p->data, p->header.data_size, params->checkHID);
PHReleaseTXPacket(pios_packet_handler, p);
}
}
}
}
@ -643,7 +728,7 @@ static void transparentCommTask(void * parameters)
}
// Receive data from the com port
uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
uint32_t cur_rx_bytes = PIOS_COM_ReceiveBuffer(PIOS_COM_TRANS_COM, p->data + p->header.data_size,
PH_MAX_DATA - p->header.data_size, timeout);
// Do we have an data to send?
@ -675,7 +760,7 @@ static void transparentCommTask(void * parameters)
if (send_packet)
{
// Queue the packet for transmission.
xQueueSend(data->sendPacketQueue, &p, MAX_PORT_DELAY);
queueEvent(data->radioPacketQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
// Reset the timeout
timeout = MAX_PORT_DELAY;
@ -767,7 +852,7 @@ static void radioStatusTask(void *parameters)
status_packet.dropped = data->droppedPackets;
status_packet.resets = PIOS_RFM22B_Resets(pios_rfm22b_id);
PHPacketHandle sph = (PHPacketHandle)&status_packet;
xQueueSend(data->sendPacketQueue, &sph, MAX_PORT_DELAY);
queueEvent(data->radioPacketQueue, (void*)sph, 0, EV_TRANSMIT_PACKET);
cntr = 0;
}
}
@ -792,22 +877,52 @@ static void ppmInputTask(void *parameters)
PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
#endif /* PIOS_INCLUDE_WDG */
// Send the PPM packet
// Read the receiver.
for (uint8_t i = 1; i <= PIOS_PPM_NUM_INPUTS; ++i)
ppm_packet.channels[i - 1] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i);
// Send the packet.
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
xQueueSend(data->sendPacketQueue, &pph, MAX_PORT_DELAY);
// Send the PPM packet
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.source_id = PIOS_RFM22B_DeviceID(pios_rfm22b_id);
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
}
else
PPMHandler(ppm_packet.channels);
// Delay until the next update period.
vTaskDelay(PIOS_PPM_PACKET_UPDATE_PERIOD_MS / portTICK_RATE_MS);
}
}
/**
* Transmit data buffer to the com port.
* \param[in] params The comm parameters.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t UAVTalkSend(UAVTalkComTaskParams *params, uint8_t *buf, int32_t length)
{
uint32_t outputPort = params->comPort;
#if defined(PIOS_INCLUDE_USB)
if (params->checkHID)
{
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
}
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBuffer(outputPort, buf, length);
else
return -1;
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
@ -815,18 +930,21 @@ static void ppmInputTask(void *parameters)
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitData(uint8_t *buf, int32_t length)
static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
{
uint32_t outputPort = PIOS_COM_UAVTALK;
#if defined(PIOS_INCLUDE_USB)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
if(outputPort)
return PIOS_COM_SendBuffer(outputPort, buf, length);
else
return -1;
return UAVTalkSend(&(data->uavtalk_params), buf, length);
}
/**
* Transmit data buffer to the com port.
* \param[in] buf Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t GCSUAVTalkSendHandler(uint8_t *buf, int32_t length)
{
return UAVTalkSend(&(data->gcs_uavtalk_params), buf, length);
}
/**
@ -847,22 +965,15 @@ static int32_t transmitPacket(PHPacketHandle p)
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
static void transmitData(uint32_t outputPort, uint8_t *buf, uint8_t len, bool checkHid)
{
data->RSSI = rssi;
// Packet data should go to transparent com if it's configured,
// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
uint32_t outputPort = PIOS_COM_TRANS_COM;
if (!outputPort)
{
outputPort = PIOS_COM_UAVTALK;
#if defined(PIOS_INCLUDE_USB)
// See if USB is connected if requested.
if(checkHid)
// Determine output port (USB takes priority over telemetry port)
if (PIOS_USB_CheckAvailable(0) && PIOS_COM_USB_HID)
outputPort = PIOS_COM_USB_HID;
#endif /* PIOS_INCLUDE_USB */
}
if (!outputPort)
return;
@ -872,6 +983,22 @@ static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
data->comTxErrors++;
}
/**
* Receive a packet
* \param[in] buf The received data buffer
* \param[in] length Length of buffer
*/
static void receiveData(uint8_t *buf, uint8_t len, int8_t rssi, int8_t afc)
{
data->RSSI = rssi;
// Packet data should go to transparent com if it's configured,
// USB HID if it's connected, otherwise, UAVTalk com if it's configured.
uint32_t outputPort = PIOS_COM_TRANS_COM ? PIOS_COM_TRANS_COM : PIOS_COM_UAVTALK;
bool checkHid = (PIOS_COM_TRANS_COM == 0);
transmitData(outputPort, buf, len, checkHid);
}
/**
* Receive a status packet
* \param[in] status The status structure
@ -987,6 +1114,21 @@ static void BufferedReadSetCom(BufferedReadHandle h, uint32_t com_port)
h->com_port = com_port;
}
/**
* Queue and event into an event queue.
* \param[in] queue The event queue
* \param[in] obj The data pointer
* \param[in] type The event type
*/
static void queueEvent(xQueueHandle queue, void *obj, uint16_t instId, UAVObjEventType type)
{
UAVObjEvent ev;
ev.obj = (UAVObjHandle)obj;
ev.instId = instId;
ev.event = type;
xQueueSend(queue, &ev, portMAX_DELAY);
}
/**
* Update the telemetry settings, called on startup.
* FIXME: This should be in the TelemetrySettings object. But objects
@ -1003,7 +1145,6 @@ static void updateSettings()
// Initialize the destination ID
data->destination_id = pipxSettings.PairID ? pipxSettings.PairID : 0xffffffff;
DEBUG_PRINTF(2, "PairID: %x\n\r", data->destination_id);
if (PIOS_COM_TELEMETRY) {
switch (pipxSettings.TelemetrySpeed) {

