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Code Issues Releases Activity

OP-26 GCS/Stabilization First release of stabilization module. Tested using FlightGear, default tuning is for the HITL simulation. Works fairly well but a number of improvements can be made to aid tuning. The ManualControl settings must be first set as you would normally do for HITL simulation, flight mode is changed using the mode channel.

Browse Source 
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@886 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-06-25 02:27:42 +00:00 committed by vassilis
parent 9e8c4f26e4
commit d652c853d0
17 changed files with 392 additions and 221 deletions
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5
ground/src/plugins/hitl/flightgearbridge.cpp
View File

@ -49,7 +49,6 @@ FlightGearBridge::FlightGearBridge()
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
// NOTE: Disabled due to linker errors, when fixed uncomment next three lines and comment out fourth
TelemetryManager* telMngr = pm->getObject<TelemetryManager>();
connect(telMngr, SIGNAL(connected()), this, SLOT(onAutopilotConnect()));
connect(telMngr, SIGNAL(disconnected()), this, SLOT(onAutopilotDisconnect()));
@ -149,9 +148,9 @@ void FlightGearBridge::receiveUpdate()
void FlightGearBridge::setupObjects()
{
setupInputObject(actDesired, 50);
setupInputObject(actDesired, 75);
setupOutputObject(altActual, 250);
setupOutputObject(attActual, 50);
setupOutputObject(attActual, 75);
setupOutputObject(posActual, 250);
}

