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Code Issues Releases Activity

Merge remote-tracking branch 'origin/next' into outputchannelform

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This commit is contained in:
Michael Schulz 2011-11-14 21:14:45 +01:00
commit d307446fdf
42 changed files with 599 additions and 446 deletions
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2
flight/Bootloaders/AHRS/Makefile
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@ -354,7 +354,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/CopterControl/Makefile
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@ -413,7 +413,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

2
flight/Bootloaders/OpenPilot/Makefile
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@ -419,7 +419,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

11
flight/Bootloaders/OpenPilot/inc/pios_config.h
View File

@ -43,23 +43,12 @@
#define PIOS_INCLUDE_OPAHRS
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPIO
#define PIOS_NO_GPS
//#define DEBUG_SSP
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Servos */
#define SERVOS_POSITION_MIN 800
#define SERVOS_POSITION_MAX 2200
#endif /* PIOS_CONFIG_H */
/**
* @}

2
flight/Bootloaders/PipXtreme/Makefile
View File

@ -414,7 +414,7 @@ $(eval $(call PARTIAL_COMPILE_ARM_TEMPLATE, SRCARM))
$(OUTDIR)/$(TARGET).bin.o: $(OUTDIR)/$(TARGET).bin
# Add jtag targets (program and wipe)
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(FW_BANK_BASE),$(FW_BANK_SIZE),$(OPENOCD_CONFIG)))
$(eval $(call JTAG_TEMPLATE,$(OUTDIR)/$(TARGET).bin,$(BL_BANK_BASE),$(BL_BANK_SIZE),$(OPENOCD_CONFIG)))
.PHONY: elf lss sym hex bin bino
elf: $(OUTDIR)/$(TARGET).elf

11
flight/Bootloaders/PipXtreme/inc/pios_config.h
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@ -40,23 +40,12 @@
#define PIOS_INCLUDE_USB_HID
#define PIOS_INCLUDE_COM
#define PIOS_INCLUDE_GPIO
#define PIOS_NO_GPS
//#define DEBUG_SSP
/* Defaults for Logging */
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Servos */
#define SERVOS_POSITION_MIN 800
#define SERVOS_POSITION_MAX 2200
#endif /* PIOS_CONFIG_H */
/**
* @}

16
flight/CopterControl/Makefile
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@ -48,7 +48,7 @@ ENABLE_DEBUG_PINS ?= NO
# Set to Yes to enable the AUX UART which is mapped on the S1 (Tx) and S2 (Rx) servo outputs
ENABLE_AUX_UART ?= NO
USE_GPS ?= NO
USE_GPS ?= YES
USE_I2C ?= NO
@ -65,8 +65,13 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP CameraStab
# Telemetry must be last to grab the optional modules
OPTMODULES = CameraStab
ifeq ($(USE_GPS), YES)
OPTMODULES += GPS
endif
MODULES = Attitude Stabilization Actuator ManualControl FirmwareIAP
# Telemetry must be last to grab the optional modules (why?)
MODULES += Telemetry
# Paths
@ -120,6 +125,7 @@ OPUAVSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/flight
ifndef TESTAPP
## MODULES
SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
@ -159,13 +165,13 @@ SRC += $(OPUAVSYNTHDIR)/attitudeactual.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
SRC += $(OPUAVSYNTHDIR)/i2cstats.c
SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
SRC += $(OPUAVSYNTHDIR)/telemetrysettings.c
SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
SRC += $(OPUAVSYNTHDIR)/mixersettings.c
SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
SRC += $(OPUAVSYNTHDIR)/cameradesired.c
SRC += $(OPUAVSYNTHDIR)/gpsposition.c
SRC += $(OPUAVSYNTHDIR)/hwsettings.c
SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
@ -332,7 +338,7 @@ EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES}, ${OPMODULEDIR}/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.

9
flight/CopterControl/System/coptercontrol.c
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@ -36,7 +36,6 @@
#include "openpilot.h"
#include "uavobjectsinit.h"
#include "hwsettings.h"
#include "camerastab.h"
#include "systemmod.h"
/* Task Priorities */
@ -74,14 +73,6 @@ int main()
/* Initialize modules */
MODULE_INITIALISE_ALL
/* Optional module initialization. This code might want to go somewhere else as
* it grows */
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if(optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTABILIZATION] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
CameraStabInitialize();
}
/* swap the stack to use the IRQ stack */
Stack_Change();

12
flight/CopterControl/System/inc/pios_config.h
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@ -54,7 +54,8 @@
/* Supported USART-based PIOS modules */
#define PIOS_INCLUDE_TELEMETRY_RF
//#define PIOS_INCLUDE_GPS
#define PIOS_INCLUDE_GPS
#define PIOS_GPS_MINIMAL
#define PIOS_INCLUDE_SERVO
#define PIOS_INCLUDE_SPI
@ -80,12 +81,6 @@
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 220
#define HEAP_LIMIT_CRITICAL 40
@ -107,6 +102,9 @@
// This can't be too high to stop eventdispatcher thread overflowing
#define PIOS_EVENTDISAPTCHER_QUEUE 10
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL
#endif /* PIOS_CONFIG_H */
/**
* @}