3
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
View File

@ -77,6 +77,7 @@ TIM4 | RC In 1 | Servo 3 | Servo 2 | Servo 1
#define PIOS_WDG_SENDDATA 0x0008
#define PIOS_WDG_TRANSCOMM 0x0010
#define PIOS_WDG_PPMINPUT 0x0020
#define PIOS_WDG_COMGCS 0x0040
//------------------------
// TELEMETRY
@ -157,6 +158,7 @@ extern uint32_t pios_com_telemetry_id;
extern uint32_t pios_com_flexi_id;
extern uint32_t pios_com_vcp_id;
extern uint32_t pios_com_uavtalk_com_id;
extern uint32_t pios_com_gcs_com_id;
extern uint32_t pios_com_trans_com_id;
extern uint32_t pios_com_debug_id;
extern uint32_t pios_com_rfm22b_id;
@ -166,6 +168,7 @@ extern uint32_t pios_ppm_rcvr_id;
#define PIOS_COM_FLEXI (pios_com_flexi_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_UAVTALK (pios_com_uavtalk_com_id)
#define PIOS_COM_GCS (pios_com_gcs_com_id)
#define PIOS_COM_TRANS_COM (pios_com_trans_com_id)
#define PIOS_COM_DEBUG (pios_com_debug_id)
#define PIOS_COM_RADIO (pios_com_rfm22b_id)

2
flight/PipXtreme/Makefile
View File

@ -53,7 +53,7 @@ USE_GPS ?= NO
USE_I2C ?= YES
# Set to YES when using Code Sourcery toolchain
CODE_SOURCERY ?= YES
CODE_SOURCERY ?= NO
# Remove command is different for Code Sourcery on Windows
ifeq ($(CODE_SOURCERY), YES)

36
flight/PipXtreme/System/pios_board.c
View File

@ -33,26 +33,27 @@
#include <pipxsettings.h>
#include <board_hw_defs.c>
#define PIOS_COM_SERIAL_RX_BUF_LEN 256
#define PIOS_COM_SERIAL_TX_BUF_LEN 256
#define PIOS_COM_SERIAL_RX_BUF_LEN 128
#define PIOS_COM_SERIAL_TX_BUF_LEN 128
#define PIOS_COM_FLEXI_RX_BUF_LEN 256
#define PIOS_COM_FLEXI_TX_BUF_LEN 256
#define PIOS_COM_FLEXI_RX_BUF_LEN 128
#define PIOS_COM_FLEXI_TX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 128
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 128
#define PIOS_COM_VCP_USB_RX_BUF_LEN 256
#define PIOS_COM_VCP_USB_TX_BUF_LEN 256
#define PIOS_COM_VCP_USB_RX_BUF_LEN 128
#define PIOS_COM_VCP_USB_TX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 128
#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 128
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telemetry_id;
uint32_t pios_com_flexi_id;
uint32_t pios_com_vcp_id;
uint32_t pios_com_uavtalk_com_id = 0;
uint32_t pios_com_gcs_com_id = 0;
uint32_t pios_com_trans_com_id = 0;
uint32_t pios_com_debug_id = 0;
uint32_t pios_com_rfm22b_id = 0;
@ -96,7 +97,7 @@ void PIOS_Board_Init(void) {
PipXSettingsData pipxSettings;
#if defined(PIOS_INCLUDE_FLASH_EEPROM)
PIOS_EEPROM_Init(&pios_eeprom_cfg);
PIOS_EEPROM_Init(&pios_eeprom_cfg);
/* Read the settings from flash. */
/* NOTE: We probably need to save/restore the objID here incase the object changed but the size doesn't */
@ -129,20 +130,17 @@ void PIOS_Board_Init(void) {
/* Flags to determine if various USB interfaces are advertised */
bool usb_hid_present = false;
bool usb_cdc_present = false;
#if defined(PIOS_INCLUDE_USB_CDC)
if (PIOS_USB_DESC_HID_CDC_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
usb_cdc_present = true;
#else
if (PIOS_USB_DESC_HID_ONLY_Init()) {
PIOS_Assert(0);
}
usb_hid_present = true;
#endif
uint32_t pios_usb_id;
@ -172,7 +170,7 @@ void PIOS_Board_Init(void) {
tx_buffer, PIOS_COM_VCP_USB_TX_BUF_LEN)) {
PIOS_Assert(0);
}
switch (pipxSettings.TelemetryConfig)
switch (pipxSettings.VCPConfig)
{
case PIPXSETTINGS_VCPCONFIG_SERIAL:
pios_com_trans_com_id = pios_com_vcp_id;
@ -218,6 +216,7 @@ void PIOS_Board_Init(void) {
{
case PIPXSETTINGS_TELEMETRYCONFIG_SERIAL:
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
{
uint32_t pios_usart1_id;
@ -241,6 +240,9 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_TELEMETRYCONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_GCS:
pios_com_gcs_com_id = pios_com_telemetry_id;
break;
case PIPXSETTINGS_TELEMETRYCONFIG_DEBUG:
pios_com_debug_id = pios_com_telemetry_id;
break;
@ -256,6 +258,7 @@ void PIOS_Board_Init(void) {
{
case PIPXSETTINGS_FLEXICONFIG_SERIAL:
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
case PIPXSETTINGS_FLEXICONFIG_GCS:
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
{
uint32_t pios_usart3_id;
@ -279,6 +282,9 @@ void PIOS_Board_Init(void) {
case PIPXSETTINGS_FLEXICONFIG_UAVTALK:
pios_com_uavtalk_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_GCS:
pios_com_gcs_com_id = pios_com_flexi_id;
break;
case PIPXSETTINGS_FLEXICONFIG_DEBUG:
pios_com_debug_id = pios_com_flexi_id;
break;