28
ground/src/plugins/uavobjects/actuatorsettings.cpp
View File

@ -43,6 +43,7 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
QStringList FixedWingRoll1ElemNames;
FixedWingRoll1ElemNames.append("0");
QStringList FixedWingRoll1EnumOptions;
FixedWingRoll1EnumOptions.append("Channel0");
FixedWingRoll1EnumOptions.append("Channel1");
FixedWingRoll1EnumOptions.append("Channel2");
FixedWingRoll1EnumOptions.append("Channel3");
@ -50,12 +51,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
FixedWingRoll1EnumOptions.append("Channel5");
FixedWingRoll1EnumOptions.append("Channel6");
FixedWingRoll1EnumOptions.append("Channel7");
FixedWingRoll1EnumOptions.append("Channel8");
FixedWingRoll1EnumOptions.append("None");
fields.append( new UAVObjectField(QString("FixedWingRoll1"), QString("channel"), UAVObjectField::ENUM, FixedWingRoll1ElemNames, FixedWingRoll1EnumOptions) );
QStringList FixedWingRoll2ElemNames;
FixedWingRoll2ElemNames.append("0");
QStringList FixedWingRoll2EnumOptions;
FixedWingRoll2EnumOptions.append("Channel0");
FixedWingRoll2EnumOptions.append("Channel1");
FixedWingRoll2EnumOptions.append("Channel2");
FixedWingRoll2EnumOptions.append("Channel3");
@ -63,12 +64,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
FixedWingRoll2EnumOptions.append("Channel5");
FixedWingRoll2EnumOptions.append("Channel6");
FixedWingRoll2EnumOptions.append("Channel7");
FixedWingRoll2EnumOptions.append("Channel8");
FixedWingRoll2EnumOptions.append("None");
fields.append( new UAVObjectField(QString("FixedWingRoll2"), QString("channel"), UAVObjectField::ENUM, FixedWingRoll2ElemNames, FixedWingRoll2EnumOptions) );
QStringList FixedWingPitch1ElemNames;
FixedWingPitch1ElemNames.append("0");
QStringList FixedWingPitch1EnumOptions;
FixedWingPitch1EnumOptions.append("Channel0");
FixedWingPitch1EnumOptions.append("Channel1");
FixedWingPitch1EnumOptions.append("Channel2");
FixedWingPitch1EnumOptions.append("Channel3");
@ -76,12 +77,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
FixedWingPitch1EnumOptions.append("Channel5");
FixedWingPitch1EnumOptions.append("Channel6");
FixedWingPitch1EnumOptions.append("Channel7");
FixedWingPitch1EnumOptions.append("Channel8");
FixedWingPitch1EnumOptions.append("None");
fields.append( new UAVObjectField(QString("FixedWingPitch1"), QString("channel"), UAVObjectField::ENUM, FixedWingPitch1ElemNames, FixedWingPitch1EnumOptions) );
QStringList FixedWingPitch2ElemNames;
FixedWingPitch2ElemNames.append("0");
QStringList FixedWingPitch2EnumOptions;
FixedWingPitch2EnumOptions.append("Channel0");
FixedWingPitch2EnumOptions.append("Channel1");
FixedWingPitch2EnumOptions.append("Channel2");
FixedWingPitch2EnumOptions.append("Channel3");
@ -89,12 +90,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
FixedWingPitch2EnumOptions.append("Channel5");
FixedWingPitch2EnumOptions.append("Channel6");
FixedWingPitch2EnumOptions.append("Channel7");
FixedWingPitch2EnumOptions.append("Channel8");
FixedWingPitch2EnumOptions.append("None");
fields.append( new UAVObjectField(QString("FixedWingPitch2"), QString("channel"), UAVObjectField::ENUM, FixedWingPitch2ElemNames, FixedWingPitch2EnumOptions) );
QStringList FixedWingYawElemNames;
FixedWingYawElemNames.append("0");
QStringList FixedWingYawEnumOptions;
FixedWingYawEnumOptions.append("Channel0");
FixedWingYawEnumOptions.append("Channel1");
FixedWingYawEnumOptions.append("Channel2");
FixedWingYawEnumOptions.append("Channel3");
@ -102,12 +103,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
FixedWingYawEnumOptions.append("Channel5");
FixedWingYawEnumOptions.append("Channel6");
FixedWingYawEnumOptions.append("Channel7");
FixedWingYawEnumOptions.append("Channel8");
FixedWingYawEnumOptions.append("None");
fields.append( new UAVObjectField(QString("FixedWingYaw"), QString("channel"), UAVObjectField::ENUM, FixedWingYawElemNames, FixedWingYawEnumOptions) );
QStringList FixedWingThrottleElemNames;
FixedWingThrottleElemNames.append("0");
QStringList FixedWingThrottleEnumOptions;
FixedWingThrottleEnumOptions.append("Channel0");
FixedWingThrottleEnumOptions.append("Channel1");
FixedWingThrottleEnumOptions.append("Channel2");
FixedWingThrottleEnumOptions.append("Channel3");
@ -115,12 +116,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
FixedWingThrottleEnumOptions.append("Channel5");
FixedWingThrottleEnumOptions.append("Channel6");
FixedWingThrottleEnumOptions.append("Channel7");
FixedWingThrottleEnumOptions.append("Channel8");
FixedWingThrottleEnumOptions.append("None");
fields.append( new UAVObjectField(QString("FixedWingThrottle"), QString("channel"), UAVObjectField::ENUM, FixedWingThrottleElemNames, FixedWingThrottleEnumOptions) );
QStringList VTOLMotorNElemNames;
VTOLMotorNElemNames.append("0");
QStringList VTOLMotorNEnumOptions;
VTOLMotorNEnumOptions.append("Channel0");
VTOLMotorNEnumOptions.append("Channel1");
VTOLMotorNEnumOptions.append("Channel2");
VTOLMotorNEnumOptions.append("Channel3");
@ -128,12 +129,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorNEnumOptions.append("Channel5");
