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Merge branch 'corvuscorax/OP-946_refaktor_sensor_and_state' into corvuscorax/OP-947_stateestimator-module

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This commit is contained in:
Corvus Corax 2013-05-20 10:34:40 +02:00
commit d258caad3f
26 changed files with 469 additions and 290 deletions
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46
flight/modules/Attitude/revolution/attitude.c
View File

@ -64,8 +64,8 @@
#include "gyrostate.h"
#include "gyrosensor.h"
#include "homelocation.h"
#include "magnetosensor.h"
#include "magnetostate.h"
#include "magsensor.h"
#include "magstate.h"
#include "positionstate.h"
#include "ekfconfiguration.h"
#include "ekfstatevariance.h"
@ -125,7 +125,7 @@ static void settingsUpdatedCb(UAVObjEvent *objEv);
static int32_t getNED(GPSPositionData *gpsPosition, float *NED);
static void magOffsetEstimation(MagnetoSensorData *mag);
static void magOffsetEstimation(MagSensorData *mag);
// check for invalid values
static inline bool invalid(float data)
@ -167,8 +167,8 @@ int32_t AttitudeInitialize(void)
GyroStateInitialize();
AccelSensorInitialize();
AccelStateInitialize();
MagnetoSensorInitialize();
MagnetoStateInitialize();
MagSensorInitialize();
MagStateInitialize();
AirspeedSensorInitialize();
AirspeedStateInitialize();
BaroSensorInitialize();
@ -224,11 +224,13 @@ int32_t AttitudeStart(void)
// Start main task
xTaskCreate(AttitudeTask, (signed char *)"Attitude", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &attitudeTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ATTITUDE, attitudeTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_ATTITUDE);
#endif
GyroSensorConnectQueue(gyroQueue);
AccelSensorConnectQueue(accelQueue);
MagnetoSensorConnectQueue(magQueue);
MagSensorConnectQueue(magQueue);
AirspeedSensorConnectQueue(airspeedQueue);
BaroSensorConnectQueue(baroQueue);
GPSPositionConnectQueue(gpsQueue);
@ -282,7 +284,9 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
initialization_required = true;
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_ATTITUDE);
#endif
}
}
@ -331,10 +335,10 @@ static int32_t updateAttitudeComplementary(bool first_run)
if (xQueueReceive(magQueue, &ev, 0 / portTICK_RATE_MS) != pdTRUE) {
return -1;
}
MagnetoSensorData magData;
MagnetoSensorGet(&magData);
MagSensorData magData;
MagSensorGet(&magData);
#else
MagnetoSensorData magData;
MagSensorData magData;
magData.x = 100.0f;
magData.y = 0.0f;
magData.z = 0.0f;
@ -430,20 +434,20 @@ static int32_t updateAttitudeComplementary(bool first_run)
// Rotate gravity to body frame and cross with accels
float brot[3];
float Rbe[3][3];
MagnetoSensorData mag;
MagSensorData mag;
Quaternion2R(q, Rbe);
MagnetoSensorGet(&mag);
MagSensorGet(&mag);
// TODO: separate filter!
if (revoCalibration.MagBiasNullingRate > 0) {
magOffsetEstimation(&mag);
}
MagnetoStateData mags;
MagStateData mags;
mags.x = mag.x;
mags.y = mag.y;
mags.z = mag.z;
MagnetoStateSet(&mags);
MagStateSet(&mags);
// If the mag is producing bad data don't use it (normally bad calibration)
if (!isnan(mag.x) && !isinf(mag.x) && !isnan(mag.y) && !isinf(mag.y) && !isnan(mag.z) && !isinf(mag.z)) {
@ -608,7 +612,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
UAVObjEvent ev;
GyroSensorData gyroSensorData;
AccelSensorData accelSensorData;
MagnetoStateData magData;
MagStateData magData;
AirspeedSensorData airspeedData;
BaroSensorData baroData;
GPSPositionData gpsData;
@ -690,17 +694,17 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
AccelSensorGet(&accelSensorData);
// TODO: separate filter!
if (mag_updated) {
MagnetoSensorData mags;
MagnetoSensorGet(&mags);
MagSensorData mags;
MagSensorGet(&mags);
if (revoCalibration.MagBiasNullingRate > 0) {
magOffsetEstimation(&mags);
}
magData.x = mags.x;
magData.y = mags.y;
magData.z = mags.z;
MagnetoStateSet(&magData);
MagStateSet(&magData);
}
MagnetoStateGet(&magData);
MagStateGet(&magData);
BaroSensorGet(&baroData);
AirspeedSensorGet(&airspeedData);
@ -856,7 +860,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
}
// xQueueReceive(magQueue, &ev, 100 / portTICK_RATE_MS);
// MagnetoSensorGet(&magData);
// MagSensorGet(&magData);
AttitudeStateData attitudeState;
AttitudeStateGet(&attitudeState);
@ -1158,10 +1162,10 @@ static void settingsUpdatedCb(UAVObjEvent *ev)
/**
* Perform an update of the @ref MagBias based on
* Magnetometer Offset Cancellation: Theory and Implementation,
* Magmeter Offset Cancellation: Theory and Implementation,
* revisited William Premerlani, October 14, 2011
*/
static void magOffsetEstimation(MagnetoSensorData *mag)
static void magOffsetEstimation(MagSensorData *mag)
{
#if 0
// Constants, to possibly go into a UAVO