2
ground/openpilotgcs/src/plugins/config/airframe.ui
View File

@ -2775,7 +2775,7 @@ p, li { white-space: pre-wrap; }
&lt;table border=&quot;0&quot; style=&quot;-qt-table-type: root; margin-top:4px; margin-bottom:4px; margin-left:4px; margin-right:4px;&quot;&gt;
&lt;tr&gt;
&lt;td style=&quot;border: none;&quot;&gt;
&lt;p align=&quot;center&quot; 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-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD IS DANGEROUS&lt;/span&gt;&lt;/p&gt;
&lt;p align=&quot;center&quot; 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-family:'Ubuntu'; font-size:14pt; font-weight:600; color:#ff0000;&quot;&gt;SETTING UP FEED FORWARD NEEDS CAUTION&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot;-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Ubuntu'; font-size:11pt;&quot;&gt;&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;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Beware: Feed Forward Tuning will launch all engines around mid-throttle, you have been warned!&lt;/span&gt;&lt;/p&gt;
&lt;p style=&quot; margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;&quot;&gt;&lt;span style=&quot; font-family:'Lucida Grande'; font-size:13pt;&quot;&gt;Remove your props initially, and for fine-tuning, make sure your airframe is safely held in place. Wear glasses and protect your face and body.&lt;/span&gt;&lt;/p&gt;&lt;/td&gt;&lt;/tr&gt;&lt;/table&gt;&lt;/body&gt;&lt;/html&gt;</string>

27
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.cpp
View File

@ -71,6 +71,8 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("PipXStatus", "MinFrequency", m_pipx->MinFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "MaxFrequency", m_pipx->MaxFrequency);
addUAVObjectToWidgetRelation("PipXStatus", "FrequencyStepSize", m_pipx->FrequencyStepSize);
addUAVObjectToWidgetRelation("PipXStatus", "FrequencyBand", m_pipx->FreqBand);
addUAVObjectToWidgetRelation("PipXStatus", "RSSI", m_pipx->RSSI);
addUAVObjectToWidgetRelation("PipXStatus", "AFC", m_pipx->RxAFC);
addUAVObjectToWidgetRelation("PipXStatus", "Retries", m_pipx->Retries);
addUAVObjectToWidgetRelation("PipXStatus", "Errors", m_pipx->Errors);
@ -81,6 +83,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
addUAVObjectToWidgetRelation("PipXStatus", "TXRate", m_pipx->TXRate);
// Connect to the pair ID radio buttons.
connect(m_pipx->PairSelectB, SIGNAL(toggled(bool)), this, SLOT(pairBToggled(bool)));
connect(m_pipx->PairSelect1, SIGNAL(toggled(bool)), this, SLOT(pair1Toggled(bool)));
connect(m_pipx->PairSelect2, SIGNAL(toggled(bool)), this, SLOT(pair2Toggled(bool)));
connect(m_pipx->PairSelect3, SIGNAL(toggled(bool)), this, SLOT(pair3Toggled(bool)));
@ -89,6 +92,7 @@ ConfigPipXtremeWidget::ConfigPipXtremeWidget(QWidget *parent) : ConfigTaskWidget
//Add scroll bar when necessary
QScrollArea *scroll = new QScrollArea;
scroll->setWidget(m_pipx->frame_3);
scroll->setWidgetResizable(true);
m_pipx->verticalLayout_3->addWidget(scroll);
// Request and update of the setting object.
@ -148,7 +152,7 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
PipXSettings *pipxSettings = PipXSettings::GetInstance(getObjectManager());
quint32 pairID = 0;
if (pipxSettings)
pipxSettings->getPairID();
pairID = pipxSettings->getPairID();
// Update the detected devices.
UAVObjectField* pairIdField = object->getField("PairIDs");
@ -245,6 +249,9 @@ void ConfigPipXtremeWidget::updateStatus(UAVObject *object)
qDebug() << "PipXtremeGadgetWidget: Count not read DeviceID field.";
}
// Update the PairID field
m_pipx->PairID->setText(QString::number(pairID, 16).toUpper());
// Update the link state
UAVObjectField* linkField = object->getField("LinkState");
if (linkField) {
@ -284,9 +291,16 @@ void ConfigPipXtremeWidget::pairIDToggled(bool checked, quint8 idx)
if (pipxStatus && pipxSettings)
{
quint32 pairID = pipxStatus->getPairIDs(idx);
if (pairID)
pipxSettings->setPairID(pairID);
if (idx == 4)
{
pipxSettings->setPairID(0);
}
else
{
quint32 pairID = pipxStatus->getPairIDs(idx);
if (pairID)
pipxSettings->setPairID(pairID);
}
}
}
}
@ -311,6 +325,11 @@ void ConfigPipXtremeWidget::pair4Toggled(bool checked)
pairIDToggled(checked, 3);
}
void ConfigPipXtremeWidget::pairBToggled(bool checked)
{
pairIDToggled(checked, 4);
}
/**
@}
@}

1
ground/openpilotgcs/src/plugins/config/configpipxtremewidget.h
View File

@ -63,6 +63,7 @@ private slots:
void pair2Toggled(bool checked);
void pair3Toggled(bool checked);
void pair4Toggled(bool checked);
void pairBToggled(bool checked);
};
#endif // CONFIGTXPIDWIDGET_H

