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Code Issues Releases Activity

Merge remote-tracking branch 'origin/steve/OP-1903_Add_TxPID_controls_for_AttitudeSettings' into rel-nano-15.05

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This commit is contained in:
abeck70 2015-05-30 19:31:46 +10:00
commit c8ff29c404
3 changed files with 31 additions and 1 deletions
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19
flight/modules/TxPID/txpid.c
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@ -55,6 +55,7 @@
#include "accessorydesired.h" #include "accessorydesired.h"
#include "manualcontrolcommand.h" #include "manualcontrolcommand.h"
#include "stabilizationsettings.h" #include "stabilizationsettings.h"
#include "attitudesettings.h"
#ifdef REVOLUTION #ifdef REVOLUTION
#include "altitudeholdsettings.h" #include "altitudeholdsettings.h"
#endif #endif
@ -195,6 +196,10 @@ static void updatePIDs(UAVObjEvent *ev)
} }
StabilizationSettingsData stab; StabilizationSettingsData stab;
StabilizationSettingsGet(&stab); StabilizationSettingsGet(&stab);
AttitudeSettingsData att;
AttitudeSettingsGet(&att);
#ifdef REVOLUTION #ifdef REVOLUTION
AltitudeHoldSettingsData altitude; AltitudeHoldSettingsData altitude;
AltitudeHoldSettingsGet(&altitude); AltitudeHoldSettingsGet(&altitude);
@ -203,6 +208,7 @@ static void updatePIDs(UAVObjEvent *ev)
uint8_t needsUpdateBank = 0; uint8_t needsUpdateBank = 0;
uint8_t needsUpdateStab = 0; uint8_t needsUpdateStab = 0;
uint8_t needsUpdateAtt = 0;
#ifdef REVOLUTION #ifdef REVOLUTION
uint8_t needsUpdateAltitude = 0; uint8_t needsUpdateAltitude = 0;
#endif #endif
@ -365,6 +371,16 @@ static void updatePIDs(UAVObjEvent *ev)
case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR: case TXPIDSETTINGS_PIDS_ACROPLUSFACTOR:
needsUpdateBank |= update(&bank.AcroInsanityFactor, value); needsUpdateBank |= update(&bank.AcroInsanityFactor, value);
break; break;
case TXPIDSETTINGS_PIDS_ACCELTAU:
needsUpdateAtt |= update(&att.AccelTau, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKP:
needsUpdateAtt |= update(&att.AccelKp, value);
break;
case TXPIDSETTINGS_PIDS_ACCELKI:
needsUpdateAtt |= update(&att.AccelKi, value);
break;
#ifdef REVOLUTION #ifdef REVOLUTION
case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP: case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP:
needsUpdateAltitude |= update(&altitude.VerticalPosP, value); needsUpdateAltitude |= update(&altitude.VerticalPosP, value);
@ -390,6 +406,9 @@ static void updatePIDs(UAVObjEvent *ev)
if (needsUpdateStab) { if (needsUpdateStab) {
StabilizationSettingsSet(&stab); StabilizationSettingsSet(&stab);
} }
if (needsUpdateAtt) {
AttitudeSettingsSet(&att);
}
#ifdef REVOLUTION #ifdef REVOLUTION
if (needsUpdateAltitude) { if (needsUpdateAltitude) {
AltitudeHoldSettingsSet(&altitude); AltitudeHoldSettingsSet(&altitude);

10
ground/openpilotgcs/src/plugins/config/configtxpidwidget.cpp
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@ -28,6 +28,7 @@
#include "configtxpidwidget.h" #include "configtxpidwidget.h"
#include "txpidsettings.h" #include "txpidsettings.h"
#include "hwsettings.h" #include "hwsettings.h"
#include "attitudesettings.h"
#include "stabilizationsettings.h" #include "stabilizationsettings.h"
#include "stabilizationsettingsbank1.h" #include "stabilizationsettingsbank1.h"
#include "stabilizationsettingsbank2.h" #include "stabilizationsettingsbank2.h"
@ -305,6 +306,15 @@ float ConfigTxPIDWidget::getDefaultValueForPidOption(int pidOption)
if (pidOption == TxPIDSettings::PIDS_GYROTAU) { if (pidOption == TxPIDSettings::PIDS_GYROTAU) {
StabilizationSettings *stab = qobject_cast<StabilizationSettings *>(getObject(QString("StabilizationSettings"))); StabilizationSettings *stab = qobject_cast<StabilizationSettings *>(getObject(QString("StabilizationSettings")));
return stab->getGyroTau(); return stab->getGyroTau();
} else if (pidOption == TxPIDSettings::PIDS_ACCELTAU) {
AttitudeSettings *att = qobject_cast<AttitudeSettings *>(getObject(QString("AttitudeSettings")));
return att->getAccelTau();
} else if (pidOption == TxPIDSettings::PIDS_ACCELKP) {
AttitudeSettings *att = qobject_cast<AttitudeSettings *>(getObject(QString("AttitudeSettings")));
return att->getAccelKp();
} else if (pidOption == TxPIDSettings::PIDS_ACCELKI) {
AttitudeSettings *att = qobject_cast<AttitudeSettings *>(getObject(QString("AttitudeSettings")));
return att->getAccelKi();
} }
int pidBankIndex = m_txpid->pidBank->currentIndex(); int pidBankIndex = m_txpid->pidBank->currentIndex();

3
shared/uavobjectdefinition/txpidsettings.xml
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@ -20,7 +20,8 @@
Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp, Roll+Pitch Attitude.Kp, Roll+Pitch Attitude.Ki, Roll+Pitch Attitude.ILimit, Roll+Pitch Attitude.Resp,
Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp, Yaw Attitude.Kp, Yaw Attitude.Ki, Yaw Attitude.ILimit, Yaw Attitude.Resp,
Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo, Roll.Expo, Pitch.Expo, Roll+Pitch.Expo, Yaw.Expo,
GyroTau,AcroPlusFactor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta" GyroTau,AcroPlusFactor,Altitude Pos.Kp,Altitude Velocity.Kp,Altitude Velocity.Ki,Altitude Velocity.Kd,Altitude Velocity.Beta,
AccelTau, AccelKp, AccelKi"
defaultvalue="Disabled"/> defaultvalue="Disabled"/>
<field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/> <field name="MinPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>
<field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/> <field name="MaxPID" units="" type="float" elementnames="Instance1,Instance2,Instance3" defaultvalue="0"/>