8
flight/modules/Extensions/MagBaro/magbaro.c
View File

@ -41,7 +41,7 @@
#include "hwsettings.h"
#include "magbaro.h"
#include "barosensor.h" // object that will be updated by the module
#include "magnetosensor.h"
#include "magsensor.h"
#include "taskinfo.h"
// Private constants
@ -109,7 +109,7 @@ int32_t MagBaroInitialize()
if (magbaroEnabled) {
#if defined(PIOS_INCLUDE_HMC5883)
MagnetoSensorInitialize();
MagSensorInitialize();
#endif
#if defined(PIOS_INCLUDE_BMP085)
@ -149,7 +149,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
#endif
#if defined(PIOS_INCLUDE_HMC5883)
MagnetoSensorData mag;
MagSensorData mag;
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
#endif
@ -207,7 +207,7 @@ static void magbaroTask(__attribute__((unused)) void *parameters)
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
MagnetoSensorSet(&mag);
MagSensorSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif

22
flight/modules/Sensors/sensors.c
View File

@ -4,7 +4,7 @@
* @{
* @addtogroup Sensors
* @brief Acquires sensor data
* Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagnetoSensor objects
* Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
* @{
*
* @file sensors.c
@ -32,7 +32,7 @@
/**
* Input objects: None, takes sensor data via pios
* Output objects: @ref GyroSensor @ref AccelSensor @ref MagnetoSensor
* Output objects: @ref GyroSensor @ref AccelSensor @ref MagSensor
*
* The module executes in its own thread.
*
@ -49,7 +49,7 @@
#include <openpilot.h>
#include <homelocation.h>
#include <magnetosensor.h>
#include <magsensor.h>
#include <accelsensor.h>
#include <gyrosensor.h>
#include <attitudestate.h>
@ -73,7 +73,7 @@
// Private functions
static void SensorsTask(void *parameters);
static void settingsUpdatedCb(UAVObjEvent *objEv);
// static void magOffsetEstimation(MagnetoSensorData *mag);
// static void magOffsetEstimation(MagSensorData *mag);
// Private variables
static xTaskHandle sensorsTaskHandle;
@ -110,7 +110,7 @@ int32_t SensorsInitialize(void)
{
GyroSensorInitialize();
AccelSensorInitialize();
MagnetoSensorInitialize();
MagSensorInitialize();
RevoCalibrationInitialize();
AttitudeSettingsInitialize();
@ -131,7 +131,9 @@ int32_t SensorsStart(void)
// Start main task
xTaskCreate(SensorsTask, (signed char *)"Sensors", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &sensorsTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_SENSORS, sensorsTaskHandle);
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_RegisterFlag(PIOS_WDG_SENSORS);
#endif
return 0;
}
@ -201,7 +203,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
if (accel_test < 0 || gyro_test < 0 || mag_test < 0) {
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
while (1) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
#endif
vTaskDelay(10);
}
}
@ -216,7 +220,9 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
timeval = PIOS_DELAY_GetRaw();
if (error) {
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
#endif
lastSysTime = xTaskGetTickCount();
vTaskDelayUntil(&lastSysTime, SENSOR_PERIOD / portTICK_RATE_MS);
AlarmsSet(SYSTEMALARMS_ALARM_SENSORS, SYSTEMALARMS_ALARM_CRITICAL);
@ -377,7 +383,7 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
// and make it average zero (weakly)
#if defined(PIOS_INCLUDE_HMC5883)
MagnetoSensorData mag;
MagSensorData mag;
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 150000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
@ -396,12 +402,14 @@ static void SensorsTask(__attribute__((unused)) void *parameters)
mag.z = mags[2];
}
MagnetoSensorSet(&mag);
MagSensorSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif /* if defined(PIOS_INCLUDE_HMC5883) */
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_UpdateFlag(PIOS_WDG_SENSORS);
#endif
lastSysTime = xTaskGetTickCount();
}