795
ground/openpilotgcs/src/plugins/config/pipxtreme.ui
View File

@ -6,8 +6,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>840</width>
<height>862</height>
<width>834</width>
<height>772</height>
</rect>
</property>
<property name="windowTitle">
@ -63,9 +63,6 @@
</item>
<item>
<layout class="QHBoxLayout" name="submitButtons">
<property name="spacing">
<number>4</number>
</property>
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
@ -84,7 +81,7 @@
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
<height>5</height>
</size>
</property>
</spacer>
@ -138,16 +135,56 @@
</property>
<layout class="QGridLayout" name="gridLayout_3">
<item row="0" column="0">
<widget class="QRadioButton" name="PairSelectB">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QLineEdit" name="PairIDB">
<property name="enabled">
<bool>false</bool>
</property>
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>Broadcast</string>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QLabel" name="PaidIDBLabel">
<property name="text">
<string>Broadcast Address</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QRadioButton" name="PairSelect1">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="0" column="1" colspan="2">
<widget class="QLineEdit" name="PairID1"/>
<item row="1" column="1">
<widget class="QLineEdit" name="PairID1">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="0" column="3">
<item row="1" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar1">
<property name="minimum">
<number>-127</number>
@ -166,17 +203,31 @@
</property>
</widget>
</item>
<item row="1" column="0">
<item row="1" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QRadioButton" name="PairSelect2">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="1" colspan="2">
<widget class="QLineEdit" name="PairID2"/>
<item row="2" column="1">
<widget class="QLineEdit" name="PairID2">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="1" column="3">
<item row="2" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar2">
<property name="minimum">
<number>-127</number>
@ -195,17 +246,31 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="2" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QRadioButton" name="PairSelect3">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="2" column="1" colspan="2">
<widget class="QLineEdit" name="PairID3"/>
<item row="3" column="1">
<widget class="QLineEdit" name="PairID3">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="2" column="3">
<item row="3" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar3">
<property name="minimum">
<number>-127</number>
@ -224,17 +289,31 @@
</property>
</widget>
</item>
<item row="3" column="0">
<item row="3" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QRadioButton" name="PairSelect4">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="3" column="1" colspan="2">
<widget class="QLineEdit" name="PairID4"/>
<item row="4" column="1">
<widget class="QLineEdit" name="PairID4">
<property name="maximumSize">
<size>
<width>100</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
<item row="3" column="3">
<item row="4" column="2">
<widget class="QProgressBar" name="PairSignalStrengthBar4">
<property name="minimum">
<number>-127</number>
@ -253,28 +332,7 @@
</property>
</widget>
</item>
<item row="0" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel1">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="1" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel2">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="2" column="4">
<widget class="QLabel" name="PairSignalStrengthLabel3">
<property name="text">
<string>-100dB</string>
</property>
</widget>
</item>
<item row="3" column="4">
<item row="4" column="3">
<widget class="QLabel" name="PairSignalStrengthLabel4">
<property name="text">
<string>-100dB</string>
@ -288,7 +346,7 @@
<widget class="QGroupBox" name="groupBox_3">
<property name="minimumSize">
<size>
<width>400</width>
<width>430</width>
<height>0</height>
</size>
</property>
@ -305,15 +363,27 @@
<item row="0" column="0">
<widget class="QLabel" name="label_9">
<property name="text">
<string>Firmware Version</string>
<string>Firmware Ver.</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="1">
<item row="0" column="1" colspan="3">
<widget class="QLineEdit" name="FirmwareVersion">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -324,7 +394,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -348,7 +418,7 @@
</property>
</widget>
</item>
<item row="2" column="1">
<item row="2" column="1" colspan="3">
<widget class="QLineEdit" name="SerialNumber">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -356,6 +426,12 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
@ -379,7 +455,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -396,6 +472,108 @@
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="DeviceIDLabel">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="DeviceID">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>12345678</string>
</property>
</widget>
</item>
<item row="3" column="2">
<widget class="QLabel" name="PairIDLabel">
<property name="text">
<string>Pair ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="3" column="3">
<widget class="QLineEdit" name="PairID">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>90ABCDEF</string>
</property>
</widget>
</item>
<item row="4" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
@ -414,9 +592,15 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -433,7 +617,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -447,7 +631,7 @@
</property>
</widget>
</item>
<item row="5" column="0">
<item row="4" column="2">
<widget class="QLabel" name="label_4">
<property name="text">
<string>Max Frequency</string>
@ -457,7 +641,7 @@
</property>
</widget>
</item>
<item row="5" column="1">
<item row="4" column="3">
<widget class="QLineEdit" name="MaxFrequency">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -467,7 +651,7 @@
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -484,7 +668,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -498,7 +682,7 @@
</property>
</widget>
</item>
<item row="6" column="0">
<item row="5" column="0">
<widget class="QLabel" name="label_12">
<property name="text">
<string>Freq. Step Size</string>
@ -508,7 +692,7 @@
</property>
</widget>
</item>
<item row="6" column="1">
<item row="5" column="1">
<widget class="QLineEdit" name="FrequencyStepSize">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
@ -516,9 +700,15 @@
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -535,7 +725,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -549,7 +739,232 @@
</property>
</widget>
</item>
<item row="5" column="2">
<widget class="QLabel" name="FreqBandLabel">
<property name="text">
<string>Freq. Band</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="5" column="3">
<widget class="QLineEdit" name="FreqBand">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="toolTip">
<string>The current frequency band</string>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="alignment">
<set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="0">
<widget class="QLabel" name="RSSILabel">
<property name="text">
<string>RSSI</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="1">
<widget class="QLineEdit" name="RSSI">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="6" column="2">
<widget class="QLabel" name="RxAFCLabel">
<property name="text">
<string>Rx AFC</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="6" column="3">
<widget class="QLineEdit" name="RxAFC">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="7" column="2">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="7" column="3">
<widget class="QLineEdit" name="RXRate">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_11">
<property name="text">
<string>Link State</string>
@ -559,17 +974,23 @@
</property>
</widget>
</item>
<item row="7" column="1">
<item row="8" column="1">
<widget class="QLineEdit" name="LinkState">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Fixed">
<sizepolicy hsizetype="Expanding" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<width>101</width>
<height>16777215</height>
</size>
</property>
@ -586,7 +1007,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 3px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -598,20 +1019,29 @@
<property name="readOnly">
<bool>true</bool>
</property>
<property name="placeholderText">
<string>Disconnected</string>
</property>
</widget>
</item>
<item row="8" column="0">
<widget class="QLabel" name="label_17">
<item row="8" column="2">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Rx AFC</string>
<string>Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="8" column="1">
<widget class="QLineEdit" name="RxAFC">
<item row="8" column="3">
<widget class="QLineEdit" name="Errors">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -622,12 +1052,15 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
@ -645,6 +1078,18 @@
</item>
<item row="9" column="1">
<widget class="QLineEdit" name="Retries">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -655,7 +1100,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -669,8 +1114,24 @@
</property>
</widget>
</item>
<item row="10" column="1">
<widget class="QLineEdit" name="Errors">
<item row="9" column="2">
<widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="9" column="3">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -681,7 +1142,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -696,52 +1157,6 @@
</widget>
</item>
<item row="10" column="0">
<widget class="QLabel" name="label_19">
<property name="text">
<string>Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="0">
<widget class="QLabel" name="UAVTalkErrorsLabel">
<property name="text">
<string>UAVTalk Errors</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="11" column="1">
<widget class="QLineEdit" name="UAVTalkErrors">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="12" column="0">
<widget class="QLabel" name="ResetsLabel">
<property name="text">
<string>Resets</string>
@ -751,8 +1166,20 @@
</property>
</widget>
</item>
<item row="12" column="1">
<item row="10" column="1">
<widget class="QLineEdit" name="Resets">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -763,7 +1190,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -777,7 +1204,7 @@
</property>
</widget>
</item>
<item row="13" column="0">
<item row="10" column="2">
<widget class="QLabel" name="DroppedLabel">
<property name="text">
<string>Dropped</string>
@ -787,8 +1214,14 @@
</property>
</widget>
</item>
<item row="13" column="1">
<item row="10" column="3">
<widget class="QLineEdit" name="Dropped">
<property name="maximumSize">
<size>
<width>101</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
@ -799,7 +1232,7 @@
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
padding: 0 4px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
@ -813,114 +1246,6 @@
</property>
</widget>
</item>
<item row="14" column="0">
<widget class="QLabel" name="TXRateLabel">
<property name="text">
<string>TX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="14" column="1">
<widget class="QLineEdit" name="TXRate">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="15" column="0">
<widget class="QLabel" name="RXRateLabel">
<property name="text">
<string>RX Rate (B/s)</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="15" column="1">
<widget class="QLineEdit" name="RXRate">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="1">
<widget class="QLineEdit" name="DeviceID">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="styleSheet">
<string notr="true">QLineEdit {
border: none;
border-radius: 1px;
padding: 0 8px;
background: rgba(0, 0, 0, 16);
/* background: transparent; */
/* selection-background-color: darkgray;*/
}</string>
</property>
<property name="frame">
<bool>false</bool>
</property>
<property name="readOnly">
<bool>true</bool>
</property>
</widget>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_20">
<property name="text">
<string>Device ID</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
</layout>
</widget>
</item>
@ -929,6 +1254,12 @@
</item>
<item row="0" column="1">
<widget class="QGroupBox" name="groupBox">
<property name="sizePolicy">
<sizepolicy hsizetype="MinimumExpanding" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="font">
<font>
<weight>75</weight>

