mirror of
https://bitbucket.org/librepilot/librepilot.git
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Add support for more than 3-pos FlightMode switches
It is now possible to have 1 to 6 flight mode switch positions
(usefull for guidance, position hold and similar use).
The input channel range is divided into N (1 to 6) zones and each
zone represents a flight mode. Default is 3 zones (backward compatible),
but more can be chosen.
How to use: configure Tx mixers in a way they provide required number
of different values for the same FlightMode channel. For instance,
using Turnigy 9X radio with ER9X firmware, one can create a mixer like
this:
-100 MAX ID0 Manual
R -50 MAX ID1 Stabilized1 (Rate)
R 0 MAX ID2 Stabilized2 (Attitude)
R 50 MAX RUD PositionHold
R 100 MAX ELE ReturnToBase
And set number of flight mode positions to 5. As a result, the 3-pos
switch (ID0, ID1, ID2) will provide first three flight modes, the rudder
D/R switch will override those and enable the 4th flight mode, and
elevator D/R switch will have highest precedence and activate the 5th
flight mode.
This will change the ManualControlSettings objectID.
This commit is contained in:
Oleg Semyonov
parent
a242c2f383
commit
cd6387d0a6
@ -58,7 +58,6 @@
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define UPDATE_PERIOD_MS 20
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#define THROTTLE_FAILSAFE -0.1f
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#define FLIGHT_MODE_LIMIT 1.0f/3.0f
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#define ARMED_TIME_MS 1000
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#define ARMED_THRESHOLD 0.50f
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//safe band to allow a bit of calibration error or trim offset (in microseconds)
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@ -847,30 +846,38 @@ static void processArm(ManualControlCommandData * cmd, ManualControlSettingsData
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}
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/**
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* @brief Determine which of three positions the flight mode switch is in and set flight mode accordingly
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* @brief Determine which of N positions the flight mode switch is in and set flight mode accordingly
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* @param[out] cmd Pointer to the command structure to set the flight mode in
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* @param[in] settings The settings which indicate which position is which mode
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* @param[in] flightMode the value of the switch position
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*/
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static void processFlightMode(ManualControlSettingsData * settings, float flightMode)
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static void processFlightMode(ManualControlSettingsData *settings, float flightMode)
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{
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FlightStatusData flightStatus;
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FlightStatusGet(&flightStatus);
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uint8_t newMode;
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// Note here the code is ass
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if (flightMode < -FLIGHT_MODE_LIMIT)
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newMode = settings->FlightModePosition[0];
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else if (flightMode > FLIGHT_MODE_LIMIT)
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newMode = settings->FlightModePosition[2];
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else
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newMode = settings->FlightModePosition[1];
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// Check the FlightModeNumber: it shouldn't be set higher than number of FlightModePosition elements
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if ((settings->FlightModeNumber < 1) || (settings->FlightModeNumber > MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM)) {
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AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
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return;
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}
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if(flightStatus.FlightMode != newMode) {
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// Scale flightMode from [-1..+1] to [0..1] range and calculate a delta
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float scaledFlightMode = (flightMode + 1.0) / 2.0;
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float delta = 1.0 / (float)(settings->FlightModeNumber);
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float bound = delta;
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uint8_t i;
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for (i = 1; i < settings->FlightModeNumber; i++, bound += delta) {
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if (scaledFlightMode < bound)
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break;
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}
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uint8_t newMode = settings->FlightModePosition[i - 1];
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if (flightStatus.FlightMode != newMode) {
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flightStatus.FlightMode = newMode;
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FlightStatusSet(&flightStatus);
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}
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}
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/**
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@ -85,6 +85,10 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos1,0);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos2,1);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos3,2);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos4,3);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos5,4);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
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@ -99,6 +103,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) : ConfigTaskWidget(parent)
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addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
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addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
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connect( ManualControlCommand::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(moveFMSlider()));
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connect( ManualControlSettings::GetInstance(getObjectManager()),SIGNAL(objectUpdated(UAVObject*)),this,SLOT(updatePositionSlider()));
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enableControls(false);
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populateWidgets();
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@ -1113,6 +1118,7 @@ void ConfigInputWidget::invertControls()
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}
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manualSettingsObj->setData(manualSettingsData);
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}
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void ConfigInputWidget::moveFMSlider()
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{
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ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
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@ -1139,12 +1145,78 @@ void ConfigInputWidget::moveFMSlider()
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valueScaled = 0;
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}
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if(valueScaled < -(1.0 / 3.0))
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m_config->fmsSlider->setValue(-100);
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else if (valueScaled > (1.0/3.0))
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m_config->fmsSlider->setValue(100);
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else
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m_config->fmsSlider->setValue(0);
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// Bound and scale FlightMode from [-1..+1] to [0..1] range
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if (valueScaled < -1.0)
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valueScaled = -1.0;
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if (valueScaled > 1.0)
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valueScaled = 1.0;
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float scaledFlightMode = (valueScaled + 1.0) / 2.0;
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// Display current channel value for tuning (in percents)
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m_config->fmsValue->setText(QString::number(scaledFlightMode * 100.0, 'f', 0));
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// Find and display the current FlightMode using the same logic as in a flight code
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float delta = 1.0 / (float)(manualSettingsDataPriv.FlightModeNumber);
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float bound = delta;
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int i;
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for (i = 1; i < manualSettingsDataPriv.FlightModeNumber; i++, bound += delta) {
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if (scaledFlightMode < bound)
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break;
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}
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m_config->fmsSlider->setValue(i - 1);
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}
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void ConfigInputWidget::updatePositionSlider()
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{
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ManualControlSettings::DataFields manualSettingsDataPriv = manualSettingsObj->getData();
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switch(manualSettingsDataPriv.FlightModeNumber) {
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default:
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case 6:
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m_config->fmsModePos6->setEnabled(true);
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// pass through
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case 5:
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m_config->fmsModePos5->setEnabled(true);
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// pass through