22
flight/modules/Sensors/simulated/sensors.c
View File

@ -4,7 +4,7 @@
* @{
* @addtogroup Sensors
* @brief Acquires sensor data
* Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagnetoSensor objects
* Specifically updates the the @ref GyroSensor, @ref AccelSensor, and @ref MagSensor objects
* @{
*
* @file sensors.c
@ -32,7 +32,7 @@
/**
* Input objects: None, takes sensor data via pios
* Output objects: @ref GyroSensor @ref AccelSensor @ref MagnetoSensor
* Output objects: @ref GyroSensor @ref AccelSensor @ref MagSensor
*
* The module executes in its own thread.
*
@ -113,7 +113,7 @@ int32_t SensorsInitialize(void)
// GyrosBiasInitialize();
GPSPositionInitialize();
GPSVelocityInitialize();
MagnetoSensorInitialize();
MagSensorInitialize();
MagBiasInitialize();
RevoCalibrationInitialize();
@ -252,11 +252,11 @@ static void simulateConstant()
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
MagnetoSensorData mag;
MagSensorData mag;
mag.x = 400;
mag.y = 0;
mag.z = 800;
MagnetoSensorSet(&mag);
MagSensorSet(&mag);
}
static void simulateModelAgnostic()
@ -314,11 +314,11 @@ static void simulateModelAgnostic()
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
MagnetoSensorData mag;
MagSensorData mag;
mag.x = 400;
mag.y = 0;
mag.z = 800;
MagnetoSensorSet(&mag);
MagSensorSet(&mag);
}
float thrustToDegs = 50;
@ -528,12 +528,12 @@ static void simulateModelQuadcopter()
// Update mag periodically
static uint32_t last_mag_time = 0;
if (PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
MagnetoSensorData mag;
MagSensorData mag;
mag.x = homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
mag.y = homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
mag.z = homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
MagnetoSensorSet(&mag);
MagSensorSet(&mag);
last_mag_time = PIOS_DELAY_GetRaw();
}
@ -811,11 +811,11 @@ static void simulateModelAirplane()
// Update mag periodically
static uint32_t last_mag_time = 0;
if (PIOS_DELAY_DiffuS(last_mag_time) / 1.0e6 > MAG_PERIOD) {
MagnetoSensorData mag;
MagSensorData mag;
mag.x = 100 + homeLocation.Be[0] * Rbe[0][0] + homeLocation.Be[1] * Rbe[0][1] + homeLocation.Be[2] * Rbe[0][2];
mag.y = 100 + homeLocation.Be[0] * Rbe[1][0] + homeLocation.Be[1] * Rbe[1][1] + homeLocation.Be[2] * Rbe[1][2];
mag.z = 100 + homeLocation.Be[0] * Rbe[2][0] + homeLocation.Be[1] * Rbe[2][1] + homeLocation.Be[2] * Rbe[2][2];
MagnetoSensorSet(&mag);
MagSensorSet(&mag);
last_mag_time = PIOS_DELAY_GetRaw();
}

2
flight/targets/boards/osd/firmware/Makefile
View File

@ -93,7 +93,7 @@ ifndef TESTAPP
SRC += $(OPUAVSYNTHDIR)/gpstime.c
SRC += $(OPUAVSYNTHDIR)/osdsettings.c
SRC += $(OPUAVSYNTHDIR)/barosensor.c
SRC += $(OPUAVSYNTHDIR)/magnetosensor.c
SRC += $(OPUAVSYNTHDIR)/magsensor.c
else
## Test Code
SRC += $(OPTESTS)/test_common.c

4
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -30,8 +30,8 @@ UAVOBJSRCFILENAMES += gyrostate
UAVOBJSRCFILENAMES += gyrosensor
UAVOBJSRCFILENAMES += accelstate
UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magnetosensor
UAVOBJSRCFILENAMES += magnetostate
UAVOBJSRCFILENAMES += magsensor
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += airspeedsensor
UAVOBJSRCFILENAMES += airspeedsettings

2
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -391,7 +391,9 @@ void PIOS_Board_Init(void)
PIOS_IAP_WriteBootCmd(1, 0);
PIOS_IAP_WriteBootCmd(2, 0);
}
#ifdef PIOS_INCLUDE_WDG
PIOS_WDG_Init();
#endif
/* Initialize UAVObject libraries */
EventDispatcherInitialize();
UAVObjInitialize();

4
flight/targets/boards/revolution/firmware/pios_board_sim.c
View File

@ -35,7 +35,7 @@
#include <barosensor.h>
#include <gpsposition.h>
#include <gyrosensor.h>
#include <magnetosensor.h>
#include <magsensor.h>
#include <manualcontrolsettings.h>
void Stack_Change() {}
@ -138,7 +138,7 @@ void PIOS_Board_Init(void)
AccelSensorInitialize();
BaroSensorInitialize();
MagnetoSensorInitialize();
MagSensorInitialize();
GPSPositionInitialize();
GyroSensorInitialize();

