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Code Issues Releases Activity

Merge branch 'rel-nano-15.05' into steve/OP-1904_Display_current_TxPID_settings_on_OSD

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This commit is contained in:
Steve Evans 2015-05-30 12:14:47 +01:00
commit d41808ecaf
38 changed files with 581 additions and 304 deletions
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20
WHATSNEW.txt
View File

@ -1,9 +1,25 @@
Release Notes - OpenPilot - Version RELEASE-15.05 RC4
Release Notes - OpenPilot - Version RELEASE-15.05 RC6
RC6 changes relative to RC5:
1. Altvario AltHold PID updates
2. Fix timer bank assignments
3. Reboot nano in wizard only when needed
4. Fix wizard limits for oneshot/pwmsync
5. Update PFD with latest flight modes
6. Add AccelTau, AccelKp and AccelKi to TxPID
7. Adding support for SRXL in vehicle wizard.
RC5 changes relative to RC4:
1. Landing flight mode now truely disarms to complete its sequence, triggered by a critical guidance alarm. Reset via change of flight mode.
2. VelocityRoam now has its own VelocityRoamHorizontalVelPID to allow independent tuning.
3. Sanity check for PWMSync & OneShot while using PWM receiver. Remove CC in hwsettings.xml
4. Wizard freeze issue on erase settings fixed.
RC4 changes relative to RC3:
1. GCS Input flight mode limit fixes hiding unsupported modes.
2. Throttle check on GPSAssist/Stabi whilst in hold removed. Now easy to fly out of hold without reducing throttle.
3. Trialling Rate instead of AxisLock on Yaw during Braking.
3. Trialing Rate instead of AxisLock on Yaw during Braking.
4. VelocityRoam now passing throttle position to AltVario. previously it was stuck in AltHold.
5. OP-1905 Fix OPLN in PPM mode blocking telemetry stream of no USB connected

2
flight/libraries/plans.c
View File

@ -823,7 +823,7 @@ void plan_run_AutoCruise()
#define ASSISTEDCONTROL_TIMETOSTOP_MINIMUM 0.2f // seconds
#define ASSISTEDCONTROL_TIMETOSTOP_MAXIMUM 9.0f // seconds
#define ASSISTEDCONTROL_DELAY_TO_BRAKE 1.0f // seconds
#define ASSISTEDCONTROL_TIMEOUT_MULTIPLIER 2.0f // actual deceleration rate can be 50% of desired...timeouts need to cater for this
#define ASSISTEDCONTROL_TIMEOUT_MULTIPLIER 4.0f // actual deceleration rate can be 50% of desired...timeouts need to cater for this
void plan_setup_assistedcontrol()
{
PositionStateData positionState;

13
flight/modules/ManualControl/armhandler.c
View File

@ -117,6 +117,7 @@ void armHandler(bool newinit, FrameType_t frameType)
if (forcedDisArm()) {
// PathPlanner forces explicit disarming due to error condition (crash, impact, fire, ...)
armState = ARM_STATE_DISARMED;
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
return;
}
@ -346,18 +347,6 @@ static bool forcedDisArm(void)
return true;
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// check landing state if active
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
StatusVtolLandData statusland;
StatusVtolLandGet(&statusland);
if (statusland.State == STATUSVTOLLAND_STATE_DISARMED) {
return true;
}
}
#endif
return false;
}

3
flight/modules/PathFollower/inc/vtolautotakeoffcontroller.h
View File

@ -63,8 +63,7 @@ public:
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void setArmedIfChanged(FlightStatusArmedOptions val);
int8_t UpdateStabilizationDesired(void);
VtolAutoTakeoffFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;

5
flight/modules/PathFollower/inc/vtolautotakeofffsm.h
View File

@ -73,7 +73,6 @@ public:
void BoundThrust(float &ulow, float &uhigh);
PathFollowerFSMState_T GetCurrentState(void);
void ConstrainStabiDesired(StabilizationDesiredData *stabDesired);
void Abort(void);
uint8_t PositionHoldState(void);
void setControlState(StatusVtolAutoTakeoffControlStateOptions controlState);
@ -138,9 +137,6 @@ protected:
void setup_disarmed(void);
void run_disarmed(uint8_t);
void setup_abort(void);
void run_abort(uint8_t);
void initFSM(void);
void setState(StatusVtolAutoTakeoffStateOptions newState, StatusVtolAutoTakeoffStateExitReasonOptions reason);
int32_t runState();
@ -150,7 +146,6 @@ protected:
void assessAltitude(void);
void setStateTimeout(int32_t count);
void fallback_to_hold(void);
static PathFollowerFSM_AutoTakeoffStateHandler_T sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE];
};

2
flight/modules/PathFollower/inc/vtolbrakefsm.h
View File

@ -66,7 +66,6 @@ public:
void Activate(void);
void Update(void);
PathFollowerFSMState_T GetCurrentState(void);
void Abort(void);
uint8_t PositionHoldState(void);
protected:
@ -103,7 +102,6 @@ protected:
// void updateVtolBrakeFSMStatus();
void setStateTimeout(int32_t count);
void fallback_to_hold(void);
static PathFollowerFSM_BrakeStateHandler_T sBrakeStateTable[BRAKE_STATE_SIZE];
};