48
ground/openpilotgcs/src/plugins/gcscontrol/Matlab/GCSControl.m Normal file
View File

@ -0,0 +1,48 @@
% GCSCONTROL
% This class allows the user to send 4-axis stick commands to OpenPilot
% GCS.
%
% Create class by
% control = GCSControl
%
% Open connection by
% control.connect('01.23.45.67', 89)
% where the first value is the IP address of the computer running GCS and
% the second value is the port on which GCS is listening.
%
% Send command by
% control.command(pitch, yaw, roll, throttle)
% where all variables are between [-1,1]
%
% Close connection by
% control.close()
classdef GCSControl < handle
properties
udpObj;
isConnected=false;
end
methods
function obj=GCSControl()
obj.isConnected = false;
end
function obj=connect(obj,rhost,rport)
obj.udpObj = udp(rhost,rport);
fopen(obj.udpObj);
obj.isConnected = true;
end
function obj=command(obj,pitch,yaw,roll,throttle)
if(obj.isConnected)
fwrite(obj.udpObj,[42,pitch,yaw,roll,throttle,36],'double')
end
end
function obj=close(obj)
if(obj.isConnected)
fclose(obj.udpObj);
obj.isConnected = false;
end
end
end
end

1
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.pro
View File

@ -2,6 +2,7 @@ TEMPLATE = lib
TARGET = GCSControl
QT += svg
QT += opengl
QT += network
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)