VTOLMotorNEnumOptions.append("Channel6");
VTOLMotorNEnumOptions.append("Channel7");
VTOLMotorNEnumOptions.append("Channel8");
VTOLMotorNEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorN"), QString("channel"), UAVObjectField::ENUM, VTOLMotorNElemNames, VTOLMotorNEnumOptions) );
QStringList VTOLMotorNEElemNames;
VTOLMotorNEElemNames.append("0");
QStringList VTOLMotorNEEnumOptions;
VTOLMotorNEEnumOptions.append("Channel0");
VTOLMotorNEEnumOptions.append("Channel1");
VTOLMotorNEEnumOptions.append("Channel2");
VTOLMotorNEEnumOptions.append("Channel3");
@ -141,12 +142,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorNEEnumOptions.append("Channel5");
VTOLMotorNEEnumOptions.append("Channel6");
VTOLMotorNEEnumOptions.append("Channel7");
VTOLMotorNEEnumOptions.append("Channel8");
VTOLMotorNEEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorNE"), QString("channel"), UAVObjectField::ENUM, VTOLMotorNEElemNames, VTOLMotorNEEnumOptions) );
QStringList VTOLMotorEElemNames;
VTOLMotorEElemNames.append("0");
QStringList VTOLMotorEEnumOptions;
VTOLMotorEEnumOptions.append("Channel0");
VTOLMotorEEnumOptions.append("Channel1");
VTOLMotorEEnumOptions.append("Channel2");
VTOLMotorEEnumOptions.append("Channel3");
@ -154,12 +155,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorEEnumOptions.append("Channel5");
VTOLMotorEEnumOptions.append("Channel6");
VTOLMotorEEnumOptions.append("Channel7");
VTOLMotorEEnumOptions.append("Channel8");
VTOLMotorEEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorE"), QString("channel"), UAVObjectField::ENUM, VTOLMotorEElemNames, VTOLMotorEEnumOptions) );
QStringList VTOLMotorSEElemNames;
VTOLMotorSEElemNames.append("0");
QStringList VTOLMotorSEEnumOptions;
VTOLMotorSEEnumOptions.append("Channel0");
VTOLMotorSEEnumOptions.append("Channel1");
VTOLMotorSEEnumOptions.append("Channel2");
VTOLMotorSEEnumOptions.append("Channel3");
@ -167,12 +168,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorSEEnumOptions.append("Channel5");
VTOLMotorSEEnumOptions.append("Channel6");
VTOLMotorSEEnumOptions.append("Channel7");
VTOLMotorSEEnumOptions.append("Channel8");
VTOLMotorSEEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorSE"), QString("channel"), UAVObjectField::ENUM, VTOLMotorSEElemNames, VTOLMotorSEEnumOptions) );
QStringList VTOLMotorSElemNames;
VTOLMotorSElemNames.append("0");
QStringList VTOLMotorSEnumOptions;
VTOLMotorSEnumOptions.append("Channel0");
VTOLMotorSEnumOptions.append("Channel1");
VTOLMotorSEnumOptions.append("Channel2");
VTOLMotorSEnumOptions.append("Channel3");
@ -180,12 +181,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorSEnumOptions.append("Channel5");
VTOLMotorSEnumOptions.append("Channel6");
VTOLMotorSEnumOptions.append("Channel7");
VTOLMotorSEnumOptions.append("Channel8");
VTOLMotorSEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorS"), QString("channel"), UAVObjectField::ENUM, VTOLMotorSElemNames, VTOLMotorSEnumOptions) );
QStringList VTOLMotorSWElemNames;
VTOLMotorSWElemNames.append("0");
QStringList VTOLMotorSWEnumOptions;
VTOLMotorSWEnumOptions.append("Channel0");
VTOLMotorSWEnumOptions.append("Channel1");
VTOLMotorSWEnumOptions.append("Channel2");
VTOLMotorSWEnumOptions.append("Channel3");
@ -193,12 +194,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorSWEnumOptions.append("Channel5");
VTOLMotorSWEnumOptions.append("Channel6");
VTOLMotorSWEnumOptions.append("Channel7");
VTOLMotorSWEnumOptions.append("Channel8");
VTOLMotorSWEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorSW"), QString("channel"), UAVObjectField::ENUM, VTOLMotorSWElemNames, VTOLMotorSWEnumOptions) );
QStringList VTOLMotorWElemNames;
VTOLMotorWElemNames.append("0");
QStringList VTOLMotorWEnumOptions;
VTOLMotorWEnumOptions.append("Channel0");
VTOLMotorWEnumOptions.append("Channel1");
VTOLMotorWEnumOptions.append("Channel2");
VTOLMotorWEnumOptions.append("Channel3");
@ -206,12 +207,12 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorWEnumOptions.append("Channel5");
VTOLMotorWEnumOptions.append("Channel6");
VTOLMotorWEnumOptions.append("Channel7");
VTOLMotorWEnumOptions.append("Channel8");
VTOLMotorWEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorW"), QString("channel"), UAVObjectField::ENUM, VTOLMotorWElemNames, VTOLMotorWEnumOptions) );
QStringList VTOLMotorNWElemNames;
VTOLMotorNWElemNames.append("0");
QStringList VTOLMotorNWEnumOptions;
VTOLMotorNWEnumOptions.append("Channel0");
VTOLMotorNWEnumOptions.append("Channel1");
VTOLMotorNWEnumOptions.append("Channel2");
VTOLMotorNWEnumOptions.append("Channel3");
@ -219,7 +220,6 @@ ActuatorSettings::ActuatorSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTI
VTOLMotorNWEnumOptions.append("Channel5");
VTOLMotorNWEnumOptions.append("Channel6");
VTOLMotorNWEnumOptions.append("Channel7");
VTOLMotorNWEnumOptions.append("Channel8");
VTOLMotorNWEnumOptions.append("None");
fields.append( new UAVObjectField(QString("VTOLMotorNW"), QString("channel"), UAVObjectField::ENUM, VTOLMotorNWElemNames, VTOLMotorNWEnumOptions) );
QStringList ChannelUpdateFreqElemNames;