4
flight/targets/boards/revoproto/firmware/UAVObjects.inc
View File

@ -35,8 +35,8 @@ UAVOBJSRCFILENAMES += gyrostate
UAVOBJSRCFILENAMES += gyrosensor
UAVOBJSRCFILENAMES += accelstate
UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magnetostate
UAVOBJSRCFILENAMES += magnetosensor
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += magsensor
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += airspeedsensor
UAVOBJSRCFILENAMES += airspeedsettings

4
flight/targets/boards/revoproto/firmware/pios_board_sim.c
View File

@ -35,7 +35,7 @@
#include <barosensor.h>
#include <gpsposition.h>
#include <gyrosensor.h>
#include <magnetosensor.h>
#include <magsensor.h>
#include <manualcontrolsettings.h>
void Stack_Change() {}
@ -138,7 +138,7 @@ void PIOS_Board_Init(void)
AccelSensorInitialize();
BaroSensorInitialize();
MagnetoSensorInitialize();
MagSensorInitialize();
GPSPositionInitialize();
GyroStatInitialize();
GyroSensorInitialize();

4
flight/targets/boards/simposix/firmware/UAVObjects.inc
View File

@ -35,8 +35,8 @@ UAVOBJSRCFILENAMES += gyrostate
UAVOBJSRCFILENAMES += gyrosensor
UAVOBJSRCFILENAMES += accelstate
UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magnetosensor
UAVOBJSRCFILENAMES += magnetostate
UAVOBJSRCFILENAMES += magsensor
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += barostate
UAVOBJSRCFILENAMES += airspeedsensor

38
make/templates/firmware_info.c.template → flight/templates/firmware_info.c.template
View File

@ -44,15 +44,15 @@
*/
struct __attribute__((packed)) fw_version_info {
uint8_t magic[4];
uint32_t commit_hash_prefix;
uint32_t timestamp;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[20];
uint8_t uavosha1[20];
uint8_t pad[20];
uint8_t magic[4];
uint32_t commit_hash_prefix;
uint32_t timestamp;
uint8_t board_type;
uint8_t board_revision;
uint8_t commit_tag_name[26];
uint8_t sha1sum[20];
uint8_t uavosha1[20];
uint8_t pad[20];
};
#if (defined(__MACH__) && defined(__APPLE__))
@ -60,16 +60,12 @@ const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__
#else
const struct fw_version_info fw_version_blob __attribute__((used)) __attribute__((__section__(".fw_version_blob"))) = {
#endif
.magic = { 'O','p','F','w' },
.commit_hash_prefix = 0x${HASH8},
.timestamp = ${UNIXTIME},
.board_type = ${BOARD_TYPE},
.board_revision = ${BOARD_REVISION},
.commit_tag_name = "${FWTAG}",
.sha1sum = { ${SHA1} },
.uavosha1 = { ${UAVOSHA1} },
.magic = { 'O','p','F','w' },
.commit_hash_prefix = 0x${HASH8},
.timestamp = ${UNIXTIME},
.board_type = ${BOARD_TYPE},
.board_revision = ${BOARD_REVISION},
.commit_tag_name = "${FWTAG}",
.sha1sum = { ${SHA1} },
.uavosha1 = { ${UAVOSHA1} },
};
/**
* @}
*/

6
ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
View File

@ -2233,7 +2233,7 @@
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>6.92916505601691e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>3.86203233966055e-312</yMinimum>
@ -2243,7 +2243,7 @@
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>-1</yMinimum>
@ -2253,7 +2253,7 @@
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>1.72723371102028e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>7.21478569792807e-313</yMinimum>

6
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -2264,7 +2264,7 @@
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
@ -2274,7 +2274,7 @@
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
@ -2284,7 +2284,7 @@
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>

6
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -2242,7 +2242,7 @@
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
@ -2252,7 +2252,7 @@
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
@ -2262,7 +2262,7 @@
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>MagnetoState</uavObject>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>