13
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.ui
View File

@ -41,8 +41,21 @@
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxUDPControl">
<property name="enabled">
<bool>false</bool>
</property>
<property name="text">
<string>UDP Control</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBoxArmed">
<property name="enabled">
<bool>true</bool>
</property>
<property name="text">
<string>Armed</string>
</property>

106
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.cpp
View File

@ -44,6 +44,10 @@ GCSControlGadget::GCSControlGadget(QString classId, GCSControlGadgetWidget *widg
manualControlCommandUpdated(getManualControlCommand());
control_sock = new QUdpSocket(this);
connect(control_sock,SIGNAL(readyRead()),this,SLOT(readUDPCommand()));
joystickTime.start();
GCSControlPlugin *pl = dynamic_cast<GCSControlPlugin*>(plugin);
connect(pl->sdlGamepad,SIGNAL(gamepads(quint8)),this,SLOT(gamepads(quint8)));
@ -67,6 +71,12 @@ void GCSControlGadget::loadConfiguration(IUAVGadgetConfiguration* config)
yawChannel = ql.at(2);
throttleChannel = ql.at(3);
// if(control_sock->isOpen())
// control_sock->close();
control_sock->bind(GCSControlConfig->getUDPControlHost(), GCSControlConfig->getUDPControlPort(),QUdpSocket::ShareAddress);
controlsMode = GCSControlConfig->getControlsMode();
int i;
@ -174,7 +184,8 @@ void GCSControlGadget::sticksChangedLocally(double leftX, double leftY, double r
}
//if we are not in local gcs control mode, ignore the joystick input
if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false)return;
if (((GCSControlGadgetWidget *)m_widget)->getGCSControl()==false || ((GCSControlGadgetWidget *)m_widget)->getUDPControl())
return;
if((newThrottle != oldThrottle) || (newPitch != oldPitch) || (newYaw != oldYaw) || (newRoll != oldRoll)) {
if (buttonRollControl==0)obj->getField("Roll")->setDouble(newRoll);
@ -191,6 +202,93 @@ void GCSControlGadget::gamepads(quint8 count)
// sdlGamepad.setTickRate(JOYSTICK_UPDATE_RATE);
}
void GCSControlGadget::readUDPCommand()
{
double pitch, yaw, roll, throttle;
while (control_sock->hasPendingDatagrams()) {
QByteArray datagram;
datagram.resize(control_sock->pendingDatagramSize());
control_sock->readDatagram(datagram.data(), datagram.size());
QDataStream readData(datagram);
bool badPack = false;
int state = 0;
while(!readData.atEnd() && !badPack)
{
double buffer;
readData >> buffer;
switch(state)
{
case 0:
if(buffer == 42){
state = 1;
}else{
state = 0;
badPack = true;
}
break;
case 1:
pitch = buffer;
state = 2;
break;
case 2:
yaw = buffer;
state = 3;
break;
case 3:
roll = buffer;
state = 4;
break;
case 4:
throttle = buffer;
state = 5;
break;
case 5:
if(buffer != 36 || !readData.atEnd())
badPack=true;
break;
}
}
if(!badPack && ((GCSControlGadgetWidget *)m_widget)->getUDPControl())
{
ManualControlCommand * obj = getManualControlCommand();
bool update = false;
if(pitch != obj->getField("Pitch")->getDouble()){
obj->getField("Pitch")->setDouble(constrain(pitch));
update = true;
}
if(yaw != obj->getField("Yaw")->getDouble()){
obj->getField("Yaw")->setDouble(constrain(yaw));
update = true;
}
if(roll != obj->getField("Roll")->getDouble()){
obj->getField("Roll")->setDouble(constrain(roll));
update = true;
}
if(throttle != obj->getField("Throttle")->getDouble()){
obj->getField("Throttle")->setDouble(constrain(throttle));
update = true;
}
if(update)
obj->updated();
}
}
qDebug() << "Pitch: " << pitch << " Yaw: " << yaw << " Roll: " << roll << " Throttle: " << throttle;
}
double GCSControlGadget::constrain(double value)
{
if(value < -1)
return -1;
if(value > 1)
return 1;
return value;
}
void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
{
int state;
@ -200,6 +298,7 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
UAVDataObject* obj = dynamic_cast<UAVDataObject*>( objManager->getObject(QString("ManualControlCommand")) );
bool currentCGSControl = ((GCSControlGadgetWidget *)m_widget)->getGCSControl();
bool currentUDPControl = ((GCSControlGadgetWidget *)m_widget)->getUDPControl();
switch (buttonSettings[number].ActionID)
{
@ -268,6 +367,11 @@ void GCSControlGadget::buttonState(ButtonNumber number, bool pressed)
((GCSControlGadgetWidget *)m_widget)->setGCSControl(!currentCGSControl);
break;
case 3: //UDP Control
if(currentCGSControl)
((GCSControlGadgetWidget *)m_widget)->setUDPControl(!currentUDPControl);
break;
}
break;

7
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadget.h
View File

@ -34,6 +34,9 @@
#include "sdlgamepad/sdlgamepad.h"
#include <QTime>
#include "gcscontrolplugin.h"
#include <QUdpSocket>
#include <QHostAddress>
namespace Core {
class IUAVGadget;
@ -59,6 +62,7 @@ public:
private:
ManualControlCommand* getManualControlCommand();
double constrain(double value);
QTime joystickTime;
QWidget *m_widget;
QList<int> m_context;
@ -72,6 +76,8 @@ private:
double bound(double input);
double wrap(double input);
bool channelReverse[8];
QUdpSocket *control_sock;
signals:
void sticksChangedRemotely(double leftX, double leftY, double rightX, double rightY);
@ -79,6 +85,7 @@ signals:
protected slots:
void manualControlCommandUpdated(UAVObject *);
void sticksChangedLocally(double leftX, double leftY, double rightX, double rightY);
void readUDPCommand();
// signals from joystick
void gamepads(quint8 count);

