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Code Issues Releases Activity

Merge branch 'next' of ssh://git.openpilot.org/OpenPilot into abeck/OP-1848r-altvario

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This commit is contained in:
abeck70 2015-05-09 14:31:57 +10:00
commit d6123c018d
4 changed files with 29 additions and 26 deletions
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16
flight/modules/PathPlanner/pathplanner.c
View File

@ -82,7 +82,7 @@ static uint8_t conditionImmediate();
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
static void planner_setup_pathdesired_land(PathDesiredData *pathDesired);
static void planner_setup_pathdesired_takeoff(PathDesiredData *pathDesired);
static void planner_setup_pathdesired(PathDesiredData *pathDesired);
static void planner_setup_pathdesired(PathDesiredData *pathDesired, bool overwrite_start_position);
// Private variables
@ -327,14 +327,16 @@ void updatePathDesired()
return;
}
PathDesiredData pathDesired;
// find out current waypoint
WaypointActiveGet(&waypointActive);
WaypointInstGet(waypointActive.Index, &waypoint);
// Capture if current mode is takeoff
bool autotakeoff = (pathAction.Mode == PATHACTION_MODE_AUTOTAKEOFF);
PathActionInstGet(waypoint.Action, &pathAction);
PathDesiredData pathDesired;
switch (pathAction.Mode) {
case PATHACTION_MODE_AUTOTAKEOFF:
planner_setup_pathdesired_takeoff(&pathDesired);
@ -343,7 +345,7 @@ void updatePathDesired()
planner_setup_pathdesired_land(&pathDesired);
break;
default:
planner_setup_pathdesired(&pathDesired);
planner_setup_pathdesired(&pathDesired, autotakeoff);
break;
}
@ -436,7 +438,7 @@ void statusUpdated(__attribute__((unused)) UAVObjEvent *ev)
}
// Standard setup of a pathDesired command from the waypoint path plan
static void planner_setup_pathdesired(PathDesiredData *pathDesired)
static void planner_setup_pathdesired(PathDesiredData *pathDesired, bool overwrite_start_position)
{
pathDesired->End.North = waypoint.Position.North;
pathDesired->End.East = waypoint.Position.East;
@ -450,7 +452,7 @@ static void planner_setup_pathdesired(PathDesiredData *pathDesired)
pathDesired->UID = waypointActive.Index;
if (waypointActive.Index == 0) {
if (waypointActive.Index == 0 || overwrite_start_position) {
PositionStateData positionState;
PositionStateGet(&positionState);
// First waypoint has itself as start point (used to be home position but that proved dangerous when looping)

2
ground/openpilotgcs/src/plugins/config/input.ui
View File

@ -1801,7 +1801,7 @@ channel value for each flight mode.</string>
</font>
</property>
<property name="text">
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Avoid &amp;quot;Manual&amp;quot; for multirotors! Never select &amp;quot;Altitude&amp;quot;, &amp;quot;VelocityControl&amp;quot; or &amp;quot;CruiseControl&amp;quot; on a fixed wing!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
<string>&lt;html&gt;&lt;head/&gt;&lt;body&gt;&lt;p&gt;Never select &amp;quot;Manual&amp;quot; as Flight Mode when flying a multitrotor! Never select &amp;quot;Altitude&amp;quot; or &amp;quot;CruiseControl&amp;quot; in Stabilization Modes when using a fixed wing!&lt;/p&gt;&lt;/body&gt;&lt;/html&gt;</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>

3
ground/openpilotgcs/src/plugins/coreplugin/mainwindow.cpp
View File

@ -65,6 +65,7 @@
#include <utils/pathchooser.h>
#include <utils/stylehelper.h>
#include <utils/xmlconfig.h>
#include "version_info/version_info.h"
#include <QtCore/QDebug>
#include <QtCore/QFileInfo>
@ -133,7 +134,7 @@ MainWindow::MainWindow() :
#endif
m_toggleFullScreenAction(0)
{
setWindowTitle(tr("OpenPilot GCS"));
setWindowTitle(tr("OpenPilot GCS ")+VersionInfo::label());
#ifndef Q_WS_MAC
qApp->setWindowIcon(QIcon(":/core/images/openpilot_logo_128.png"));
#endif

34
shared/uavobjectdefinition/flightmodesettings.xml
View File

@ -23,7 +23,7 @@
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/>
@ -34,7 +34,7 @@
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/>
@ -45,7 +45,7 @@
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/>
@ -56,7 +56,7 @@
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/>
@ -67,7 +67,7 @@
limits="%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl; \
%NE:AltitudeHold:AltitudeVario:CruiseControl:Attitude:Rattitude:Acro+:WeakLeveling:VirtualBar; \
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude,\
%0401NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario,\
%0402NE:Rate:RateTrainer:Attitude:AxisLock:WeakLeveling:VirtualBar:Acro+:Rattitude:AltitudeHold:AltitudeVario;"
/>
@ -81,28 +81,28 @@
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise,AutoTakeoff"
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
limits="\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;\
\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise,AutoTakeoff\
%0401NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0402NE:PositionHold:CourseLock:PositionRoam:HomeLeash:AbsolutePosition:ReturnToBase:Land:PathPlanner:POI:AutoCruise:AutoTakeoff\
%0903NE:POI:PathPlanner:AutoCruise;"/>
<field name="AlwaysStabilizeWhenArmed" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE" description="For Multirotors. Always stabilize no matter the throttle setting when vehicle is armed. Does not work when vehicle is set to Always Armed."/>