28
ground/src/plugins/uavobjects/actuatorsettings.h
View File

@ -65,46 +65,46 @@ public:
// Field information
// Field FixedWingRoll1 information
/* Enumeration options for field FixedWingRoll1 */
typedef enum { FIXEDWINGROLL1_CHANNEL1=0, FIXEDWINGROLL1_CHANNEL2=1, FIXEDWINGROLL1_CHANNEL3=2, FIXEDWINGROLL1_CHANNEL4=3, FIXEDWINGROLL1_CHANNEL5=4, FIXEDWINGROLL1_CHANNEL6=5, FIXEDWINGROLL1_CHANNEL7=6, FIXEDWINGROLL1_CHANNEL8=7, FIXEDWINGROLL1_NONE=8, } FixedWingRoll1Options;
typedef enum { FIXEDWINGROLL1_CHANNEL0=0, FIXEDWINGROLL1_CHANNEL1=1, FIXEDWINGROLL1_CHANNEL2=2, FIXEDWINGROLL1_CHANNEL3=3, FIXEDWINGROLL1_CHANNEL4=4, FIXEDWINGROLL1_CHANNEL5=5, FIXEDWINGROLL1_CHANNEL6=6, FIXEDWINGROLL1_CHANNEL7=7, FIXEDWINGROLL1_NONE=8, } FixedWingRoll1Options;
// Field FixedWingRoll2 information
/* Enumeration options for field FixedWingRoll2 */
typedef enum { FIXEDWINGROLL2_CHANNEL1=0, FIXEDWINGROLL2_CHANNEL2=1, FIXEDWINGROLL2_CHANNEL3=2, FIXEDWINGROLL2_CHANNEL4=3, FIXEDWINGROLL2_CHANNEL5=4, FIXEDWINGROLL2_CHANNEL6=5, FIXEDWINGROLL2_CHANNEL7=6, FIXEDWINGROLL2_CHANNEL8=7, FIXEDWINGROLL2_NONE=8, } FixedWingRoll2Options;
typedef enum { FIXEDWINGROLL2_CHANNEL0=0, FIXEDWINGROLL2_CHANNEL1=1, FIXEDWINGROLL2_CHANNEL2=2, FIXEDWINGROLL2_CHANNEL3=3, FIXEDWINGROLL2_CHANNEL4=4, FIXEDWINGROLL2_CHANNEL5=5, FIXEDWINGROLL2_CHANNEL6=6, FIXEDWINGROLL2_CHANNEL7=7, FIXEDWINGROLL2_NONE=8, } FixedWingRoll2Options;
// Field FixedWingPitch1 information
/* Enumeration options for field FixedWingPitch1 */
typedef enum { FIXEDWINGPITCH1_CHANNEL1=0, FIXEDWINGPITCH1_CHANNEL2=1, FIXEDWINGPITCH1_CHANNEL3=2, FIXEDWINGPITCH1_CHANNEL4=3, FIXEDWINGPITCH1_CHANNEL5=4, FIXEDWINGPITCH1_CHANNEL6=5, FIXEDWINGPITCH1_CHANNEL7=6, FIXEDWINGPITCH1_CHANNEL8=7, FIXEDWINGPITCH1_NONE=8, } FixedWingPitch1Options;
typedef enum { FIXEDWINGPITCH1_CHANNEL0=0, FIXEDWINGPITCH1_CHANNEL1=1, FIXEDWINGPITCH1_CHANNEL2=2, FIXEDWINGPITCH1_CHANNEL3=3, FIXEDWINGPITCH1_CHANNEL4=4, FIXEDWINGPITCH1_CHANNEL5=5, FIXEDWINGPITCH1_CHANNEL6=6, FIXEDWINGPITCH1_CHANNEL7=7, FIXEDWINGPITCH1_NONE=8, } FixedWingPitch1Options;
// Field FixedWingPitch2 information
/* Enumeration options for field FixedWingPitch2 */
typedef enum { FIXEDWINGPITCH2_CHANNEL1=0, FIXEDWINGPITCH2_CHANNEL2=1, FIXEDWINGPITCH2_CHANNEL3=2, FIXEDWINGPITCH2_CHANNEL4=3, FIXEDWINGPITCH2_CHANNEL5=4, FIXEDWINGPITCH2_CHANNEL6=5, FIXEDWINGPITCH2_CHANNEL7=6, FIXEDWINGPITCH2_CHANNEL8=7, FIXEDWINGPITCH2_NONE=8, } FixedWingPitch2Options;
typedef enum { FIXEDWINGPITCH2_CHANNEL0=0, FIXEDWINGPITCH2_CHANNEL1=1, FIXEDWINGPITCH2_CHANNEL2=2, FIXEDWINGPITCH2_CHANNEL3=3, FIXEDWINGPITCH2_CHANNEL4=4, FIXEDWINGPITCH2_CHANNEL5=5, FIXEDWINGPITCH2_CHANNEL6=6, FIXEDWINGPITCH2_CHANNEL7=7, FIXEDWINGPITCH2_NONE=8, } FixedWingPitch2Options;
// Field FixedWingYaw information
/* Enumeration options for field FixedWingYaw */