24
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.cpp
View File

@ -54,6 +54,9 @@ GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QS
yawChannel = qSettings->value("yawChannel").toInt();
throttleChannel = qSettings->value("throttleChannel").toInt();
udp_port = qSettings->value("controlPortUDP").toUInt();
udp_host = QHostAddress(qSettings->value("controlHostUDP").toString());
int i;
for (i=0;i<8;i++)
{
@ -66,6 +69,21 @@ GCSControlGadgetConfiguration::GCSControlGadgetConfiguration(QString classId, QS
}
void GCSControlGadgetConfiguration::setUDPControlSettings(int port, QString host)
{
udp_port = port;
udp_host = QHostAddress(host);
}
int GCSControlGadgetConfiguration::getUDPControlPort()
{
return udp_port;
}
QHostAddress GCSControlGadgetConfiguration::getUDPControlHost()
{
return udp_host;
}
void GCSControlGadgetConfiguration::setRPYTchannels(int roll, int pitch, int yaw, int throttle) {
rollChannel = roll;
pitchChannel = pitch;
@ -102,6 +120,9 @@ IUAVGadgetConfiguration *GCSControlGadgetConfiguration::clone()
m->yawChannel = yawChannel;
m->throttleChannel = throttleChannel;
m->udp_host = udp_host;
m->udp_port = udp_port;
int i;
for (i=0;i<8;i++)
{
@ -126,6 +147,9 @@ void GCSControlGadgetConfiguration::saveConfig(QSettings* settings) const {
settings->setValue("yawChannel", yawChannel);
settings->setValue("throttleChannel", throttleChannel);
settings->setValue("controlPortUDP",QString::number(udp_port));
settings->setValue("controlHostUDP",udp_host.toString());
int i;
for (i=0;i<8;i++)
{

11
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetconfiguration.h
View File

@ -29,6 +29,7 @@
#define GCSCONTROLGADGETCONFIGURATION_H
#include <coreplugin/iuavgadgetconfiguration.h>
#include <QtNetwork/QHostAddress>
typedef struct{
int ActionID;
@ -36,6 +37,11 @@ typedef struct{
double Amount;
}buttonSettingsStruct;
typedef struct{
int port;
QHostAddress address;
}portSettingsStruct;
using namespace Core;
@ -49,6 +55,9 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
void setControlsMode(int mode) { controlsMode = mode; }
void setRPYTchannels(int roll, int pitch, int yaw, int throttle);
void setUDPControlSettings(int port, QString host);
int getUDPControlPort();
QHostAddress getUDPControlHost();
int getControlsMode() { return controlsMode; }
QList<int> getChannelsMapping();
QList<bool> getChannelsReverse();
@ -72,6 +81,8 @@ class GCSControlGadgetConfiguration : public IUAVGadgetConfiguration
int throttleChannel;
buttonSettingsStruct buttonSettings[8];
bool channelReverse[8];
int udp_port;
QHostAddress udp_host;
};

11
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.cpp
View File

@ -137,7 +137,7 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
options_page->buttonFunction4 << options_page->buttonFunction5 <<
options_page->buttonFunction6 << options_page->buttonFunction7;
QStringList buttonOptions;
buttonOptions <<"-" << "Roll" << "Pitch" << "Yaw" << "Throttle" << "Armed" << "GCS Control" ;
buttonOptions <<"-" << "Roll" << "Pitch" << "Yaw" << "Throttle" << "Armed" << "GCS Control"; //added UDP control to action list
foreach (QComboBox* qb, buttonFunctionList) {
qb->addItems(buttonOptions);
}
@ -187,6 +187,9 @@ QWidget *GCSControlGadgetOptionsPage::createPage(QWidget *parent)
//updateButtonFunction();
options_page->udp_host->setText(m_config->getUDPControlHost().toString());
options_page->udp_port->setText(QString::number(m_config->getUDPControlPort()));
// Controls mode are from 1 to 4.
if (m_config->getControlsMode()>0 && m_config->getControlsMode() < 5)
@ -262,6 +265,9 @@ void GCSControlGadgetOptionsPage::apply()
}
m_config->setRPYTchannels(roll,pitch,yaw,throttle);
m_config->setUDPControlSettings(options_page->udp_port->text().toInt(),options_page->udp_host->text());
int j;
for (j=0;j<8;j++)
{
@ -271,6 +277,7 @@ void GCSControlGadgetOptionsPage::apply()
m_config->setChannelReverse(j,chRevList.at(j)->isChecked());
}
}
void GCSControlGadgetOptionsPage::finish()
@ -369,7 +376,7 @@ void GCSControlGadgetOptionsPage::updateButtonAction(int controlID)
if (buttonActionList.at(i)->currentText().compare("Toggles")==0)
{
disconnect(buttonFunctionList.at(i),SIGNAL(currentIndexChanged(int)),this,SLOT(updateButtonFunction()));
buttonOptions <<"-" << "Armed" << "GCS Control" ;
buttonOptions <<"-" << "Armed" << "GCS Control" << "UDP Control";
buttonFunctionList.at(i)->clear();
buttonFunctionList.at(i)->insertItems(-1,buttonOptions);