34
ground/openpilotgcs/src/plugins/config/configrevowidget.cpp
View File

@ -46,7 +46,7 @@
#include <homelocation.h>
#include <accelstate.h>
#include <gyrostate.h>
#include <magnetostate.h>
#include <magstate.h>
#define GRAVITY 9.81f
#include "assertions.h"
@ -585,10 +585,10 @@ void ConfigRevoWidget::doStartSixPointCalibration()
#endif
/* Need to get as many mag updates as possible */
MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
MagState *mag = MagState::GetInstance(getObjectManager());
Q_ASSERT(mag);
initialMagnetoStateMdata = mag->getMetadata();
mdata = initialMagnetoStateMdata;
initialMagStateMdata = mag->getMetadata();
mdata = initialMagStateMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
mag->setMetadata(mdata);
@ -624,7 +624,7 @@ void ConfigRevoWidget::savePositionData()
AccelState *accelState = AccelState::GetInstance(getObjectManager());
Q_ASSERT(accelState);
MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
MagState *mag = MagState::GetInstance(getObjectManager());
Q_ASSERT(mag);
connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
@ -653,10 +653,10 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
accel_accum_y.append(accelStateData.y);
accel_accum_z.append(accelStateData.z);
#endif
} else if (obj->getObjID() == MagnetoState::OBJID) {
MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
} else if (obj->getObjID() == MagState::OBJID) {
MagState *mag = MagState::GetInstance(getObjectManager());
Q_ASSERT(mag);
MagnetoState::DataFields magData = mag->getData();
MagState::DataFields magData = mag->getData();
mag_accum_x.append(magData.x);
mag_accum_y.append(magData.y);
mag_accum_z.append(magData.z);
@ -685,7 +685,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
#endif
// Store the mean for this position for the mag
MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
MagState *mag = MagState::GetInstance(getObjectManager());
Q_ASSERT(mag);
disconnect(mag, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetSixPointCalibrationMeasurement(UAVObject *)));
mag_data_x[position] = listMean(mag_accum_x);
@ -722,7 +722,7 @@ void ConfigRevoWidget::doGetSixPointCalibrationMeasurement(UAVObject *obj)
#ifdef SIX_POINT_CAL_ACCEL
accelState->setMetadata(initialAccelStateMdata);
#endif
mag->setMetadata(initialMagnetoStateMdata);
mag->setMetadata(initialMagStateMdata);
// Recall saved board rotation
recallBoardRotation();
@ -928,7 +928,7 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
Q_ASSERT(accelState);
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
Q_ASSERT(gyroState);
MagnetoState *mag = MagnetoState::GetInstance(getObjectManager());
MagState *mag = MagState::GetInstance(getObjectManager());
Q_ASSERT(mag);
UAVObject::Metadata mdata;
@ -945,8 +945,8 @@ void ConfigRevoWidget::doStartNoiseMeasurement()
mdata.flightTelemetryUpdatePeriod = 100;
gyroState->setMetadata(mdata);
initialMagnetoStateMdata = mag->getMetadata();
mdata = initialMagnetoStateMdata;
initialMagStateMdata = mag->getMetadata();
mdata = initialMagStateMdata;
UAVObject::SetFlightTelemetryUpdateMode(mdata, UAVObject::UPDATEMODE_PERIODIC);
mdata.flightTelemetryUpdatePeriod = 100;
mag->setMetadata(mdata);
@ -990,11 +990,11 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
accel_accum_z.append(accelStateData.z);
break;
}
case MagnetoState::OBJID:
case MagState::OBJID:
{
MagnetoState *mags = MagnetoState::GetInstance(getObjectManager());
MagState *mags = MagState::GetInstance(getObjectManager());
Q_ASSERT(mags);
MagnetoState::DataFields magData = mags->getData();
MagState::DataFields magData = mags->getData();
mag_accum_x.append(magData.x);
mag_accum_y.append(magData.y);
mag_accum_z.append(magData.z);
@ -1017,7 +1017,7 @@ void ConfigRevoWidget::doGetNoiseSample(UAVObject *obj)
gyro_accum_x.length() >= NOISE_SAMPLES &&
accel_accum_x.length() >= NOISE_SAMPLES) {
// No need to for more updates
MagnetoState *mags = MagnetoState::GetInstance(getObjectManager());
MagState *mags = MagState::GetInstance(getObjectManager());
AccelState *accelState = AccelState::GetInstance(getObjectManager());
GyroState *gyroState = GyroState::GetInstance(getObjectManager());
disconnect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(doGetNoiseSample(UAVObject *)));

2
ground/openpilotgcs/src/plugins/config/configrevowidget.h
View File

@ -92,7 +92,7 @@ private:
UAVObject::Metadata initialAccelStateMdata;
UAVObject::Metadata initialGyroStateMdata;
UAVObject::Metadata initialMagnetoStateMdata;
UAVObject::Metadata initialMagStateMdata;
UAVObject::Metadata initialBaroSensorMdata;
float initialMagCorrectionRate;

2
ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp
View File

@ -77,7 +77,7 @@ void AutoUpdatePage::updateStatus(uploader::AutoUpdateStep status, QVariant valu
getWizard()->setWindowIcon(qApp->windowIcon());
enableButtons(true);
getWizard()->show();
ui->statusLabel->setText("Something went wrong, you will have to manualy upgrade the board using the uploader plugin");
ui->statusLabel->setText("Something went wrong, you will have to manually upgrade the board using the uploader plugin");
break;
}
}