5
flight/modules/PathFollower/inc/vtollandfsm.h
View File

@ -47,7 +47,6 @@ typedef enum {
LAND_STATE_THRUSTDOWN, // Thrust down sequence
LAND_STATE_THRUSTOFF, // Thrust is now off
LAND_STATE_DISARMED, // Disarmed
LAND_STATE_ABORT, // Abort on error triggerig fallback to hold
LAND_STATE_SIZE
} PathFollowerFSM_LandState_T;
@ -75,7 +74,6 @@ public:
void ConstrainStabiDesired(StabilizationDesiredData *stabDesired);
float BoundVelocityDown(float);
void CheckPidScaler(pid_scaler *scaler);
void Abort(void);
protected:
@ -130,8 +128,6 @@ protected:
void run_thrustoff(uint8_t);
void setup_disarmed(void);
void run_disarmed(uint8_t);
void setup_abort(void);
void run_abort(uint8_t);
void initFSM(void);
void setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason);
int32_t runState();
@ -140,7 +136,6 @@ protected:
void assessAltitude(void);
void setStateTimeout(int32_t count);
void fallback_to_hold(void);
static PathFollowerFSM_LandStateHandler_T sLandStateTable[LAND_STATE_SIZE];
};

1
flight/modules/PathFollower/inc/vtolvelocitycontroller.h
View File

@ -62,7 +62,6 @@ public:
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void fallback_to_hold(void);
VtolPathFollowerSettingsData *vtolPathFollowerSettings;
PIDControlNE controlNE;

5
flight/modules/PathFollower/pathfollower.cpp
View File

@ -242,6 +242,7 @@ static void pathFollowerSetActiveController(void)
if (activeController == 0) {
// Initialise
pathFollowerInitializeControllersForFrameType();
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
switch (frameType) {
case FRAME_TYPE_MULTIROTOR:
@ -273,6 +274,7 @@ static void pathFollowerSetActiveController(void)
break;
default:
activeController = 0;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
break;
}
break;
@ -289,6 +291,7 @@ static void pathFollowerSetActiveController(void)
break;
default:
activeController = 0;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
break;
}
break;
@ -305,12 +308,14 @@ static void pathFollowerSetActiveController(void)
break;
default:
activeController = 0;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
break;
}
break;
default:
activeController = 0;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_UNINITIALISED);
break;
}
}

36
flight/modules/PathFollower/vtolautotakeoffcontroller.cpp
View File

@ -30,6 +30,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -208,7 +209,7 @@ void VtolAutoTakeoffController::UpdateVelocityDesired()
VelocityDesiredSet(&velocityDesired);
}
int8_t VtolAutoTakeoffController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
int8_t VtolAutoTakeoffController::UpdateStabilizationDesired()
{
uint8_t result = 1;
StabilizationDesiredData stabDesired;
@ -236,13 +237,8 @@ int8_t VtolAutoTakeoffController::UpdateStabilizationDesired(bool yaw_attitude,
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
if (yaw_attitude) {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Yaw = yaw_direction;
} else {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
}
// default thrust mode to cruise control
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
@ -259,29 +255,13 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
UpdateVelocityDesired();
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
bool yaw_attitude = true;
float yaw = 0.0f;
fsm->GetYaw(yaw_attitude, yaw);
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fsm->Abort();
}
if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
int8_t result = UpdateStabilizationDesired();
if (result) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
} else {
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
}
PathStatusSet(pathStatus);
}
void VtolAutoTakeoffController::setArmedIfChanged(FlightStatusArmedOptions val)
{
if (flightStatus->Armed != val) {
flightStatus->Armed = val;
FlightStatusSet(flightStatus);
}
}