62
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.ui
View File

@ -141,7 +141,7 @@
</widget>
</item>
<item>
<widget class="QTabWidget" name="tabWidget">
<widget class="QTabWidget" name="UDPSetup">
<property name="currentIndex">
<number>0</number>
</property>
@ -1011,6 +1011,66 @@
</item>
</layout>
</widget>
<widget class="QWidget" name="UDPSetup_2">
<attribute name="title">
<string>UDP Setup</string>
</attribute>
<widget class="QGroupBox" name="groupBox">
<property name="geometry">
<rect>
<x>20</x>
<y>20</y>
<width>301</width>
<height>71</height>
</rect>
</property>
<property name="title">
<string>UDP Port Configuration</string>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_7">
<property name="text">
<string>Host:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="udp_host">
<property name="maximumSize">
<size>
<width>120</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>127.0.0.1</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="text">
<string>Port:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="udp_port">
<property name="maximumSize">
<size>
<width>50</width>
<height>16777215</height>
</size>
</property>
<property name="text">
<string>2323</string>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</widget>
</item>
</layout>

33
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.cpp
View File

@ -34,6 +34,7 @@
#include <QtGui/QVBoxLayout>
#include <QtGui/QPushButton>
#include "uavobject.h"
#include "uavobjectmanager.h"
#include "manualcontrolcommand.h"
@ -64,9 +65,14 @@ GCSControlGadgetWidget::GCSControlGadgetWidget(QWidget *parent) : QLabel(parent)
connect(m_gcscontrol->checkBoxArmed, SIGNAL(stateChanged(int)), this, SLOT(toggleArmed(int)));
connect(m_gcscontrol->comboBoxFlightMode, SIGNAL(currentIndexChanged(int)), this, SLOT(selectFlightMode(int)));
connect(m_gcscontrol->checkBoxUDPControl, SIGNAL(stateChanged(int)),this,SLOT(toggleUDPControl(int))); //UDP control checkbox
// Connect object updated event from UAVObject to also update check boxes and dropdown
connect(obj, SIGNAL(objectUpdated(UAVObject*)), this, SLOT(mccChanged(UAVObject*)));
leftX = 0;
leftY = 0;
rightX = 0;
@ -122,11 +128,14 @@ void GCSControlGadgetWidget::toggleControl(int state)
UAVObject::SetGcsTelemetryAcked(mdata, false);
UAVObject::SetGcsTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_ONCHANGE);
mdata.gcsTelemetryUpdatePeriod = 100;
m_gcscontrol->checkBoxUDPControl->setEnabled(true);
}
else
{
mdata = mccInitialData;
toggleUDPControl(false);
m_gcscontrol->checkBoxUDPControl->setEnabled(false);
}
obj->setMetadata(mdata);
}
@ -152,6 +161,16 @@ void GCSControlGadgetWidget::mccChanged(UAVObject * obj)
m_gcscontrol->checkBoxArmed->setChecked(flightStatus->getField("Armed")->getValue() == "Armed");
}
void GCSControlGadgetWidget::toggleUDPControl(int state)
{
if(state)
{
setUDPControl(true);
}else{
setUDPControl(false);
}
}
/*!
\brief Called when the flight mode drop down is changed and sets the ManualControlCommand->FlightMode accordingly
*/
@ -168,11 +187,21 @@ void GCSControlGadgetWidget::selectFlightMode(int state)
void GCSControlGadgetWidget::setGCSControl(bool newState)
{
m_gcscontrol->checkBoxGcsControl->setChecked(newState);
};
}
bool GCSControlGadgetWidget::getGCSControl(void)
{
return m_gcscontrol->checkBoxGcsControl->isChecked();
};
}
void GCSControlGadgetWidget::setUDPControl(bool newState)
{
m_gcscontrol->checkBoxUDPControl->setChecked(newState);
}
bool GCSControlGadgetWidget::getUDPControl(void)
{
return m_gcscontrol->checkBoxUDPControl->isChecked();
}
/**

5
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetwidget.h
View File

@ -31,6 +31,8 @@
#include <QtGui/QLabel>
#include "manualcontrolcommand.h"
#define UDP_PORT 2323
class Ui_GCSControl;
class GCSControlGadgetWidget : public QLabel
@ -42,6 +44,8 @@ public:
~GCSControlGadgetWidget();
void setGCSControl(bool newState);
bool getGCSControl(void);
void setUDPControl(bool newState);
bool getUDPControl(void);
signals:
void sticksChanged(double leftX, double leftY, double rightX, double rightY);
@ -59,6 +63,7 @@ protected slots:
void toggleArmed(int state);
void selectFlightMode(int state);
void mccChanged(UAVObject *);
void toggleUDPControl(int state);
private:
Ui_GCSControl *m_gcscontrol;

2
shared/uavobjectdefinition/gcsreceiver.xml
View File

@ -2,7 +2,7 @@
<object name="GCSReceiver" singleinstance="true" settings="false">
<description>A receiver channel group carried over the telemetry link.</description>
<field name="Channel" units="us" type="uint16" elements="8"/>
<access gcs="readwrite" flight="readonly"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="onchange" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>

4
shared/uavobjectdefinition/pipxsettings.xml
View File

@ -2,9 +2,9 @@
<object name="PipXSettings" singleinstance="true" settings="true">
<description>PipXtreme configurations options.</description>
<field name="PairID" units="" type="uint32" elements="1" defaultvalue="0"/>
<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,Debug" defaultvalue="UAVTalk"/>
<field name="TelemetryConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,GCS,Debug" defaultvalue="UAVTalk"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
<field name="FlexiConfig" units="function" type="enum" elements="1" options="Disabled,Serial,UAVTalk,GCS,PPM_In,PPM_Out,RSSI,Debug" defaultvalue="Disabled"/>
<field name="FlexiSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="VCPConfig" units="function" type="enum" elements="1" options="Disabled,Serial,Debug" defaultvalue="Disabled"/>
<field name="VCPSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>