7
flight/CopterControl/System/inc/pios_config_posix.h
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@ -44,11 +44,4 @@
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
#endif /* PIOS_CONFIG_POSIX_H */

2
flight/CopterControl/System/pios_board.c
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@ -865,7 +865,7 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
#define PIOS_COM_TELEM_RF_RX_BUF_LEN 192
#define PIOS_COM_TELEM_RF_TX_BUF_LEN 192
#define PIOS_COM_GPS_RX_BUF_LEN 96
#define PIOS_COM_GPS_RX_BUF_LEN 32
#define PIOS_COM_TELEM_USB_RX_BUF_LEN 192
#define PIOS_COM_TELEM_USB_TX_BUF_LEN 192

6
flight/INS/inc/pios_config.h
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@ -54,13 +54,7 @@
#define PIOS_INCLUDE_BMA180
/* COM Module */
#define GPS_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
#endif /* PIOS_CONFIG_H */
/**
* @}
* @}

40
flight/Modules/CameraStab/camerastab.c
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@ -51,6 +51,7 @@
#include "attitudeactual.h"
#include "camerastabsettings.h"
#include "cameradesired.h"
#include "hwsettings.h"
//
// Configuration
@ -72,18 +73,45 @@ static float bound(float val);
int32_t CameraStabInitialize(void)
{
static UAVObjEvent ev;
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
bool cameraStabEnabled;
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
HwSettingsInitialize();
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_CAMERASTAB] == HWSETTINGS_OPTIONALMODULES_ENABLED)
cameraStabEnabled = true;
else
cameraStabEnabled = false;
if (cameraStabEnabled) {
AttitudeActualInitialize();
ev.obj = AttitudeActualHandle();
ev.instId = 0;
ev.event = 0;
CameraStabSettingsInitialize();
CameraDesiredInitialize();
EventPeriodicCallbackCreate(&ev, attitudeUpdated, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
return 0;
}
return -1;
}
/* stub: module has no module thread */
int32_t CameraStabStart(void)
{
return 0;
}
MODULE_INITCALL(CameraStabInitialize, CameraStabStart)
static void attitudeUpdated(UAVObjEvent* ev)
{
if (ev->obj != AttitudeActualHandle())

101
flight/Modules/GPS/GPS.c
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@ -43,11 +43,14 @@
#include "gpssatellites.h"
#include "WorldMagModel.h"
#include "CoordinateConversions.h"
#include "hwsettings.h"
// ****************
// Private functions
static void gpsTask(void *parameters);
static void updateSettings();
#ifdef PIOS_GPS_SETS_HOMELOCATION
static void setHomeLocation(GPSPositionData * gpsData);
@ -75,6 +78,7 @@ static float GravityAccel(float latitude, float longitude, float altitude);
// Private variables
static uint32_t gpsPort;
static bool gpsEnabled = false;
static xTaskHandle gpsTaskHandle;
@ -95,12 +99,19 @@ static uint32_t numParsingErrors;
int32_t GPSStart(void)
{
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
if (gpsEnabled) {
if (gpsPort) {
// Start gps task
xTaskCreate(gpsTask, (signed char *)"GPS", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &gpsTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GPS, gpsTaskHandle);
return 0;
}
return 0;
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_CRITICAL);
}
return -1;
}
/**
* Initialise the gps module
* \return -1 if initialisation failed
@ -108,21 +119,39 @@ int32_t GPSStart(void)
*/
int32_t GPSInitialize(void)
{
GPSPositionInitialize();
GPSTimeInitialize();
GPSSatellitesInitialize();
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
// TODO: Get gps settings object
gpsPort = PIOS_COM_GPS;
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
return 0;
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_GPS] == HWSETTINGS_OPTIONALMODULES_ENABLED)
gpsEnabled = true;
else
gpsEnabled = false;
if (gpsPort && gpsEnabled) {
GPSPositionInitialize();
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeInitialize();
GPSSatellitesInitialize();
#endif
#ifdef PIOS_GPS_SETS_HOMELOCATION
HomeLocationInitialize();
#endif
HwSettingsInitialize();
updateSettings();
gps_rx_buffer = pvPortMalloc(NMEA_MAX_PACKET_LENGTH);
PIOS_Assert(gps_rx_buffer);
return 0;
}
return -1;
}
MODULE_INITCALL(GPSInitialize, GPSStart)
// ****************
@ -330,7 +359,47 @@ static void setHomeLocation(GPSPositionData * gpsData)
}
#endif
// ****************
/**
* Update the GPS settings, called on startup.
* FIXME: This should be in the GPSSettings object. But objects have
* too much overhead yet. Also the GPS has no any specific settings
* like protocol, etc. Thus the HwSettings object which contains the
* GPS port speed is used for now.
*/
static void updateSettings()
{
if (gpsPort) {
// Retrieve settings
uint8_t speed;
HwSettingsGPSSpeedGet(&speed);
// Set port speed
switch (speed) {
case HWSETTINGS_GPSSPEED_2400:
PIOS_COM_ChangeBaud(gpsPort, 2400);
break;
case HWSETTINGS_GPSSPEED_4800:
PIOS_COM_ChangeBaud(gpsPort, 4800);
break;
case HWSETTINGS_GPSSPEED_9600:
PIOS_COM_ChangeBaud(gpsPort, 9600);
break;
case HWSETTINGS_GPSSPEED_19200:
PIOS_COM_ChangeBaud(gpsPort, 19200);
break;
case HWSETTINGS_GPSSPEED_38400:
PIOS_COM_ChangeBaud(gpsPort, 38400);
break;
case HWSETTINGS_GPSSPEED_57600:
PIOS_COM_ChangeBaud(gpsPort, 57600);
break;
case HWSETTINGS_GPSSPEED_115200:
PIOS_COM_ChangeBaud(gpsPort, 115200);
break;
}
}
}
/**
* @}