typedef enum { FIXEDWINGYAW_CHANNEL1=0, FIXEDWINGYAW_CHANNEL2=1, FIXEDWINGYAW_CHANNEL3=2, FIXEDWINGYAW_CHANNEL4=3, FIXEDWINGYAW_CHANNEL5=4, FIXEDWINGYAW_CHANNEL6=5, FIXEDWINGYAW_CHANNEL7=6, FIXEDWINGYAW_CHANNEL8=7, FIXEDWINGYAW_NONE=8, } FixedWingYawOptions;
typedef enum { FIXEDWINGYAW_CHANNEL0=0, FIXEDWINGYAW_CHANNEL1=1, FIXEDWINGYAW_CHANNEL2=2, FIXEDWINGYAW_CHANNEL3=3, FIXEDWINGYAW_CHANNEL4=4, FIXEDWINGYAW_CHANNEL5=5, FIXEDWINGYAW_CHANNEL6=6, FIXEDWINGYAW_CHANNEL7=7, FIXEDWINGYAW_NONE=8, } FixedWingYawOptions;
// Field FixedWingThrottle information
/* Enumeration options for field FixedWingThrottle */
typedef enum { FIXEDWINGTHROTTLE_CHANNEL1=0, FIXEDWINGTHROTTLE_CHANNEL2=1, FIXEDWINGTHROTTLE_CHANNEL3=2, FIXEDWINGTHROTTLE_CHANNEL4=3, FIXEDWINGTHROTTLE_CHANNEL5=4, FIXEDWINGTHROTTLE_CHANNEL6=5, FIXEDWINGTHROTTLE_CHANNEL7=6, FIXEDWINGTHROTTLE_CHANNEL8=7, FIXEDWINGTHROTTLE_NONE=8, } FixedWingThrottleOptions;
typedef enum { FIXEDWINGTHROTTLE_CHANNEL0=0, FIXEDWINGTHROTTLE_CHANNEL1=1, FIXEDWINGTHROTTLE_CHANNEL2=2, FIXEDWINGTHROTTLE_CHANNEL3=3, FIXEDWINGTHROTTLE_CHANNEL4=4, FIXEDWINGTHROTTLE_CHANNEL5=5, FIXEDWINGTHROTTLE_CHANNEL6=6, FIXEDWINGTHROTTLE_CHANNEL7=7, FIXEDWINGTHROTTLE_NONE=8, } FixedWingThrottleOptions;
// Field VTOLMotorN information
/* Enumeration options for field VTOLMotorN */
typedef enum { VTOLMOTORN_CHANNEL1=0, VTOLMOTORN_CHANNEL2=1, VTOLMOTORN_CHANNEL3=2, VTOLMOTORN_CHANNEL4=3, VTOLMOTORN_CHANNEL5=4, VTOLMOTORN_CHANNEL6=5, VTOLMOTORN_CHANNEL7=6, VTOLMOTORN_CHANNEL8=7, VTOLMOTORN_NONE=8, } VTOLMotorNOptions;
typedef enum { VTOLMOTORN_CHANNEL0=0, VTOLMOTORN_CHANNEL1=1, VTOLMOTORN_CHANNEL2=2, VTOLMOTORN_CHANNEL3=3, VTOLMOTORN_CHANNEL4=4, VTOLMOTORN_CHANNEL5=5, VTOLMOTORN_CHANNEL6=6, VTOLMOTORN_CHANNEL7=7, VTOLMOTORN_NONE=8, } VTOLMotorNOptions;
// Field VTOLMotorNE information
/* Enumeration options for field VTOLMotorNE */
typedef enum { VTOLMOTORNE_CHANNEL1=0, VTOLMOTORNE_CHANNEL2=1, VTOLMOTORNE_CHANNEL3=2, VTOLMOTORNE_CHANNEL4=3, VTOLMOTORNE_CHANNEL5=4, VTOLMOTORNE_CHANNEL6=5, VTOLMOTORNE_CHANNEL7=6, VTOLMOTORNE_CHANNEL8=7, VTOLMOTORNE_NONE=8, } VTOLMotorNEOptions;
typedef enum { VTOLMOTORNE_CHANNEL0=0, VTOLMOTORNE_CHANNEL1=1, VTOLMOTORNE_CHANNEL2=2, VTOLMOTORNE_CHANNEL3=3, VTOLMOTORNE_CHANNEL4=4, VTOLMOTORNE_CHANNEL5=5, VTOLMOTORNE_CHANNEL6=6, VTOLMOTORNE_CHANNEL7=7, VTOLMOTORNE_NONE=8, } VTOLMotorNEOptions;
// Field VTOLMotorE information
/* Enumeration options for field VTOLMotorE */
typedef enum { VTOLMOTORE_CHANNEL1=0, VTOLMOTORE_CHANNEL2=1, VTOLMOTORE_CHANNEL3=2, VTOLMOTORE_CHANNEL4=3, VTOLMOTORE_CHANNEL5=4, VTOLMOTORE_CHANNEL6=5, VTOLMOTORE_CHANNEL7=6, VTOLMOTORE_CHANNEL8=7, VTOLMOTORE_NONE=8, } VTOLMotorEOptions;
typedef enum { VTOLMOTORE_CHANNEL0=0, VTOLMOTORE_CHANNEL1=1, VTOLMOTORE_CHANNEL2=2, VTOLMOTORE_CHANNEL3=3, VTOLMOTORE_CHANNEL4=4, VTOLMOTORE_CHANNEL5=5, VTOLMOTORE_CHANNEL6=6, VTOLMOTORE_CHANNEL7=7, VTOLMOTORE_NONE=8, } VTOLMotorEOptions;
// Field VTOLMotorSE information
/* Enumeration options for field VTOLMotorSE */