61
flight/modules/PathFollower/vtolautotakeofffsm.cpp
View File

@ -65,7 +65,7 @@ extern "C" {
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define TIMEOUT_SLOWSTART (2 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTUP (1 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTDOWN (2 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTDOWN (5 * TIMER_COUNT_PER_SECOND)
#define AUTOTAKEOFFING_SLOWDOWN_HEIGHT -5.0f
VtolAutoTakeoffFSM::PathFollowerFSM_AutoTakeoffStateHandler_T VtolAutoTakeoffFSM::sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE] = {
@ -77,8 +77,7 @@ VtolAutoTakeoffFSM::PathFollowerFSM_AutoTakeoffStateHandler_T VtolAutoTakeoffFSM
[AUTOTAKEOFF_STATE_HOLD] = { .setup = &VtolAutoTakeoffFSM::setup_hold, .run = &VtolAutoTakeoffFSM::run_hold },
[AUTOTAKEOFF_STATE_THRUSTDOWN] = { .setup = &VtolAutoTakeoffFSM::setup_thrustdown, .run = &VtolAutoTakeoffFSM::run_thrustdown },
[AUTOTAKEOFF_STATE_THRUSTOFF] = { .setup = &VtolAutoTakeoffFSM::setup_thrustoff, .run = &VtolAutoTakeoffFSM::run_thrustoff },
[AUTOTAKEOFF_STATE_DISARMED] = { .setup = &VtolAutoTakeoffFSM::setup_disarmed, .run = &VtolAutoTakeoffFSM::run_disarmed },
[AUTOTAKEOFF_STATE_ABORT] = { .setup = &VtolAutoTakeoffFSM::setup_abort, .run = &VtolAutoTakeoffFSM::run_abort }
[AUTOTAKEOFF_STATE_DISARMED] = { .setup = &VtolAutoTakeoffFSM::setup_disarmed, .run = &VtolAutoTakeoffFSM::run_disarmed }
};
// pointer to a singleton instance
@ -161,21 +160,12 @@ void VtolAutoTakeoffFSM::Activate()
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
void VtolAutoTakeoffFSM::Abort(void)
{
setState(STATUSVTOLAUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolAutoTakeoffFSM::GetCurrentState(void)
{
switch (mAutoTakeoffData->currentState) {
case STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case STATUSVTOLAUTOTAKEOFF_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case STATUSVTOLAUTOTAKEOFF_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
@ -339,7 +329,7 @@ void VtolAutoTakeoffFSM::setControlState(StatusVtolAutoTakeoffControlStateOption
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
setState(STATUSVTOLAUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
}
}
@ -540,51 +530,26 @@ void VtolAutoTakeoffFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout
// STATE: DISARMED
void VtolAutoTakeoffFSM::setup_disarmed(void)
{
// nothing to do
mAutoTakeoffData->flConstrainThrust = false;
mAutoTakeoffData->flZeroStabiHorizontal = false;
mAutoTakeoffData->thrustLimit = -1.0f;
mAutoTakeoffData->flConstrainThrust = true;
mAutoTakeoffData->flZeroStabiHorizontal = true;
mAutoTakeoffData->observationCount = 0;
mAutoTakeoffData->boundThrustMin = -0.1f;
mAutoTakeoffData->boundThrustMax = 0.0f;
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
}
}
void VtolAutoTakeoffFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
}
#ifdef DEBUG_GROUNDIMPACT
if (mAutoTakeoffData->observationCount++ > 100) {
setState(AUTOTAKEOFF_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
#endif
}
void VtolAutoTakeoffFSM::fallback_to_hold(void)
{
PositionStateData positionState;
PositionStateGet(&positionState);
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(pathDesired);
}
// abort repeatedly overwrites pathfollower's objective on a landing abort and
// continues to do so until a flight mode change.
void VtolAutoTakeoffFSM::setup_abort(void)
{
mAutoTakeoffData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mAutoTakeoffData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
mAutoTakeoffData->flConstrainThrust = false;
mAutoTakeoffData->flZeroStabiHorizontal = false;
fallback_to_hold();
}
void VtolAutoTakeoffFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
{}

16
flight/modules/PathFollower/vtolbrakecontroller.cpp
View File

@ -35,6 +35,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -138,10 +139,10 @@ void VtolBrakeController::SettingsUpdated(void)
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->BrakeMaxPitch, vtolPathFollowerSettings->BrakeMaxPitch, vtolPathFollowerSettings->BrakeVelocityFeedforward);
controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
vtolPathFollowerSettings->LandVerticalVelPID.Ki,
vtolPathFollowerSettings->LandVerticalVelPID.Kd,
vtolPathFollowerSettings->LandVerticalVelPID.Beta,
controlDown.UpdateParameters(vtolPathFollowerSettings->VerticalVelPID.Kp,
vtolPathFollowerSettings->VerticalVelPID.Ki,
vtolPathFollowerSettings->VerticalVelPID.Kd,
vtolPathFollowerSettings->VerticalVelPID.Beta,
dT,
10.0f * vtolPathFollowerSettings->VerticalVelMax); // avoid constraining initial fast entry into brake
controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
@ -364,8 +365,11 @@ void VtolBrakeController::UpdateAutoPilot()
int8_t result = UpdateStabilizationDesired();
if (!result) {
fsm->Abort(); // enter PH
if (result) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
} else {
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
}
PathStatusSet(pathStatus);

7
flight/modules/PathFollower/vtolbrakefsm.cpp
View File

@ -62,7 +62,7 @@ extern "C" {
// Private constants
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK 0.95f
#define BRAKE_EXIT_VELOCITY_LIMIT 0.2f
#define BRAKE_EXIT_VELOCITY_LIMIT 0.15f
VtolBrakeFSM::PathFollowerFSM_BrakeStateHandler_T VtolBrakeFSM::sBrakeStateTable[BRAKE_STATE_SIZE] = {
[BRAKE_STATE_INACTIVE] = { .setup = 0, .run = 0 },
@ -130,11 +130,6 @@ void VtolBrakeFSM::Activate()
setState(BRAKE_STATE_BRAKE, FSMBRAKESTATUS_STATEEXITREASON_NONE);
}
void VtolBrakeFSM::Abort(void)
{
setState(BRAKE_STATE_HOLD, FSMBRAKESTATUS_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolBrakeFSM::GetCurrentState(void)
{
switch (mBrakeData->currentState) {