14
flight/Modules/GPS/NMEA.c
View File

@ -70,8 +70,10 @@ static bool nmeaProcessGPGGA(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
#if !defined(PIOS_GPS_MINIMAL)
static bool nmeaProcessGPZDA(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, char* param[], uint8_t nbParam);
#endif //PIOS_GPS_MINIMAL
static struct nmea_parser nmea_parsers[] = {
@ -95,6 +97,7 @@ static struct nmea_parser nmea_parsers[] = {
.handler = nmeaProcessGPRMC,
.cnt = 0,
},
#if !defined(PIOS_GPS_MINIMAL)
{
.prefix = "GPZDA",
.handler = nmeaProcessGPZDA,
@ -105,6 +108,7 @@ static struct nmea_parser nmea_parsers[] = {
.handler = nmeaProcessGPGSV,
.cnt = 0,
},
#endif //PIOS_GPS_MINIMAL
};
static struct nmea_parser *NMEA_find_parser_by_prefix(const char *prefix)
@ -428,6 +432,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
*gpsDataUpdated = true;
#if !defined(PIOS_GPS_MINIMAL)
GPSTimeData gpst;
GPSTimeGet(&gpst);
@ -436,6 +441,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
gpst.Second = (int)hms % 100;
gpst.Minute = (((int)hms - gpst.Second) / 100) % 100;
gpst.Hour = (int)hms / 10000;
#endif //PIOS_GPS_MINIMAL
// get latitude [DDMM.mmmmm] [N|S]
if (!NMEA_latlon_to_fixed_point(&GpsData->Latitude, param[3], param[4][0] == 'S')) {
@ -453,6 +459,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
// get True course
GpsData->Heading = NMEA_real_to_float(param[8]);
#if !defined(PIOS_GPS_MINIMAL)
// get Date of fix
// TODO: Should really not use a float here to be safe
float date = NMEA_real_to_float(param[9]);
@ -461,6 +468,7 @@ static bool nmeaProcessGPRMC(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
gpst.Day = (int)(date / 10000);
gpst.Year += 2000;
GPSTimeSet(&gpst);
#endif //PIOS_GPS_MINIMAL
return true;
}
@ -488,6 +496,7 @@ static bool nmeaProcessGPVTG(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
return true;
}
#if !defined(PIOS_GPS_MINIMAL)
/**
* Parse an NMEA GPZDA sentence and update the @ref GPSTime object
* \param[in] A pointer to a GPSPosition UAVObject to be updated (unused).
@ -610,6 +619,7 @@ static bool nmeaProcessGPGSV(GPSPositionData * GpsData, bool* gpsDataUpdated, ch
return true;
}
#endif //PIOS_GPS_MINIMAL
/**
* Parse an NMEA GPGSA sentence and update the given UAVObject