typedef enum { VTOLMOTORSE_CHANNEL1=0, VTOLMOTORSE_CHANNEL2=1, VTOLMOTORSE_CHANNEL3=2, VTOLMOTORSE_CHANNEL4=3, VTOLMOTORSE_CHANNEL5=4, VTOLMOTORSE_CHANNEL6=5, VTOLMOTORSE_CHANNEL7=6, VTOLMOTORSE_CHANNEL8=7, VTOLMOTORSE_NONE=8, } VTOLMotorSEOptions;
typedef enum { VTOLMOTORSE_CHANNEL0=0, VTOLMOTORSE_CHANNEL1=1, VTOLMOTORSE_CHANNEL2=2, VTOLMOTORSE_CHANNEL3=3, VTOLMOTORSE_CHANNEL4=4, VTOLMOTORSE_CHANNEL5=5, VTOLMOTORSE_CHANNEL6=6, VTOLMOTORSE_CHANNEL7=7, VTOLMOTORSE_NONE=8, } VTOLMotorSEOptions;
// Field VTOLMotorS information
/* Enumeration options for field VTOLMotorS */
typedef enum { VTOLMOTORS_CHANNEL1=0, VTOLMOTORS_CHANNEL2=1, VTOLMOTORS_CHANNEL3=2, VTOLMOTORS_CHANNEL4=3, VTOLMOTORS_CHANNEL5=4, VTOLMOTORS_CHANNEL6=5, VTOLMOTORS_CHANNEL7=6, VTOLMOTORS_CHANNEL8=7, VTOLMOTORS_NONE=8, } VTOLMotorSOptions;
typedef enum { VTOLMOTORS_CHANNEL0=0, VTOLMOTORS_CHANNEL1=1, VTOLMOTORS_CHANNEL2=2, VTOLMOTORS_CHANNEL3=3, VTOLMOTORS_CHANNEL4=4, VTOLMOTORS_CHANNEL5=5, VTOLMOTORS_CHANNEL6=6, VTOLMOTORS_CHANNEL7=7, VTOLMOTORS_NONE=8, } VTOLMotorSOptions;
// Field VTOLMotorSW information
/* Enumeration options for field VTOLMotorSW */
typedef enum { VTOLMOTORSW_CHANNEL1=0, VTOLMOTORSW_CHANNEL2=1, VTOLMOTORSW_CHANNEL3=2, VTOLMOTORSW_CHANNEL4=3, VTOLMOTORSW_CHANNEL5=4, VTOLMOTORSW_CHANNEL6=5, VTOLMOTORSW_CHANNEL7=6, VTOLMOTORSW_CHANNEL8=7, VTOLMOTORSW_NONE=8, } VTOLMotorSWOptions;
typedef enum { VTOLMOTORSW_CHANNEL0=0, VTOLMOTORSW_CHANNEL1=1, VTOLMOTORSW_CHANNEL2=2, VTOLMOTORSW_CHANNEL3=3, VTOLMOTORSW_CHANNEL4=4, VTOLMOTORSW_CHANNEL5=5, VTOLMOTORSW_CHANNEL6=6, VTOLMOTORSW_CHANNEL7=7, VTOLMOTORSW_NONE=8, } VTOLMotorSWOptions;
// Field VTOLMotorW information
/* Enumeration options for field VTOLMotorW */
typedef enum { VTOLMOTORW_CHANNEL1=0, VTOLMOTORW_CHANNEL2=1, VTOLMOTORW_CHANNEL3=2, VTOLMOTORW_CHANNEL4=3, VTOLMOTORW_CHANNEL5=4, VTOLMOTORW_CHANNEL6=5, VTOLMOTORW_CHANNEL7=6, VTOLMOTORW_CHANNEL8=7, VTOLMOTORW_NONE=8, } VTOLMotorWOptions;
typedef enum { VTOLMOTORW_CHANNEL0=0, VTOLMOTORW_CHANNEL1=1, VTOLMOTORW_CHANNEL2=2, VTOLMOTORW_CHANNEL3=3, VTOLMOTORW_CHANNEL4=4, VTOLMOTORW_CHANNEL5=5, VTOLMOTORW_CHANNEL6=6, VTOLMOTORW_CHANNEL7=7, VTOLMOTORW_NONE=8, } VTOLMotorWOptions;
// Field VTOLMotorNW information
/* Enumeration options for field VTOLMotorNW */
typedef enum { VTOLMOTORNW_CHANNEL1=0, VTOLMOTORNW_CHANNEL2=1, VTOLMOTORNW_CHANNEL3=2, VTOLMOTORNW_CHANNEL4=3, VTOLMOTORNW_CHANNEL5=4, VTOLMOTORNW_CHANNEL6=5, VTOLMOTORNW_CHANNEL7=6, VTOLMOTORNW_CHANNEL8=7, VTOLMOTORNW_NONE=8, } VTOLMotorNWOptions;
typedef enum { VTOLMOTORNW_CHANNEL0=0, VTOLMOTORNW_CHANNEL1=1, VTOLMOTORNW_CHANNEL2=2, VTOLMOTORNW_CHANNEL3=3, VTOLMOTORNW_CHANNEL4=4, VTOLMOTORNW_CHANNEL5=5, VTOLMOTORNW_CHANNEL6=6, VTOLMOTORNW_CHANNEL7=7, VTOLMOTORNW_NONE=8, } VTOLMotorNWOptions;
// Field ChannelUpdateFreq information
/* Number of elements for field ChannelUpdateFreq */
static const quint32 CHANNELUPDATEFREQ_NUMELEM = 2;