9
flight/modules/PathFollower/vtollandcontroller.cpp
View File

@ -30,6 +30,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -266,9 +267,11 @@ void VtolLandController::UpdateAutoPilot()
fsm->GetYaw(yaw_attitude, yaw);
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fsm->Abort();
if (result) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
} else {
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
}
PathStatusSet(pathStatus);

63
flight/modules/PathFollower/vtollandfsm.cpp
View File

@ -31,6 +31,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -96,8 +97,7 @@ VtolLandFSM::PathFollowerFSM_LandStateHandler_T VtolLandFSM::sLandStateTable[LAN
[LAND_STATE_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_groundeffect, .run = &VtolLandFSM::run_groundeffect },
[LAND_STATE_THRUSTDOWN] = { .setup = &VtolLandFSM::setup_thrustdown, .run = &VtolLandFSM::run_thrustdown },
[LAND_STATE_THRUSTOFF] = { .setup = &VtolLandFSM::setup_thrustoff, .run = &VtolLandFSM::run_thrustoff },
[LAND_STATE_DISARMED] = { .setup = &VtolLandFSM::setup_disarmed, .run = &VtolLandFSM::run_disarmed },
[LAND_STATE_ABORT] = { .setup = &VtolLandFSM::setup_abort, .run = &VtolLandFSM::run_abort }
[LAND_STATE_DISARMED] = { .setup = &VtolLandFSM::setup_disarmed, .run = &VtolLandFSM::run_disarmed }
};
// pointer to a singleton instance
@ -176,25 +176,16 @@ void VtolLandFSM::Activate()
#endif
} else {
// move to error state and callback to position hold
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
}
void VtolLandFSM::Abort(void)
{
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
{
switch (mLandData->currentState) {
case STATUSVTOLLAND_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case STATUSVTOLLAND_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case STATUSVTOLLAND_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
@ -431,7 +422,7 @@ void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
}
if (flTimeout) {
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_INITALTHOLD, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -638,6 +629,7 @@ void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
void VtolLandFSM::setup_thrustoff(void)
{
mLandData->thrustLimit = -1.0f;
mLandData->flZeroStabiHorizontal = true;
mLandData->flConstrainThrust = true;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
@ -653,49 +645,28 @@ void VtolLandFSM::setup_disarmed(void)
{
// nothing to do
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
mLandData->flZeroStabiHorizontal = true;
mLandData->observationCount = 0;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
// force disarm unless in pathplanner mode
// to clear, a new pathfollower mode must be selected that is not land,
// and also a non-pathfollower mode selection will set this to uninitialised.
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
}
}
void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
if (flightStatus->ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_CRITICAL);
}
#ifdef DEBUG_GROUNDIMPACT
if (mLandData->observationCount++ > 100) {
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
#endif
}
void VtolLandFSM::fallback_to_hold(void)
{
PositionStateData positionState;
PositionStateGet(&positionState);
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(pathDesired);
}
// abort repeatedly overwrites pathfollower's objective on a landing abort and
// continues to do so until a flight mode change.
void VtolLandFSM::setup_abort(void)
{
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
fallback_to_hold();
}
void VtolLandFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
{}

35
flight/modules/PathFollower/vtolvelocitycontroller.cpp
View File

@ -30,6 +30,7 @@ extern "C" {
#include <math.h>
#include <pid.h>
#include <alarms.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
@ -104,10 +105,10 @@ void VtolVelocityController::SettingsUpdated(void)
{
const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
vtolPathFollowerSettings->HorizontalVelPID.Ki,
vtolPathFollowerSettings->HorizontalVelPID.Kd,
vtolPathFollowerSettings->HorizontalVelPID.Beta,
controlNE.UpdateParameters(vtolPathFollowerSettings->VelocityRoamHorizontalVelPID.Kp,
vtolPathFollowerSettings->VelocityRoamHorizontalVelPID.Ki,
vtolPathFollowerSettings->VelocityRoamHorizontalVelPID.Kd,
vtolPathFollowerSettings->VelocityRoamHorizontalVelPID.Beta,
dT,
vtolPathFollowerSettings->HorizontalVelMax);
@ -201,28 +202,12 @@ void VtolVelocityController::UpdateAutoPilot()
float yaw = 0.0f;
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fallback_to_hold();
if (result) {
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_OK);
} else {
pathStatus->Status = PATHSTATUS_STATUS_CRITICAL;
AlarmsSet(SYSTEMALARMS_ALARM_GUIDANCE, SYSTEMALARMS_ALARM_WARNING);
}
PathStatusSet(pathStatus);
}
void VtolVelocityController::fallback_to_hold(void)
{
PositionStateData positionState;
PositionStateGet(&positionState);
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(pathDesired);
}