65
flight/Modules/Telemetry/telemetry.c
View File

@ -34,7 +34,7 @@
#include "telemetry.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "telemetrysettings.h"
#include "hwsettings.h"
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
@ -65,7 +65,6 @@ static xTaskHandle telemetryTxTaskHandle;
static xTaskHandle telemetryRxTaskHandle;
static uint32_t txErrors;
static uint32_t txRetries;
static TelemetrySettingsData settings;
static uint32_t timeOfLastObjectUpdate;
static UAVTalkConnection uavTalkCon;
@ -94,7 +93,6 @@ int32_t TelemetryStart(void)
// Listen to objects of interest
GCSTelemetryStatsConnectQueue(priorityQueue);
TelemetrySettingsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
@ -117,11 +115,8 @@ int32_t TelemetryStart(void)
*/
int32_t TelemetryInitialize(void)
{
UAVObjEvent ev;
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
TelemetrySettingsInitialize();
// Initialize vars
timeOfLastObjectUpdate = 0;
@ -132,7 +127,9 @@ int32_t TelemetryInitialize(void)
priorityQueue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
#endif
// Get telemetry settings object
// Update telemetry settings
telemetryPort = PIOS_COM_TELEM_RF;
HwSettingsInitialize();
updateSettings();
// Initialise UAVTalk
@ -141,9 +138,9 @@ int32_t TelemetryInitialize(void)
// Create periodic event that will be used to update the telemetry stats
txErrors = 0;
txRetries = 0;
UAVObjEvent ev;
memset(&ev, 0, sizeof(UAVObjEvent));
EventPeriodicQueueCreate(&ev, priorityQueue, STATS_UPDATE_PERIOD_MS);
return 0;
}
@ -226,8 +223,6 @@ static void processObjEvent(UAVObjEvent * ev)
updateTelemetryStats();
} else if (ev->obj == GCSTelemetryStatsHandle()) {
gcsTelemetryStatsUpdated();
} else if (ev->obj == TelemetrySettingsHandle()) {
updateSettings();
} else {
// Only process event if connected to GCS or if object FlightTelemetryStats is updated
FlightTelemetryStatsGet(&flightStats);
@ -509,27 +504,45 @@ static void updateTelemetryStats()
}
/**
* Update the telemetry settings, called on startup and
* each time the settings object is updated
* Update the telemetry settings, called on startup.
* FIXME: This should be in the TelemetrySettings object. But objects
* have too much overhead yet. Also the telemetry has no any specific
* settings, etc. Thus the HwSettings object which contains the
* telemetry port speed is used for now.
*/
static void updateSettings()
{
// Set port
telemetryPort = PIOS_COM_TELEM_RF;
if (telemetryPort) {
// Retrieve settings
TelemetrySettingsGet(&settings);
// Retrieve settings
uint8_t speed;
HwSettingsTelemetrySpeedGet(&speed);
if (telemetryPort) {
// Set port speed
if (settings.Speed == TELEMETRYSETTINGS_SPEED_2400) PIOS_COM_ChangeBaud(telemetryPort, 2400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_4800) PIOS_COM_ChangeBaud(telemetryPort, 4800);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_9600) PIOS_COM_ChangeBaud(telemetryPort, 9600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_19200) PIOS_COM_ChangeBaud(telemetryPort, 19200);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_38400) PIOS_COM_ChangeBaud(telemetryPort, 38400);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_57600) PIOS_COM_ChangeBaud(telemetryPort, 57600);
else if (settings.Speed == TELEMETRYSETTINGS_SPEED_115200) PIOS_COM_ChangeBaud(telemetryPort, 115200);
}
// Set port speed
switch (speed) {
case HWSETTINGS_TELEMETRYSPEED_2400:
PIOS_COM_ChangeBaud(telemetryPort, 2400);
break;
case HWSETTINGS_TELEMETRYSPEED_4800:
PIOS_COM_ChangeBaud(telemetryPort, 4800);
break;
case HWSETTINGS_TELEMETRYSPEED_9600:
PIOS_COM_ChangeBaud(telemetryPort, 9600);
break;
case HWSETTINGS_TELEMETRYSPEED_19200:
PIOS_COM_ChangeBaud(telemetryPort, 19200);
break;
case HWSETTINGS_TELEMETRYSPEED_38400:
PIOS_COM_ChangeBaud(telemetryPort, 38400);
break;
case HWSETTINGS_TELEMETRYSPEED_57600:
PIOS_COM_ChangeBaud(telemetryPort, 57600);
break;
case HWSETTINGS_TELEMETRYSPEED_115200:
PIOS_COM_ChangeBaud(telemetryPort, 115200);
break;
}
}
}
/**

24
flight/OpenPilot/Makefile
View File

@ -37,6 +37,9 @@ OUTDIR := $(TOP)/build/$(TARGET)
# Set to YES to compile for debugging
DEBUG ?= YES
# Include objects that are just nice information to show
DIAGNOSTICS ?= YES
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO
@ -55,13 +58,16 @@ endif
FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
OPTMODULES = CameraStab GPS
MODULES = Actuator ManualControl Altitude AHRSComms Stabilization Guidance FirmwareIAP
PYMODULES = FlightPlan
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
#MODULES += Osd/OsdEtStd
MODULES += Telemetry
# Paths
OPSYSTEM = ./System
@ -125,6 +131,7 @@ PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
## OPENPILOT CORE:
SRC += ${OPMODULEDIR}/System/systemmod.c
@ -307,7 +314,7 @@ EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/ARM_CM3
EXTRAINCDIRS += $(AHRSBOOTLOADERINC)
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
EXTRAINCDIRS += ${foreach MOD, ${OPTMODULES} ${MODULES} ${PYMODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
@ -385,12 +392,14 @@ CSTANDARD = -std=gnu99
# Flags for C and C++ (arm-elf-gcc/arm-elf-g++)
ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
CFLAGS = -DDEBUG
endif
# OP has enough memory to always enable optional objects
CFLAGS += -DDIAGNOSTICS
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
endif
CFLAGS += -g$(DEBUGF)
CFLAGS += -O$(OPT)
CFLAGS += -mcpu=$(MCU)
CFLAGS += $(CDEFS)
@ -472,9 +481,6 @@ endif
endif
# Generate intermediate code
gencode: ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
$(PYSRC): gencode
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
@ -582,4 +588,4 @@ else
endif
# Listing of phony targets.
.PHONY : all build clean clean_list gencode install
.PHONY : all build clean clean_list install