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case 4:
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m_config->fmsModePos4->setEnabled(true);
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// pass through
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case 3:
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m_config->fmsModePos3->setEnabled(true);
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// pass through
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case 2:
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m_config->fmsModePos2->setEnabled(true);
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// pass through
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case 1:
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m_config->fmsModePos1->setEnabled(true);
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// pass through
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case 0:
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break;
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}
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switch(manualSettingsDataPriv.FlightModeNumber) {
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case 0:
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m_config->fmsModePos1->setEnabled(false);
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// pass through
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case 1:
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m_config->fmsModePos2->setEnabled(false);
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// pass through
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case 2:
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m_config->fmsModePos3->setEnabled(false);
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// pass through
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case 3:
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m_config->fmsModePos4->setEnabled(false);
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// pass through
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case 4:
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m_config->fmsModePos5->setEnabled(false);
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// pass through
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case 5:
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m_config->fmsModePos6->setEnabled(false);
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// pass through
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case 6:
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default:
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break;
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}
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}
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void ConfigInputWidget::updateCalibration()
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@ -146,6 +146,7 @@ private slots:
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void moveSticks();
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void dimOtherControls(bool value);
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void moveFMSlider();
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void updatePositionSlider();
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void invertControls();
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void simpleCalibration(bool state);
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void updateCalibration();
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@ -17,7 +17,7 @@
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<item>
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<widget class="QTabWidget" name="tabWidget">
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<property name="currentIndex">
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<number>0</number>
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<number>1</number>
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</property>
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<widget class="QWidget" name="RCInput">
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<attribute name="title">
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@ -204,31 +204,12 @@
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<attribute name="title">
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<string>Flight Mode Switch Settings</string>
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</attribute>
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<widget class="QLabel" name="label_16">
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<property name="geometry">
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<rect>
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<x>310</x>
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<y>30</y>
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<width>201</width>
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<height>17</height>
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</rect>
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</property>
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<property name="font">
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<font>
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<weight>75</weight>
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<bold>true</bold>
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</font>
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</property>
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<property name="text">
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<string>for multirotors!</string>
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</property>
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</widget>
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<widget class="QGroupBox" name="groupBox">
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<property name="geometry">
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<rect>
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<x>30</x>
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<y>160</y>
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<width>451</width>
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<y>260</y>
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<width>541</width>
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<height>161</height>
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</rect>
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</property>
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@ -384,19 +365,6 @@ margin:1px;</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<spacer name="verticalSpacer_3">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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<item row="1" column="2">
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<widget class="QLabel" name="label_9">
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<property name="styleSheet">
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@ -414,25 +382,167 @@ margin:1px;</string>
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</property>
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</widget>
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</item>
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<item row="0" column="1">
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<spacer name="verticalSpacer_3">
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="sizeHint" stdset="0">
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<size>
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<width>20</width>
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<height>20</height>
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</size>
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</property>
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</spacer>
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</item>
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</layout>
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</widget>
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<widget class="QGroupBox" name="groupBox_2">
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<property name="geometry">
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<rect>
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<x>30</x>
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<y>30</y>
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<width>451</width>
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<height>121</height>
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<y>20</y>
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<width>541</width>
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<height>211</height>
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</rect>
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</property>
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<property name="title">
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<string>FlightMode Switch Positions</string>
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</property>
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<widget class="QComboBox" name="fmsModePos5">
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>140</y>
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<width>151</width>
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<height>26</height>
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</rect>
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</property>
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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</widget>
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<widget class="QComboBox" name="fmsModePos4">
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>110</y>
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<width>151</width>
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<height>26</height>
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</rect>
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</property>
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
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</property>
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</widget>
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<widget class="QLabel" name="label_pos4">
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<property name="geometry">
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<rect>
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<x>10</x>
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<y>115</y>
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<width>62</width>
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<height>17</height>
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</rect>
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</property>