2
flight/modules/Stabilization/altitudeloop.cpp
View File

@ -177,8 +177,8 @@ static void altitudeHoldTask(void)
break;
}
AltitudeHoldStatusSet(&altitudeHoldStatus);
thrustDemand = local_thrustDemand;
AltitudeHoldStatusSet(&altitudeHoldStatus);
}
static void VelocityStateUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)

51
flight/targets/boards/revonano/firmware/pios_board.c
View File

@ -36,7 +36,8 @@
#include <pios_oplinkrcvr_priv.h>
#include <taskinfo.h>
#include <pios_ws2811.h>
#include <sanitycheck.h>
#include <actuatorsettings.h>
#ifdef PIOS_INCLUDE_INSTRUMENTATION
#include <pios_instrumentation.h>
@ -52,6 +53,8 @@
*/
#include "../board_hw_defs.c"
static SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook();
static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
/**
* Sensor configurations
*/
@ -764,8 +767,54 @@ void PIOS_Board_Init(void)
}
}
#endif
// Attach the board config check hook
SANITYCHECK_AttachHook(&RevoNanoConfigHook);
// trigger a config check if actuatorsettings are updated
ActuatorSettingsInitialize();
ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
}
SystemAlarmsExtendedAlarmStatusOptions RevoNanoConfigHook()
{
// inhibit usage of oneshot for non supported RECEIVER port modes
uint8_t recmode;
HwSettingsRM_RcvrPortGet(&recmode);
uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
ActuatorSettingsBankModeGet(modes);
switch ((HwSettingsRM_RcvrPortOptions)recmode) {
// Those modes allows oneshot usage
case HWSETTINGS_RM_RCVRPORT_DISABLED:
case HWSETTINGS_RM_RCVRPORT_PPM:
case HWSETTINGS_RM_RCVRPORT_PPMOUTPUTS:
case HWSETTINGS_RM_RCVRPORT_OUTPUTS:
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
// inhibit oneshot for the following modes
case HWSETTINGS_RM_RCVRPORT_PWM:
for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
default:
break;
}
return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
}
// trigger a configuration check if ActuatorSettings are changed.
void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
configuration_check();
}
/**
* @}
* @}

22
ground/openpilotgcs/share/openpilotgcs/pfd/default/Warnings.qml
View File

@ -12,24 +12,24 @@ Item {
// All 'manual modes' are green, 'assisted' modes in cyan
// "MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6",
// "POS HOLD", "COURSE LOCK", "POS ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLANNER", "POI", "AUTOCRUISE"
// "POS HOLD", "COURSELOCK","VEL ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE", "AUTOTAKEOFF"
property variant flightmodeColors : ["gray", "green", "green", "green", "green", "green", "green",
"cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
"cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
// Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// AltitudeHold,AltitudeVario,CruiseControl + Auto mode (VTOL/Wing pathfollower)
// Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// AltitudeHold,AltitudeVario,CruiseControl" + Auto mode (VTOL/Wing pathfollower)
// grey : 'disabled' modes
property variant thrustmodeColors : ["green", "grey", "grey", "grey", "grey", "grey", "grey", "grey",
property variant thrustmodeColors : ["green", "grey", "grey", "grey", "grey", "grey", "grey", "grey", "grey",
"green", "green", "green", "cyan"]
// SystemSettings.AirframeType 3 - 17 : VtolPathFollower, check ThrustControl
property var thrust_mode: FlightStatus.FlightMode < 7 ? StabilizationDesired.StabilizationMode_Thrust :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType > 2 && SystemSettings.AirframeType < 18
&& VtolPathFollowerSettings.ThrustControl == 1 ? 11 :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType < 3 ? 11: 0
&& VtolPathFollowerSettings.ThrustControl == 1 ? 12 :
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType < 3 ? 12: 0
property real flight_time: Math.round(SystemStats.FlightTime / 1000)
@ -198,11 +198,13 @@ Item {
Rectangle {
anchors.fill: parent
color: warnings.flightmodeColors[FlightStatus.FlightMode]
// Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,
// VelocityRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff
Text {
anchors.centerIn: parent
text: ["MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6", "POS HOLD", "COURSELOCK",
"POS ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE"][FlightStatus.FlightMode]
"VEL ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE", "AUTOTAKEOFF"][FlightStatus.FlightMode]
font {
family: pt_bold.name
pixelSize: Math.floor(parent.height * 0.74)
@ -225,12 +227,12 @@ Item {
anchors.fill: parent
color: FlightStatus.FlightMode < 1 ? "grey" : warnings.thrustmodeColors[thrust_mode.toString()]
// Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// Manual,Rate,RateTrainer,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
// AltitudeHold,AltitudeVario,CruiseControl
// grey : 'disabled' modes
Text {
anchors.centerIn: parent
text: ["MANUAL"," "," ", " ", " ", " ", " ", " ",
text: ["MANUAL"," "," ", " ", " ", " ", " ", " ", " ",
"ALT HOLD", "ALT VARIO", "CRUISECTRL", "AUTO"][thrust_mode.toString()]
font {
family: pt_bold.name