32
flight/OpenPilot/Makefile.posix
View File

@ -27,6 +27,9 @@
# Set to YES to compile for debugging
DEBUG ?= YES
# Include objects that are just nice information to show
DIAGNOSTICS ?= YES
# Set to YES to use the Servo output pins for debugging via scope or logic analyser
ENABLE_DEBUG_PINS ?= NO
@ -53,10 +56,12 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry Actuator Stabilization Guidance ManualControl FlightPlan GPS
OPTMODULES = CameraStab GPS
MODULES = Telemetry Actuator Stabilization Guidance ManualControl
#MODULES = Telemetry ManualControl Actuator Attitude Stabilization
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
PYMODULES = FlightPlan
#MODULES += Osd/OsdEtStd
@ -121,6 +126,7 @@ UAVOBJPYTHONSYNTHDIR = $(OUTDIR)/../uavobject-synthetics/python
# use file-extension c for "c-only"-files
MODNAMES = $(notdir ${MODULES})
MODNAMES += $(notdir ${OPTMODULES})
ifndef TESTAPP
@ -129,10 +135,13 @@ SRC += $(OUTDIR)/pmlib_img.c
SRC += $(OUTDIR)/pmlib_nat.c
SRC += $(OUTDIR)/pmlibusr_img.c
SRC += $(OUTDIR)/pmlibusr_nat.c
SRC += $(wildcard ${PYMITEVM}/*.c)
SRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += $(wildcard ${PYMITEVM}/*.c)
PYSRC += $(wildcard ${PYMITEPLAT}/*.c)
PYSRC += ${foreach MOD, ${PYMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += $(PYSRC)
## MODULES
SRC += ${foreach MOD, ${OPTMODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${foreach MOD, ${MODULES}, ${wildcard ${OPMODULEDIR}/${MOD}/*.c}}
SRC += ${OUTDIR}/InitMods.c
## OPENPILOT CORE:
@ -228,7 +237,7 @@ EXTRAINCDIRS += $(APPLIBDIR)
EXTRAINCDIRS += $(RTOSSRCDIR)/portable/GCC/Posix
EXTRAINCDIRS += $(PYMITEINC)
EXTRAINCDIRS += ${foreach MOD, ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
EXTRAINCDIRS += ${foreach MOD, ${PYMODULES} ${OPTMODULES} ${MODULES}, $(OPMODULEDIR)/${MOD}/inc} ${OPMODULEDIR}/System/inc
# List any extra directories to look for library files here.
@ -306,6 +315,10 @@ ifeq ($(DEBUG),YES)
CFLAGS = -g$(DEBUGF) -DDEBUG
endif
ifeq ($(DIAGNOSTICS),YES)
CFLAGS = -DDIAGNOSTICS
endif
CFLAGS += $(CFLAGS_UAVOBJECTS)
CFLAGS += -DARCH_POSIX
CFLAGS += -O$(OPT)
@ -436,9 +449,6 @@ else
quote =
endif
# Generate intermediate code
gencode: ${OUTDIR}/InitMods.c ${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h
# Generate code for module initialization
${OUTDIR}/InitMods.c: Makefile.posix
@echo ${MSG_MODINIT}
@ -453,9 +463,9 @@ ${OUTDIR}/InitMods.c: Makefile.posix
@echo ${quote}}${quote} >> ${OUTDIR}/InitMods.c
# Generate code for PyMite
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
@echo ${MSG_PYMITEINIT}
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py) $(wildcard $(UAVOBJPYTHONSYNTHDIR)/*.py)
${OUTDIR}/pmlib_img.c ${OUTDIR}/pmlib_nat.c ${OUTDIR}/pmlibusr_img.c ${OUTDIR}/pmlibusr_nat.c ${OUTDIR}/pmfeatures.h: $(wildcard ${PYMITELIB}/*.py) $(wildcard ${PYMITEPLAT}/*.py) $(wildcard ${FLIGHTPLANLIB}/*.py) $(wildcard ${FLIGHTPLANS}/*.py)
@echo $(MSG_PYMITEINIT) $(call toprel, $@)
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -s --memspace=flash -o $(OUTDIR)/pmlib_img.c --native-file=$(OUTDIR)/pmlib_nat.c $(PYMITELIB)/list.py $(PYMITELIB)/dict.py $(PYMITELIB)/__bi.py $(PYMITELIB)/sys.py $(PYMITELIB)/string.py $(wildcard $(FLIGHTPLANLIB)/*.py)
@$(PYTHON) $(PYMITETOOLS)/pmGenPmFeatures.py $(PYMITEPLAT)/pmfeatures.py > $(OUTDIR)/pmfeatures.h
@$(PYTHON) $(PYMITETOOLS)/pmImgCreator.py -f $(PYMITEPLAT)/pmfeatures.py -c -u -o $(OUTDIR)/pmlibusr_img.c --native-file=$(OUTDIR)/pmlibusr_nat.c $(FLIGHTPLANS)/test.py
@ -651,5 +661,5 @@ endif
# Listing of phony targets.
.PHONY : all begin finish end sizebefore sizeafter gccversion \
build elf hex bin lss sym clean clean_list program gencode
build elf hex bin lss sym clean clean_list program