224
ground/src/plugins/uavobjects/actuatorsettings.py
View File

@ -45,14 +45,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -64,14 +64,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -83,14 +83,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -102,14 +102,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -121,14 +121,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -140,14 +140,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -159,14 +159,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -178,14 +178,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -197,14 +197,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -216,14 +216,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -235,14 +235,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -254,14 +254,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -273,14 +273,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -292,14 +292,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),

10
ground/src/plugins/uavobjects/manualcontrolsettings.cpp
View File

@ -50,6 +50,7 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
QStringList RollElemNames;
RollElemNames.append("0");
QStringList RollEnumOptions;
RollEnumOptions.append("Channel0");
RollEnumOptions.append("Channel1");
RollEnumOptions.append("Channel2");
RollEnumOptions.append("Channel3");
@ -57,12 +58,12 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
RollEnumOptions.append("Channel5");
RollEnumOptions.append("Channel6");
RollEnumOptions.append("Channel7");
RollEnumOptions.append("Channel8");
RollEnumOptions.append("None");
fields.append( new UAVObjectField(QString("Roll"), QString("channel"), UAVObjectField::ENUM, RollElemNames, RollEnumOptions) );
QStringList PitchElemNames;
PitchElemNames.append("0");
QStringList PitchEnumOptions;
PitchEnumOptions.append("Channel0");
PitchEnumOptions.append("Channel1");
PitchEnumOptions.append("Channel2");
PitchEnumOptions.append("Channel3");
@ -70,12 +71,12 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
PitchEnumOptions.append("Channel5");
PitchEnumOptions.append("Channel6");
PitchEnumOptions.append("Channel7");
PitchEnumOptions.append("Channel8");
PitchEnumOptions.append("None");
fields.append( new UAVObjectField(QString("Pitch"), QString("channel"), UAVObjectField::ENUM, PitchElemNames, PitchEnumOptions) );
QStringList YawElemNames;
YawElemNames.append("0");
QStringList YawEnumOptions;
YawEnumOptions.append("Channel0");
YawEnumOptions.append("Channel1");
YawEnumOptions.append("Channel2");
YawEnumOptions.append("Channel3");
@ -83,12 +84,12 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
YawEnumOptions.append("Channel5");
YawEnumOptions.append("Channel6");
YawEnumOptions.append("Channel7");
YawEnumOptions.append("Channel8");
YawEnumOptions.append("None");
fields.append( new UAVObjectField(QString("Yaw"), QString("channel"), UAVObjectField::ENUM, YawElemNames, YawEnumOptions) );
QStringList ThrottleElemNames;
ThrottleElemNames.append("0");
QStringList ThrottleEnumOptions;
ThrottleEnumOptions.append("Channel0");
ThrottleEnumOptions.append("Channel1");
ThrottleEnumOptions.append("Channel2");
ThrottleEnumOptions.append("Channel3");
@ -96,12 +97,12 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
ThrottleEnumOptions.append("Channel5");
ThrottleEnumOptions.append("Channel6");
ThrottleEnumOptions.append("Channel7");
ThrottleEnumOptions.append("Channel8");
ThrottleEnumOptions.append("None");
fields.append( new UAVObjectField(QString("Throttle"), QString("channel"), UAVObjectField::ENUM, ThrottleElemNames, ThrottleEnumOptions) );
QStringList FlightModeElemNames;
FlightModeElemNames.append("0");
QStringList FlightModeEnumOptions;
FlightModeEnumOptions.append("Channel0");
FlightModeEnumOptions.append("Channel1");
FlightModeEnumOptions.append("Channel2");
FlightModeEnumOptions.append("Channel3");
@ -109,7 +110,6 @@ ManualControlSettings::ManualControlSettings(): UAVDataObject(OBJID, ISSINGLEINS
FlightModeEnumOptions.append("Channel5");
FlightModeEnumOptions.append("Channel6");
FlightModeEnumOptions.append("Channel7");
FlightModeEnumOptions.append("Channel8");
FlightModeEnumOptions.append("None");
fields.append( new UAVObjectField(QString("FlightMode"), QString("channel"), UAVObjectField::ENUM, FlightModeElemNames, FlightModeEnumOptions) );
QStringList ChannelMaxElemNames;