9
ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
View File

@ -356,8 +356,8 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
// Setup labels and combos for banks according to board type
if (board == 0x0903) {
// Revolution family of boards 6 timer banks
bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7-8)" << "6 (9-10)";
channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 5 << 6 << 6;
bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
} else if (board == 0x0905) {
// Revolution Nano
bankLabels << "1 (1)" << "2 (2,7,11)" << "3 (3)" << "4 (4)" << "5 (5-6)" << "6 (8-10,12)";
@ -472,10 +472,7 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
"When using Receiver Port setting 'PPM_PIN8+OneShot' "
"<b><font color='%1'>Bank %2</font></b> must be set to PWM")
.arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
setWarning(tr("OneShot and PWMSync output DO NOT work with Receiver Port is 'PWM'<br>"));
return;
}
}

3
ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp
View File

@ -180,6 +180,9 @@ void ConnectionDiagram::setupGraphicsScene()
case VehicleConfigurationSource::INPUT_SBUS:
elementsToShow << QString("%1sbus").arg(prefix);
break;
case VehicleConfigurationSource::INPUT_SRXL:
elementsToShow << QString("%1srxl").arg(prefix);
break;
case VehicleConfigurationSource::INPUT_DSM:
elementsToShow << QString("%1satellite").arg(prefix);
break;

1
ground/openpilotgcs/src/plugins/setupwizard/pages/autoupdatepage.cpp
View File

@ -49,6 +49,7 @@ void AutoUpdatePage::autoUpdate()
Q_ASSERT(uploader);
m_isUpdating = true;
uploader->autoUpdate(ui->eraseSettings->isChecked());
getWizard()->setRestartNeeded(true);
}
void AutoUpdatePage::updateStatus(uploader::ProgressStep status, QVariant value)

13
ground/openpilotgcs/src/plugins/setupwizard/pages/escpage.cpp
View File

@ -73,5 +73,16 @@ void EscPage::initializePage()
bool EscPage::isSynchOrOneShotAvailable()
{
return true;
bool available = true;
switch (getWizard()->getControllerType()) {
case SetupWizard::CONTROLLER_NANO:
available = getWizard()->getInputType() != SetupWizard::INPUT_PWM;
break;
default:
break;
}
return available;
}

8
ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp
View File

@ -55,6 +55,8 @@ bool InputPage::validatePage()
getWizard()->setInputType(SetupWizard::INPUT_SBUS);
} else if (ui->spectrumButton->isChecked()) {
getWizard()->setInputType(SetupWizard::INPUT_DSM);
} else if (ui->multiplexButton->isChecked()){
getWizard()->setInputType(SetupWizard::INPUT_SRXL);
} else {
getWizard()->setInputType(SetupWizard::INPUT_PWM);
}
@ -79,17 +81,15 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
switch (selectedType) {
case VehicleConfigurationSource::INPUT_PWM:
return data.RM_RcvrPort != HwSettings::RM_RCVRPORT_PWM;
case VehicleConfigurationSource::INPUT_PPM:
return data.RM_RcvrPort != HwSettings::RM_RCVRPORT_PPM;
case VehicleConfigurationSource::INPUT_SBUS:
return data.RM_MainPort != HwSettings::RM_MAINPORT_SBUS;
case VehicleConfigurationSource::INPUT_SRXL:
return data.RM_FlexiPort != HwSettings::RM_FLEXIPORT_SRXL;
case VehicleConfigurationSource::INPUT_DSM:
// TODO: Handle all of the DSM types ?? Which is most common?
return data.RM_MainPort != HwSettings::RM_MAINPORT_DSM;
default: return true;
}
break;

41
ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.ui
View File

@ -218,6 +218,47 @@ p, li { white-space: pre-wrap; }
</property>
</widget>
</item>
<item>
<widget class="QToolButton" name="multiplexButton">
<property name="font">
<font>
<pointsize>10</pointsize>
</font>
</property>
<property name="toolTip">
<string>Multiplex SRXL</string>
</property>
<property name="styleSheet">
<string notr="true">QToolButton { border: none }</string>
</property>
<property name="text">
<string>SRXL</string>
</property>
<property name="icon">
<iconset resource="../wizardResources.qrc">
<normaloff>:/setupwizard/resources/bttn-srxl-up.png</normaloff>
<normalon>:/setupwizard/resources/bttn-srxl-down.png</normalon>:/setupwizard/resources/bttn-srxl-up.png</iconset>
</property>
<property name="iconSize">
<size>
<width>100</width>
<height>100</height>
</size>
</property>
<property name="checkable">
<bool>true</bool>
</property>
<property name="autoExclusive">
<bool>true</bool>
</property>
<property name="toolButtonStyle">
<enum>Qt::ToolButtonTextUnderIcon</enum>
</property>
<property name="autoRaise">
<bool>true</bool>
</property>
</widget>
</item>
</layout>
</item>
</layout>

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392
ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg
View File