8
flight/OpenPilot/System/inc/pios_config.h
View File

@ -78,12 +78,6 @@
/* Enable a priority queue in telemetry */
#define PIOS_TELEM_PRIORITY_QUEUE
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
@ -98,6 +92,8 @@
/* GPS options */
#define PIOS_GPS_SETS_HOMELOCATION
/* PIOS Initcall infrastructure */
#define PIOS_INCLUDE_INITCALL
#endif /* PIOS_CONFIG_H */
/**

14
flight/OpenPilot/System/inc/pios_config_posix.h
View File

@ -50,15 +50,17 @@
#define LOG_FILENAME "PIOS.LOG"
#define STARTUP_LOG_ENABLED 1
/* COM Module */
#define GPS_BAUDRATE 19200
#define TELEM_BAUDRATE 19200
#define AUXUART_ENABLED 0
#define AUXUART_BAUDRATE 19200
#define TELEM_QUEUE_SIZE 20
#define PIOS_TELEM_STACK_SIZE 2048
/* Alarm Thresholds */
#define HEAP_LIMIT_WARNING 4000
#define HEAP_LIMIT_CRITICAL 1000
#define IRQSTACK_LIMIT_WARNING 150
#define IRQSTACK_LIMIT_CRITICAL 80
#define CPULOAD_LIMIT_WARNING 80
#define CPULOAD_LIMIT_CRITICAL 95
/* Stabilization options */
#define PIOS_QUATERNION_STABILIZATION

2
flight/OpenPilot/System/pios_board.c
View File

@ -31,7 +31,7 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
#include <hwsettings.h>
#include "manualcontrolsettings.h"
#include <manualcontrolsettings.h>
//#define I2C_DEBUG_PIN 0
//#define USART_GPS_DEBUG_PIN 1

2
flight/OpenPilot/System/pios_board_posix.c
View File

@ -29,6 +29,7 @@
#include <openpilot.h>
#include <uavobjectsinit.h>
#include "hwsettings.h"
#include "attituderaw.h"
#include "attitudeactual.h"
#include "positionactual.h"
@ -187,6 +188,7 @@ void PIOS_Board_Init(void) {
AttitudeActualInitialize();
VelocityActualInitialize();
PositionActualInitialize();
HwSettingsInitialize();
}

1
flight/OpenPilot/UAVObjects.inc
View File

@ -64,7 +64,6 @@ UAVOBJSRCFILENAMES += systemalarms
UAVOBJSRCFILENAMES += systemsettings
UAVOBJSRCFILENAMES += systemstats
UAVOBJSRCFILENAMES += taskinfo
UAVOBJSRCFILENAMES += telemetrysettings
UAVOBJSRCFILENAMES += velocityactual
UAVOBJSRCFILENAMES += velocitydesired
UAVOBJSRCFILENAMES += watchdogstatus

2
flight/PiOS/pios.h
View File

@ -59,7 +59,9 @@
#endif
/* Generic initcall infrastructure */
#if defined(PIOS_INCLUDE_INITCALL)
#include "pios_initcall.h"
#endif
/* PIOS Board Specific Device Configuration */
#include "pios_board.h"

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

@ -172,7 +172,7 @@
</size>
</property>
<property name="title">
<string>Output channel asignmets</string>
<string>Output channel assignments</string>
</property>
<layout class="QFormLayout" name="formLayout_3">
<item row="0" column="0">