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<property name="text">
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<string>Pos. 4</string>
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</property>
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</widget>
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<widget class="QComboBox" name="fmsModePos6">
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>170</y>
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<width>151</width>
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<height>26</height>
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</rect>
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</property>
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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</widget>
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<widget class="QLabel" name="label_pos5">
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<property name="geometry">
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<rect>
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<x>10</x>
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<y>145</y>
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<width>62</width>
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<height>17</height>
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</rect>
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</property>
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<property name="text">
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<string>Pos. 5</string>
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</property>
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</widget>
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<widget class="QLabel" name="label_pos6">
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<property name="geometry">
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<rect>
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<x>10</x>
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<y>175</y>
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<width>62</width>
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<height>17</height>
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</rect>
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</property>
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<property name="text">
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<string>Pos. 6</string>
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</property>
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</widget>
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<widget class="QSlider" name="fmsSlider">
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<property name="enabled">
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<bool>false</bool>
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</property>
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<property name="geometry">
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<rect>
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<x>70</x>
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<y>28</y>
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<width>20</width>
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<height>160</height>
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</rect>
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</property>
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
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</property>
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<property name="toolTip">
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<string>This slider moves when you move the flight mode switch
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on your remote. Setup the flightmode channel on the RC Input tab
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if you have not done so already.</string>
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</property>
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<property name="minimum">
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<number>0</number>
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</property>
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<property name="maximum">
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<number>5</number>
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</property>
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<property name="pageStep">
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<number>10</number>
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</property>
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<property name="value">
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<number>0</number>
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</property>
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<property name="sliderPosition">
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<number>0</number>
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</property>
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<property name="orientation">
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<enum>Qt::Vertical</enum>
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</property>
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<property name="invertedAppearance">
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<bool>true</bool>
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</property>
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<property name="tickPosition">
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<enum>QSlider::TicksBelow</enum>
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</property>
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<property name="tickInterval">
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<number>1</number>
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</property>
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</widget>
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<widget class="QComboBox" name="fmsModePos2">
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>55</y>
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<y>50</y>
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<width>151</width>
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<height>26</height>
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</rect>
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@ -445,7 +555,20 @@ margin:1px;</string>
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>25</y>
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<y>80</y>
|
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<width>151</width>
|
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<height>26</height>
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</rect>
|
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</property>
|
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<property name="focusPolicy">
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<enum>Qt::StrongFocus</enum>
|
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</property>
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</widget>
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<widget class="QComboBox" name="fmsModePos1">
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>20</y>
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<width>151</width>
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<height>26</height>
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</rect>
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@ -457,37 +580,11 @@ margin:1px;</string>
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<string>Select the stabilization mode on this position (manual/stabilized/auto)</string>
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</property>
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</widget>
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<widget class="QLabel" name="label_11">
|
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<widget class="QLabel" name="label_pos2">
|
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<property name="geometry">
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<rect>
|
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<x>10</x>
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<y>30</y>
|
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<width>62</width>
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<height>17</height>
|
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</rect>
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</property>
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<property name="text">
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<string>Pos. 3</string>
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</property>
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</widget>
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<widget class="QComboBox" name="fmsModePos1">
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<property name="geometry">
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<rect>
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<x>100</x>
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<y>85</y>
|
||||
<width>151</width>
|
||||
<height>26</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_12">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>60</y>
|
||||
<x>11</x>
|
||||
<y>55</y>
|
||||
<width>62</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
@ -496,11 +593,11 @@ margin:1px;</string>
|
||||
<string>Pos. 2</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_13">
|
||||
<widget class="QLabel" name="label_pos1">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>10</x>
|
||||
<y>90</y>
|
||||
<x>11</x>
|
||||
<y>25</y>
|
||||
<width>62</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
@ -509,55 +606,81 @@ margin:1px;</string>
|
||||
<string>Pos. 1</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QSlider" name="fmsSlider">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<widget class="QLabel" name="label_pos3">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>70</x>
|
||||
<y>30</y>
|
||||
<width>20</width>
|
||||
<height>81</height>
|
||||
<x>11</x>
|
||||
<y>85</y>
|
||||
<width>62</width>
|
||||
<height>17</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
<property name="text">
|
||||
<string>Pos. 3</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QSpinBox" name="fmsPosNum">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>410</x>
|
||||
<y>20</y>
|
||||
<width>61</width>
|
||||
<height>20</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>This slider moves when you move the flight mode switch
|
||||
on your remote. Setup the flightmode channel on the RC Input tab
|
||||
if you have not done so already.</string>
|
||||
<string>Number of positions your FlightMode switch has.