@ -30,13 +30,13 @@
inkscape:window-height="928"
id="namedview4616"
showgrid="false"
inkscape:zoom="4.1218791"
inkscape:cx="466.90655"
inkscape:cy="424.49244"
inkscape:zoom="1.0702079"
inkscape:cx="547.53816"
inkscape:cy="386.12041"
inkscape:window-x="0"
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inkscape:window-maximized="1"
inkscape:current-layer="layer12"
inkscape:current-layer="layer16"
fit-margin-top="15"
fit-margin-left="15"
fit-margin-right="15"
@ -17750,6 +17750,26 @@
stop-color="#535353"
id="stop6585-0-2-1-6-2-4" />
</linearGradient>
<linearGradient
inkscape:collect="always"
xlink:href="#linearGradient6587-8-2-7"
id="linearGradient26963"
gradientUnits="userSpaceOnUse"
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x1="1250"
y1="1450"
x2="1490"
y2="1450" />
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inkscape:collect="always"
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y1="1450"
x2="1490"
y2="1450" />
</defs>
<metadata
id="metadata12656">
@ -17787,6 +17807,125 @@
inkscape:label="rc-input"
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inkscape:label="revo-srxl"
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After

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7
ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp
View File

@ -96,10 +96,15 @@ int SetupWizard::nextId() const
{
switch (getControllerType()) {
case CONTROLLER_REVO:
case CONTROLLER_NANO:
case CONTROLLER_DISCOVERYF4:
return PAGE_INPUT;
case CONTROLLER_NANO:
if (isRestartNeeded()) {
reboot();
}
return PAGE_INPUT;
case CONTROLLER_OPLINK:
default:
return PAGE_NOTYETIMPLEMENTED;

6
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -159,6 +159,9 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
case VehicleConfigurationSource::INPUT_DSM:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_DSM;
break;
case VehicleConfigurationSource::INPUT_SRXL:
data.RM_FlexiPort = HwSettings::RM_FLEXIPORT_SRXL;
break;
default:
break;
}
@ -805,6 +808,9 @@ void VehicleConfigurationHelper::applyManualControlDefaults()
case VehicleConfigurationSource::INPUT_DSM:
channelType = ManualControlSettings::CHANNELGROUPS_DSMFLEXIPORT;
break;
case VehicleConfigurationSource::INPUT_SRXL:
channelType = ManualControlSettings::CHANNELGROUPS_SRXL;
break;
default:
break;
}

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h
View File

@ -66,7 +66,7 @@ public:
GROUNDVEHICLE_MOTORCYCLE, GROUNDVEHICLE_CAR, GROUNDVEHICLE_DIFFERENTIAL };
enum ESC_TYPE { ESC_ONESHOT, ESC_SYNCHED, ESC_RAPID, ESC_STANDARD, ESC_UNKNOWN };
enum SERVO_TYPE { SERVO_ANALOG, SERVO_DIGITAL, SERVO_UNKNOWN };
enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_UNKNOWN };
enum INPUT_TYPE { INPUT_PWM, INPUT_PPM, INPUT_SBUS, INPUT_DSM, INPUT_SRXL, INPUT_UNKNOWN };
enum AIRSPEED_TYPE { AIRSPEED_ESTIMATE, AIRSPEED_EAGLETREE, AIRSPEED_MS4525, AIRSPEED_DISABLED };
enum GPS_TYPE { GPS_PLATINUM, GPS_UBX, GPS_NMEA, GPS_DISABLED };
enum RADIO_SETTING { RADIO_TELEMETRY, RADIO_DISABLED };

2
ground/openpilotgcs/src/plugins/setupwizard/wizardResources.qrc
View File

@ -54,5 +54,7 @@
<file>resources/connected.png</file>
<file>resources/bttn-oneshot-dwn.png</file>
<file>resources/bttn-oneshot-up.png</file>
<file>resources/bttn-srxl-down.png</file>
<file>resources/bttn-srxl-up.png</file>
</qresource>
</RCC>

8
ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp
View File

@ -1008,6 +1008,14 @@ void UploaderGadgetWidget::startAutoUpdate()
void UploaderGadgetWidget::startAutoUpdateErase()
{
startAutoUpdate(true);
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
int id = utilMngr->getBoardModel();
if (id == 0x905) {
systemReset();
}
}
void UploaderGadgetWidget::startAutoUpdate(bool erase)

4
shared/uavobjectdefinition/altitudeholdsettings.xml
View File

@ -5,8 +5,8 @@
<field name="ThrustExp" units="" type="uint8" elements="1" defaultvalue="128" />
<field name="ThrustRate" units="m/s" type="float" elements="1" defaultvalue="5" />
<field name="ThrustLimits" units="" type="float" elementnames="Min,Neutral,Max" defaultvalue="0.2, 0.5, 0.9"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.3"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.15, 0.25, 0.005, 0.95"/>
<field name="VerticalPosP" units="(m/s)/m" type="float" elements="1" defaultvalue="0.7"/>
<field name="VerticalVelPID" units="(m/s^2)/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.3, 1.0, 0.0001, 0.9"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