8
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -42,8 +42,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/gyrosensor.h \
$$UAVOBJECT_SYNTHETICS/accelsensor.h \
$$UAVOBJECT_SYNTHETICS/accelstate.h \
$$UAVOBJECT_SYNTHETICS/magnetosensor.h \
$$UAVOBJECT_SYNTHETICS/magnetostate.h \
$$UAVOBJECT_SYNTHETICS/magsensor.h \
$$UAVOBJECT_SYNTHETICS/magstate.h \
$$UAVOBJECT_SYNTHETICS/camerastabsettings.h \
$$UAVOBJECT_SYNTHETICS/flighttelemetrystats.h \
$$UAVOBJECT_SYNTHETICS/systemstats.h \
@ -126,8 +126,8 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/accelstate.cpp \
$$UAVOBJECT_SYNTHETICS/gyrostate.cpp \
$$UAVOBJECT_SYNTHETICS/gyrosensor.cpp \
$$UAVOBJECT_SYNTHETICS/magnetosensor.cpp \
$$UAVOBJECT_SYNTHETICS/magnetostate.cpp \
$$UAVOBJECT_SYNTHETICS/magsensor.cpp \
$$UAVOBJECT_SYNTHETICS/magstate.cpp \
$$UAVOBJECT_SYNTHETICS/camerastabsettings.cpp \
$$UAVOBJECT_SYNTHETICS/flighttelemetrystats.cpp \
$$UAVOBJECT_SYNTHETICS/systemstats.cpp \

451
ground/openpilotgcs/src/plugins/uploader/uploader.ui
View File

@ -7,7 +7,7 @@
<x>0</x>
<y>0</y>
<width>822</width>
<height>350</height>
<height>523</height>
</rect>
</property>
<property name="windowTitle">
@ -15,215 +15,316 @@
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="haltButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Tells the mainboard to go down
<widget class="QScrollArea" name="scrollArea">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="widgetResizable">
<bool>true</bool>
</property>
<widget class="QWidget" name="scrollAreaWidgetContents">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>804</width>
<height>505</height>
</rect>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QFrame" name="buttonFrame">
<property name="frameShape">
<enum>QFrame::NoFrame</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<property name="lineWidth">
<number>0</number>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="spacing">
<number>0</number>
</property>
<property name="margin">
<number>0</number>
</property>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QPushButton" name="autoUpdateButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Start a guided procedure to manually
recover a system which does not boot.
Rescue is possible in USB mode only.</string>
</property>
<property name="text">
<string>Auto Update</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="haltButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Tells the mainboard to go down
to bootloader mode.
(Only enabled if telemetry link is established, either
through serial or USB)</string>
</property>
<property name="text">
<string>Halt</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="bootButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>Boots the system.
</property>
<property name="text">
<string>Halt</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="resetButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Reset the system.
(Only enabled if telemetry link is established, either
through serial or USB)</string>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="bootButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>Boots the system.
Only useful if the system is halted
(mainboard blue LED blinking slowly, green LED on)
If telemetry is not running, select the link using the dropdown
menu on the right.</string>
</property>
<property name="text">
<string>Boot</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="safeBootButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>Boots the system into safe mode (ie. default HwSettings).
</property>
<property name="text">
<string>Boot</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="safeBootButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>Boots the system into safe mode (ie. default HwSettings).
Only useful if the system is halted
(mainboard blue LED blinking slowly, orange LED off)
If telemetry is not running, select the link using the dropdown
menu on the right.</string>
</property>
<property name="text">
<string>Safe Boot</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="eraseBootButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt; Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt; Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>Erase settings</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="resetButton">
<property name="enabled">
<bool>false</bool>
</property>
<property name="toolTip">
<string>Reset the system.
(Only enabled if telemetry link is established, either
through serial or USB)</string>
</property>
<property name="text">
<string>Reset</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rescueButton">
<property name="toolTip">
<string>Start a guided procedure to manually
</property>
<property name="text">
<string>Safe Boot</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="rescueButton">
<property name="toolTip">
<string>Start a guided procedure to manually
recover a system which does not boot.
Rescue is possible in USB mode only.</string>
</property>
<property name="text">
<string>Rescue</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="telemetryLink">
<property name="toolTip">
<string>When telemetry is not connected, select the communication
</property>
<property name="text">
<string>Rescue</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="eraseBootButton">
<property name="enabled">
<bool>true</bool>
</property>
<property name="toolTip">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Reboot the board and clear its settings memory.&lt;/p&gt;&lt;p&gt; Useful if the board cannot boot properly.&lt;/p&gt;&lt;p&gt; Blue led starts blinking quick for 20-30 seconds than the board will start normally&lt;/p&gt;&lt;p&gt;&lt;br/&gt;&lt;/p&gt;&lt;p&gt;If telemetry is not running, select the link using the dropdown&lt;/p&gt;&lt;p&gt;menu on the right.&lt;/p&gt;&lt;p&gt;PLEASE NOTE: Supported with bootloader versions 4.0 and earlier&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="text">
<string>Erase settings</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QComboBox" name="telemetryLink">
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="toolTip">
<string>When telemetry is not connected, select the communication
method using this combo box.
You can use this to force a communication channel when doing
a &quot;Boot&quot; (button on the left). It is updated automatically when
halting a running board.</string>
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="refreshPorts">
<property name="toolTip">
<string>Refresh the list of serial ports</string>
</property>
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="boardStatus">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Running</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pbHelp">
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>30</width>
<height>30</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="QSplitter" name="splitter">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QTabWidget" name="systemElements">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="defaultTab">
<attribute name="title">
<string>Mainboard</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QTextEdit" name="textEdit">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="refreshPorts">
<property name="toolTip">
<string>Refresh the list of serial ports</string>
</property>
<property name="text">
<string>...</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="boardStatus">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Running</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pbHelp">
<property name="text">
<string/>
</property>
<property name="icon">
<iconset resource="../coreplugin/core.qrc">
<normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
</property>
<property name="iconSize">
<size>
<width>30</width>
<height>30</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="autoUpdateGroupBox">
<property name="title">
<string>Auto update</string>
</property>
<layout class="QGridLayout" name="gridLayout_2">
<item row="1" column="1">
<widget class="QPushButton" name="autoUpdateOkButton">
<property name="text">
<string>OK</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QProgressBar" name="autoUpdateProgressBar">
<property name="value">
<number>0</number>
</property>
<property name="textVisible">
<bool>false</bool>
</property>
</widget>
</item>
<item row="0" column="0" colspan="2">
<widget class="QLabel" name="autoUpdateLabel">
<property name="text">
<string>Progress</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QSplitter" name="splitter">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<widget class="QTabWidget" name="systemElements">
<property name="currentIndex">
<number>0</number>
</property>
<widget class="QWidget" name="defaultTab">
<attribute name="title">
<string>Mainboard</string>
</attribute>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QTextEdit" name="textEdit">
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&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:'Ubuntu'; font-size:11pt;&quot;&gt;To upgrade the firmware in your boards, proceed as follows:&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;To upgrade the firmware in your boards,&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;press Auto Update and follow instructions&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;or&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;proceed as follows:&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;br /&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:'Ubuntu'; font-size:11pt;&quot;&gt;- Connect telemetry&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;- Once telemetry is running, press &amp;quot;Halt&amp;quot; above&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;- You will get a list of devices.&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;- You can then upload/download to/from each board as you wish&lt;/span&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:'Ubuntu'; font-size:11pt;&quot;&gt;- You can resume operations by pressing &amp;quot;Boot&amp;quot;&lt;/span&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</property>
</widget>
</item>
</layout>
</widget>
</widget>
</item>
</layout>
</widget>
</widget>
<widget class="QTextBrowser" name="textBrowser">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
<widget class="QTextBrowser" name="textBrowser">
<property name="horizontalScrollBarPolicy">
<enum>Qt::ScrollBarAlwaysOff</enum>
</property>
<property name="html">
<string>&lt;!DOCTYPE HTML PUBLIC &quot;-//W3C//DTD HTML 4.0//EN&quot; &quot;http://www.w3.org/TR/REC-html40/strict.dtd&quot;&gt;
&lt;html&gt;&lt;head&gt;&lt;meta name=&quot;qrichtext&quot; content=&quot;1&quot; /&gt;&lt;style type=&quot;text/css&quot;&gt;
p, li { white-space: pre-wrap; }
&lt;/style&gt;&lt;/head&gt;&lt;body style=&quot; font-family:'MS Shell Dlg 2'; font-size:8.25pt; font-weight:400; font-style:normal;&quot;&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;br /&gt;&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
</property>
</widget>
</widget>
</item>
</layout>
</widget>
</widget>
</item>