590
ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
View File

@ -1,283 +1,307 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CC_HW_Widget</class>
<widget class="QWidget" name="CC_HW_Widget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>517</width>
<height>487</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1" rowspan="5" colspan="3">
<widget class="QLabel" name="label_2">
<property name="text">
<string/>
</property>
<property name="pixmap">
<pixmap resource="configgadget.qrc">:/configgadget/images/coptercontrol.svg</pixmap>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="cbFlexi"/>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="cbTele"/>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>MainPort</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>FlexiPort</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="1" column="4">
<spacer name="horizontalSpacer_2">
<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 row="0" column="1">
<widget class="QLabel" name="label_7">
<property name="text">
<string>RcvrPort</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QComboBox" name="cbRcvr"/>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="text">
<string>Telemetry speed:</string>
</property>
</widget>
</item>
<item>
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<widget class="QLabel" name="problems">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Changes on this page only take effect after board reset or power cycle</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<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="QPushButton" name="cchwHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<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>32</width>
<height>32</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<property name="toolTip">
<string>Send to OpenPilot but don't write in SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Apply</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<property name="toolTip">
<string>Applies and Saves all settings to SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources>
<include location="configgadget.qrc"/>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>CC_HW_Widget</class>
<widget class="QWidget" name="CC_HW_Widget">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>517</width>
<height>487</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<widget class="QFrame" name="frame">
<property name="frameShape">
<enum>QFrame::StyledPanel</enum>
</property>
<property name="frameShadow">
<enum>QFrame::Raised</enum>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="1" column="1" rowspan="5" colspan="3">
<widget class="QLabel" name="label_2">
<property name="text">
<string/>
</property>
<property name="pixmap">
<pixmap resource="configgadget.qrc">:/configgadget/images/coptercontrol.svg</pixmap>
</property>
<property name="scaledContents">
<bool>true</bool>
</property>
</widget>
</item>
<item row="2" column="0">
<widget class="QComboBox" name="cbFlexi"/>
</item>
<item row="4" column="0">
<widget class="QComboBox" name="cbTele"/>
</item>
<item row="3" column="0">
<widget class="QLabel" name="label_3">
<property name="text">
<string>MainPort</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="text">
<string/>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="label_5">
<property name="text">
<string>FlexiPort</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
</property>
</widget>
</item>
<item row="1" column="4">
<spacer name="horizontalSpacer_2">
<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 row="0" column="1">
<widget class="QLabel" name="label_7">
<property name="text">
<string>RcvrPort</string>
</property>
<property name="alignment">
<set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
</property>
</widget>
</item>
<item row="0" column="2">
<widget class="QComboBox" name="cbRcvr"/>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="telemetrySpeedLabel">
<property name="text">
<string>Telemetry speed:</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="GpsSpeedLabel">
<property name="minimumSize">
<size>
<width>55</width>
<height>0</height>
</size>
</property>
<property name="text">
<string>GPS speed:</string>
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="gpsSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<spacer name="horizontalSpacer_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item>
<widget class="QLabel" name="problems">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string/>
</property>
<property name="textFormat">
<enum>Qt::AutoText</enum>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_6">
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Changes on this page only take effect after board reset or power cycle</string>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<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="QPushButton" name="cchwHelp">
<property name="sizePolicy">
<sizepolicy hsizetype="Fixed" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>32</width>
<height>32</height>
</size>
</property>
<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>32</width>
<height>32</height>
</size>
</property>
<property name="flat">
<bool>true</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToRAM">
<property name="toolTip">
<string>Send to OpenPilot but don't write in SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>true</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Apply</string>
</property>
<property name="checkable">
<bool>false</bool>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="saveTelemetryToSD">
<property name="toolTip">
<string>Applies and Saves all settings to SD.
Beware of not locking yourself out!</string>
</property>
<property name="autoFillBackground">
<bool>false</bool>
</property>
<property name="styleSheet">
<string notr="true"/>
</property>
<property name="text">
<string>Save</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
</layout>
</widget>
<resources>
<include location="configgadget.qrc"/>
<include location="../coreplugin/core.qrc"/>
</resources>
<connections/>
</ui>

3
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
View File

@ -41,10 +41,11 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_telemetry = new Ui_CC_HW_Widget();
m_telemetry->setupUi(this);
setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("HwSettings","CC_FlexiPort",m_telemetry->cbFlexi);
addUAVObjectToWidgetRelation("HwSettings","CC_MainPort",m_telemetry->cbTele);
addUAVObjectToWidgetRelation("HwSettings","CC_RcvrPort",m_telemetry->cbRcvr);
addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("HwSettings","GPSSpeed",m_telemetry->gpsSpeed);
connect(m_telemetry->cchwHelp,SIGNAL(clicked()),this,SLOT(openHelp()));
enableControls(false);
populateWidgets();