|
||||
|
||||
Default is 3.
|
||||
|
||||
It will be 2 or 3 for most of setups, but it also can be up to 6.
|
||||
In that case you have to configure your radio mixers so the whole range
|
||||
from min to max is split into N equal intervals, and you may set arbitrary
|
||||
channel value for each flight mode.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>-100</number>
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>100</number>
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="pageStep">
|
||||
<number>10</number>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
<property name="sliderPosition">
|
||||
<number>-100</number>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>270</x>
|
||||
<y>20</y>
|
||||
<width>141</width>
|
||||
<height>16</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
<property name="text">
|
||||
<string>Number of switch positions:</string>
|
||||
</property>
|
||||
<property name="tickPosition">
|
||||
<enum>QSlider::TicksBelow</enum>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_2">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>270</x>
|
||||
<y>50</y>
|
||||
<width>141</width>
|
||||
<height>16</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="tickInterval">
|
||||
<number>100</number>
|
||||
<property name="text">
|
||||
<string>Channel value (0..100):</string>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>270</x>
|
||||
<y>30</y>
|
||||
<width>141</width>
|
||||
<height>31</height>
|
||||
<x>300</x>
|
||||
<y>130</y>
|
||||
<width>191</width>
|
||||
<height>30</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="font">
|
||||
@ -567,13 +690,37 @@ if you have not done so already.</string>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Warning: avoid "Manual"</string>
|
||||
<string>Avoid "Manual" for multirotors!</string>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
<widget class="QLabel" name="fmsValue">
|
||||
<property name="geometry">
|
||||
<rect>
|
||||
<x>410</x>
|
||||
<y>51</y>
|
||||
<width>46</width>
|
||||
<height>13</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string>FlightMode channel value is shown here for reference.
|
||||
|
||||
Whole range [0..100] in spit into number of intervals - one per
|
||||
FlightMode (switch position).
|
||||
|
||||
Hint: make sure that you have the FlightMode channel neutral
|
||||
value defined.</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>0</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
<zorder>groupBox_2</zorder>
|
||||
<zorder>groupBox</zorder>
|
||||
</widget>
|
||||
<widget class="QWidget" name="tab_4">
|
||||
<attribute name="title">
|
||||
@ -763,9 +910,6 @@ Applies and Saves all settings to SD</string>
|
||||
</widget>
|
||||
<tabstops>
|
||||
<tabstop>fmsSlider</tabstop>
|
||||
<tabstop>fmsModePos3</tabstop>
|
||||
<tabstop>fmsModePos2</tabstop>
|
||||
<tabstop>fmsModePos1</tabstop>
|
||||
<tabstop>fmsSsPos1Roll</tabstop>
|
||||
<tabstop>fmsSsPos1Pitch</tabstop>
|
||||
<tabstop>fmsSsPos1Yaw</tabstop>
|
||||
|
||||
@ -23,7 +23,8 @@
|
||||
<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar" defaultvalue="Attitude,Attitude,Rate"/>
|
||||
|
||||
<!-- Note these options values should be identical to those defined in FlightMode -->
|
||||
<field name="FlightModePosition" units="" type="enum" elements="3" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2"/>
|
||||
<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
|
||||
<field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,VelocityControl,PositionHold" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"/>
|
||||
|
||||
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user