66
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -60,6 +60,11 @@ UploaderGadgetWidget::UploaderGadgetWidget(QWidget *parent) : QWidget(parent)
connect(cm, SIGNAL(deviceConnected(QIODevice *)), this, SLOT(onPhisicalHWConnect()));
getSerialPorts();
m_config->autoUpdateButton->setEnabled(autoUpdateCapable());
connect(m_config->autoUpdateButton, SIGNAL(clicked()), this, SLOT(startAutoUpdate()));
connect(m_config->autoUpdateOkButton, SIGNAL(clicked()), this, SLOT(closeAutoUpdate()));
m_config->autoUpdateGroupBox->setVisible(false);
QIcon rbi;
rbi.addFile(QString(":uploader/images/view-refresh.svg"));
m_config->refreshPorts->setIcon(rbi);
@ -816,6 +821,67 @@ void UploaderGadgetWidget::downloadEnded(bool succeed)
m_config->rescueButton->setEnabled(true);
}
void UploaderGadgetWidget::startAutoUpdate()
{
m_config->buttonFrame->setEnabled(false);
m_config->splitter->setEnabled(false);
m_config->autoUpdateGroupBox->setVisible(true);
m_config->autoUpdateOkButton->setEnabled(false);
connect(this, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep, QVariant)), this, SLOT(autoUpdateStatus(uploader::AutoUpdateStep, QVariant)));
autoUpdate();
}
void UploaderGadgetWidget::finishAutoUpdate()
{
disconnect(this, SIGNAL(autoUpdateSignal(uploader::AutoUpdateStep, QVariant)), this, SLOT(autoUpdateStatus(uploader::AutoUpdateStep, QVariant)));
m_config->autoUpdateOkButton->setEnabled(true);
}
void UploaderGadgetWidget::closeAutoUpdate()
{
m_config->autoUpdateGroupBox->setVisible(false);
m_config->buttonFrame->setEnabled(true);
m_config->splitter->setEnabled(true);
}
void UploaderGadgetWidget::autoUpdateStatus(uploader::AutoUpdateStep status, QVariant value)
{
switch (status) {
case uploader::WAITING_DISCONNECT:
m_config->autoUpdateLabel->setText("Waiting for all OpenPilot boards to be disconnected from USB.");
break;
case uploader::WAITING_CONNECT:
m_config->autoUpdateLabel->setText("Please connect the OpenPilot board to the USB port.");
m_config->autoUpdateProgressBar->setValue(value.toInt());
break;
case uploader::JUMP_TO_BL:
m_config->autoUpdateProgressBar->setValue(0);
m_config->autoUpdateLabel->setText("Bringing the board into boot loader mode.");
break;
case uploader::LOADING_FW:
m_config->autoUpdateLabel->setText("Preparing to upload firmware to the board.");
break;
case uploader::UPLOADING_FW:
m_config->autoUpdateLabel->setText("Uploading firmware to the board.");
m_config->autoUpdateProgressBar->setValue(value.toInt());
break;
case uploader::UPLOADING_DESC:
m_config->autoUpdateLabel->setText("Uploading description of the new firmware to the board.");
break;
case uploader::BOOTING:
m_config->autoUpdateLabel->setText("Rebooting the board.");
break;
case uploader::SUCCESS:
m_config->autoUpdateLabel->setText("<font color='green'>Board was updated successfully, press OK to finish.</font>");
finishAutoUpdate();
break;
case uploader::FAILURE:
m_config->autoUpdateLabel->setText("<font color='red'>Something went wrong, you will have to manually upgrade the board. Press OK to continue.</font>");
finishAutoUpdate();
break;
}
}
/**
Update log entry
*/