2
ground/openpilotgcs/src/plugins/config/config_pro_hw_widget.cpp
View File

@ -40,7 +40,7 @@ ConfigProHWWidget::ConfigProHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
m_telemetry->setupUi(this);
setupButtons(m_telemetry->saveTelemetryToRAM,m_telemetry->saveTelemetryToSD);
addUAVObjectToWidgetRelation("TelemetrySettings","Speed",m_telemetry->telemetrySpeed);
addUAVObjectToWidgetRelation("HwSettings","TelemetrySpeed",m_telemetry->telemetrySpeed);
enableControls(false);
populateWidgets();
refreshWidgetsValues();

4
ground/openpilotgcs/src/plugins/config/configcamerastabilizationwidget.cpp
View File

@ -101,7 +101,7 @@ void ConfigCameraStabilizationWidget::applySettings()
// Enable or disable the settings
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] =
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] =
m_camerastabilization->enableCameraStabilization->isChecked() ?
HwSettings::OPTIONALMODULES_ENABLED :
HwSettings::OPTIONALMODULES_DISABLED;
@ -195,7 +195,7 @@ void ConfigCameraStabilizationWidget::refreshValues()
HwSettings * hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
m_camerastabilization->enableCameraStabilization->setChecked(
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTABILIZATION] ==
hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_CAMERASTAB] ==
HwSettings::OPTIONALMODULES_ENABLED);
CameraStabSettings * cameraStabSettings = CameraStabSettings::GetInstance(getObjectManager());

11
ground/openpilotgcs/src/plugins/coreplugin/OpenPilotGCS.xml
View File

@ -1627,6 +1627,17 @@
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<CopterControl>
<configInfo>
<locked>false</locked>

29
ground/openpilotgcs/src/plugins/coreplugin/manhattanstyle.cpp
View File

@ -55,6 +55,7 @@
#include <QtGui/QStyleOption>
#include <QtGui/QToolBar>
#include <QtGui/QToolButton>
#include <QtGui/QAbstractItemView>
// We define a currently unused state for indicating animations
#define State_Animating 0x00000040
@ -217,7 +218,35 @@ QRect ManhattanStyle::subControlRect(ComplexControl control, const QStyleOptionC
SubControl subControl, const QWidget *widget) const
{
QRect rect;
#ifndef Q_WS_MACX
// Not using OSX, size combo dropdown to fit contents
if(control == CC_ComboBox && subControl == SC_ComboBoxListBoxPopup)
{
const QStyleOptionComboBox *cb = qstyleoption_cast<const QStyleOptionComboBox *>(option);
const QComboBox* combo = qobject_cast<const QComboBox*>(widget);
QRect comboRect = cb->rect;
int newWidth = combo->view()->sizeHintForColumn(0);
if(newWidth > comboRect.width())
{
// Set new rectangle, only width matters, list height is set by
// combination of number of combo box items and setMaxVisibleItems
rect.setRect(comboRect.x(), comboRect.y(), newWidth, comboRect.height());
rect = visualRect(cb->direction, cb->rect, rect);
}
else
{
rect = d->style->subControlRect(control, option, subControl, widget);
}
}
else
{
rect = d->style->subControlRect(control, option, subControl, widget);
}
#else
// Using OSX, use default style behaviour as this already sizes the
// combo dropdown to fit
rect = d->style->subControlRect(control, option, subControl, widget);
#endif
return rect;
}

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -36,7 +36,6 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/systemstats.h \
$$UAVOBJECT_SYNTHETICS/systemalarms.h \
$$UAVOBJECT_SYNTHETICS/objectpersistence.h \
$$UAVOBJECT_SYNTHETICS/telemetrysettings.h \
$$UAVOBJECT_SYNTHETICS/systemsettings.h \
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.h \
$$UAVOBJECT_SYNTHETICS/manualcontrolsettings.h \
@ -88,7 +87,6 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/systemstats.cpp \
$$UAVOBJECT_SYNTHETICS/systemalarms.cpp \
$$UAVOBJECT_SYNTHETICS/objectpersistence.cpp \
$$UAVOBJECT_SYNTHETICS/telemetrysettings.cpp \
$$UAVOBJECT_SYNTHETICS/systemsettings.cpp \
$$UAVOBJECT_SYNTHETICS/stabilizationsettings.cpp \
$$UAVOBJECT_SYNTHETICS/manualcontrolsettings.cpp \

5
shared/uavobjectdefinition/hwsettings.xml
View File

@ -9,7 +9,10 @@
<field name="OP_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry" defaultvalue="Telemetry"/>
<field name="OP_FlexiPort" units="function" type="enum" elements="1" options="Disabled,GPS" defaultvalue="GPS"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStabilization,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="TelemetrySpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="GPSSpeed" units="bps" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>

10
shared/uavobjectdefinition/telemetrysettings.xml
View File

@ -1,10 +0,0 @@
<xml>
<object name="TelemetrySettings" singleinstance="true" settings="true">
<description>Select baud rate of telemetry. Warning - this must match your modem.</description>
<field name="Speed" units="" type="enum" elements="1" options="2400,4800,9600,19200,38400,57600,115200" defaultvalue="57600"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>