8
shared/uavobjectdefinition/hwsettings.xml
View File

@ -1,10 +1,6 @@
<xml>
<object name="HwSettings" singleinstance="true" settings="true" category="System">
<description>Selection of optional hardware configurations.</description>
<field name="CC_RcvrPort" units="function" type="enum" elements="1" options="Disabled+OneShot,PWM+NoOneShot,PPM+NoOneShot,PPM+PWM+NoOneShot,PPM+Outputs+NoOneShot,PPM_PIN8+OneShot, Outputs+OneShot" defaultvalue="PWM+NoOneShot"/>
<field name="CC_MainPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,S.Bus,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Telemetry"/>
<field name="CC_FlexiPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,GPS,I2C,PPM,DSM,DebugConsole,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RV_RcvrPort" units="function" type="enum" elements="1" options="Disabled,PWM,PPM,PPM+Outputs,Outputs" defaultvalue="PWM"/>
<field name="RV_AuxPort" units="function" type="enum" elements="1" options="Disabled,Telemetry,DSM,ComAux,ComBridge,OsdHk" defaultvalue="Disabled"/>
<field name="RV_AuxSBusPort" units="function" type="enum" elements="1" options="Disabled,S.Bus,DSM,ComAux,ComBridge,OsdHk" defaultvalue="Disabled"/>
@ -28,9 +24,7 @@
<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<field name="WS2811LED_Out" units="" type="enum" elements="1" options="ServoOut1,ServoOut2,ServoOut3,ServoOut4,ServoOut5,ServoOut6,FlexiIOPin3,FlexiIOPin4,Disabled" defaultvalue="Disabled"
limits="%0905NE:ServoOut2:ServoOut3:ServoOut4:ServoOut5:ServoOut6:FlexiIOPin3:FlexiIOPin4,\
%0401NE:ServoOut1:ServoOut2:ServoOut3:ServoOut4:ServoOut5:ServoOut6:FlexiIOPin3:FlexiIOPin4,\
%0402NE:ServoOut1:ServoOut2:ServoOut3:ServoOut4:ServoOut5:ServoOut6:FlexiIOPin3:FlexiIOPin4;"
limits="%0905NE:ServoOut2:ServoOut3:ServoOut4:ServoOut5:ServoOut6:FlexiIOPin3:FlexiIOPin4;"
/>
<access gcs="readwrite" flight="readwrite"/>

2
shared/uavobjectdefinition/statusvtolautotakeoff.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="StatusVtolAutoTakeoff" singleinstance="true" settings="false" category="Navigation">
<description>Status of a AutoTakeoff autopilot</description>
<field name="State" units="" type="enum" elements="1" options="Inactive,CheckState,SlowStart,ThrustUp,Takeoff,Hold,ThrustDown,ThrustOff,Disarmed, Abort" default="0"/>
<field name="State" units="" type="enum" elements="1" options="Inactive,CheckState,SlowStart,ThrustUp,Takeoff,Hold,ThrustDown,ThrustOff,Disarmed" default="0"/>
<field name="AltitudeAtState" units="m" type="float" elements="10" default="0"/>
<field name="StateExitReason" units="" type="enum" elements="10" options="None,ArrivedAtAlt,ZeroThrust,PositionError,Timeout" default="0"/>
<field name="AltitudeState" units="" type="enum" elements="1" options="High,Low" default="0"/>

2
shared/uavobjectdefinition/statusvtolland.xml
View File

@ -2,7 +2,7 @@
<object name="StatusVtolLand" singleinstance="true" settings="false" category="Navigation">
<description>Status of a Vtol landing sequence</description>
<field name="State" units="" type="enum" elements="1" options="Inactive,InitAltHold,WtgForDescentRate,AtDescentRate,WtgForGroundEffect,
GroundEffect,ThrustDown,ThrustOff,Disarmed, Abort" default="0"/>
GroundEffect,ThrustDown,ThrustOff,Disarmed" default="0"/>
<field name="AltitudeAtState" units="m" type="float" elements="10" default="0"/>
<field name="StateExitReason" units="" type="enum" elements="10" options="None,DescentRateOk,OnGround,BounceVelocity,BounceAccel,LowDescentRate,ZeroThrust,PositionError,Timeout" default="0"/>
<field name="targetDescentRate" units="m" type="float" elements="1"/>

5
shared/uavobjectdefinition/vtolpathfollowersettings.xml
View File

@ -18,14 +18,15 @@
<field name="EmergencyFallbackAttitude" units="deg" type="float" elementnames="Roll,Pitch" defaultvalue="0,-20.0"/>
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
<field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="20"/>
<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="18.0, 0.0, 0.001, 0.95"/>
<field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
<field name="LandVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
<field name="AutoTakeoffVerticalVelPID" units="" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="0.42, 3.0, 0.02, 0.95"/>
<field name="VelocityRoamMaxRollPitch" units="deg" type="float" elements="1" defaultvalue="20"/>
<field name="VelocityRoamHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,Beta" defaultvalue="12.0, 0.5, 0.001, 0.95"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>