4
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.h
View File

@ -118,6 +118,10 @@ private slots:
void uploadEnded(bool succeed);
void downloadStarted();
void downloadEnded(bool succeed);
void startAutoUpdate();
void finishAutoUpdate();
void closeAutoUpdate();
void autoUpdateStatus(uploader::AutoUpdateStep status, QVariant value);
};
#endif // UPLOADERGADGETWIDGET_H

4
make/.gitattributes vendored
View File

@ -6,8 +6,6 @@
*.py text eol=lf
*.sh text eol=lf
/doxygen/*.cfg text eol=lf
/templates/firmware_info.c.template text eol=lf
/templates/gcs_version_info.h.template text eol=crlf
/doxygen/* text eol=lf
/templates/*.txt text eol=crlf
/uncrustify/*.cfg text eol=lf

4
make/firmware-defs.mk
View File

@ -133,10 +133,10 @@ endef
define OPFW_TEMPLATE
FORCE:
$(1).firmware_info.c: $(1) $(ROOT_DIR)/make/templates/firmware_info.c.template FORCE
$(1).firmware_info.c: $(1) $(ROOT_DIR)/flight/templates/firmware_info.c.template FORCE
@$(ECHO) $(MSG_FWINFO) $$(call toprel, $$@)
$(V1) $(VERSION_INFO) \
--template=$(ROOT_DIR)/make/templates/firmware_info.c.template \
--template=$(ROOT_DIR)/flight/templates/firmware_info.c.template \
--outfile=$$@ \
--image=$(1) \
--type=$(2) \

2
shared/uavobjectdefinition/magnetosensor.xml → shared/uavobjectdefinition/magsensor.xml
View File

@ -1,5 +1,5 @@
<xml>
<object name="MagnetoSensor" singleinstance="true" settings="false">
<object name="MagSensor" singleinstance="true" settings="false">
<description>The mag data.</description>
<field name="x" units="mGa" type="float" elements="1"/>
<field name="y" units="mGa" type="float" elements="1"/>

2
shared/uavobjectdefinition/magnetostate.xml → shared/uavobjectdefinition/magstate.xml
View File

@ -1,5 +1,5 @@
<xml>
<object name="MagnetoState" singleinstance="true" settings="false">
<object name="MagState" singleinstance="true" settings="false">
<description>The mag data.</description>
<field name="x" units="mGa" type="float" elements="1"/>
<field name="y" units="mGa" type="float" elements="1"/>