10
ground/src/plugins/uavobjects/manualcontrolsettings.h
View File

@ -59,19 +59,19 @@ public:
typedef enum { INPUTMODE_PWM=0, INPUTMODE_PPM=1, INPUTMODE_SPEKTRUM=2, } InputModeOptions;
// Field Roll information
/* Enumeration options for field Roll */
typedef enum { ROLL_CHANNEL1=0, ROLL_CHANNEL2=1, ROLL_CHANNEL3=2, ROLL_CHANNEL4=3, ROLL_CHANNEL5=4, ROLL_CHANNEL6=5, ROLL_CHANNEL7=6, ROLL_CHANNEL8=7, ROLL_NONE=8, } RollOptions;
typedef enum { ROLL_CHANNEL0=0, ROLL_CHANNEL1=1, ROLL_CHANNEL2=2, ROLL_CHANNEL3=3, ROLL_CHANNEL4=4, ROLL_CHANNEL5=5, ROLL_CHANNEL6=6, ROLL_CHANNEL7=7, ROLL_NONE=8, } RollOptions;
// Field Pitch information
/* Enumeration options for field Pitch */
typedef enum { PITCH_CHANNEL1=0, PITCH_CHANNEL2=1, PITCH_CHANNEL3=2, PITCH_CHANNEL4=3, PITCH_CHANNEL5=4, PITCH_CHANNEL6=5, PITCH_CHANNEL7=6, PITCH_CHANNEL8=7, PITCH_NONE=8, } PitchOptions;
typedef enum { PITCH_CHANNEL0=0, PITCH_CHANNEL1=1, PITCH_CHANNEL2=2, PITCH_CHANNEL3=3, PITCH_CHANNEL4=4, PITCH_CHANNEL5=5, PITCH_CHANNEL6=6, PITCH_CHANNEL7=7, PITCH_NONE=8, } PitchOptions;
// Field Yaw information
/* Enumeration options for field Yaw */
typedef enum { YAW_CHANNEL1=0, YAW_CHANNEL2=1, YAW_CHANNEL3=2, YAW_CHANNEL4=3, YAW_CHANNEL5=4, YAW_CHANNEL6=5, YAW_CHANNEL7=6, YAW_CHANNEL8=7, YAW_NONE=8, } YawOptions;
typedef enum { YAW_CHANNEL0=0, YAW_CHANNEL1=1, YAW_CHANNEL2=2, YAW_CHANNEL3=3, YAW_CHANNEL4=4, YAW_CHANNEL5=5, YAW_CHANNEL6=6, YAW_CHANNEL7=7, YAW_NONE=8, } YawOptions;
// Field Throttle information
/* Enumeration options for field Throttle */
typedef enum { THROTTLE_CHANNEL1=0, THROTTLE_CHANNEL2=1, THROTTLE_CHANNEL3=2, THROTTLE_CHANNEL4=3, THROTTLE_CHANNEL5=4, THROTTLE_CHANNEL6=5, THROTTLE_CHANNEL7=6, THROTTLE_CHANNEL8=7, THROTTLE_NONE=8, } ThrottleOptions;
typedef enum { THROTTLE_CHANNEL0=0, THROTTLE_CHANNEL1=1, THROTTLE_CHANNEL2=2, THROTTLE_CHANNEL3=3, THROTTLE_CHANNEL4=4, THROTTLE_CHANNEL5=5, THROTTLE_CHANNEL6=6, THROTTLE_CHANNEL7=7, THROTTLE_NONE=8, } ThrottleOptions;
// Field FlightMode information
/* Enumeration options for field FlightMode */
typedef enum { FLIGHTMODE_CHANNEL1=0, FLIGHTMODE_CHANNEL2=1, FLIGHTMODE_CHANNEL3=2, FLIGHTMODE_CHANNEL4=3, FLIGHTMODE_CHANNEL5=4, FLIGHTMODE_CHANNEL6=5, FLIGHTMODE_CHANNEL7=6, FLIGHTMODE_CHANNEL8=7, FLIGHTMODE_NONE=8, } FlightModeOptions;
typedef enum { FLIGHTMODE_CHANNEL0=0, FLIGHTMODE_CHANNEL1=1, FLIGHTMODE_CHANNEL2=2, FLIGHTMODE_CHANNEL3=3, FLIGHTMODE_CHANNEL4=4, FLIGHTMODE_CHANNEL5=5, FLIGHTMODE_CHANNEL6=6, FLIGHTMODE_CHANNEL7=7, FLIGHTMODE_NONE=8, } FlightModeOptions;
// Field ChannelMax information
/* Number of elements for field ChannelMax */
static const quint32 CHANNELMAX_NUMELEM = 8;

80
ground/src/plugins/uavobjects/manualcontrolsettings.py
View File

@ -58,14 +58,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -77,14 +77,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -96,14 +96,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -115,14 +115,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),
@ -134,14 +134,14 @@ _fields = [ \
'0',
],
{
'0' : 'Channel1',
'1' : 'Channel2',
'2' : 'Channel3',
'3' : 'Channel4',
'4' : 'Channel5',
'5' : 'Channel6',
'6' : 'Channel7',
'7' : 'Channel8',
'0' : 'Channel0',
'1' : 'Channel1',
'2' : 'Channel2',
'3' : 'Channel3',
'4' : 'Channel4',
'5' : 'Channel5',
'6' : 'Channel6',
'7' : 'Channel7',
'8' : 'None',
}
),

42
ground/src/plugins/uavobjects/stabilizationsettings.cpp
View File

@ -40,6 +40,9 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS
{
// Create fields
QList<UAVObjectField*> fields;
QStringList UpdatePeriodElemNames;
UpdatePeriodElemNames.append("0");
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT16, UpdatePeriodElemNames, QStringList()) );
QStringList RollMaxElemNames;
RollMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::FLOAT32, RollMaxElemNames, QStringList()) );
@ -49,6 +52,33 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS
QStringList ThrottleMaxElemNames;
ThrottleMaxElemNames.append("0");
fields.append( new UAVObjectField(QString("ThrottleMax"), QString("%"), UAVObjectField::FLOAT32, ThrottleMaxElemNames, QStringList()) );
QStringList PitchKpElemNames;
PitchKpElemNames.append("0");
fields.append( new UAVObjectField(QString("PitchKp"), QString(""), UAVObjectField::FLOAT32, PitchKpElemNames, QStringList()) );
QStringList PitchKiElemNames;
PitchKiElemNames.append("0");
fields.append( new UAVObjectField(QString("PitchKi"), QString(""), UAVObjectField::FLOAT32, PitchKiElemNames, QStringList()) );
QStringList PitchKdElemNames;
PitchKdElemNames.append("0");
fields.append( new UAVObjectField(QString("PitchKd"), QString(""), UAVObjectField::FLOAT32, PitchKdElemNames, QStringList()) );
QStringList RollKpElemNames;
RollKpElemNames.append("0");
fields.append( new UAVObjectField(QString("RollKp"), QString(""), UAVObjectField::FLOAT32, RollKpElemNames, QStringList()) );
QStringList RollKiElemNames;
RollKiElemNames.append("0");
fields.append( new UAVObjectField(QString("RollKi"), QString(""), UAVObjectField::FLOAT32, RollKiElemNames, QStringList()) );
QStringList RollKdElemNames;
RollKdElemNames.append("0");
fields.append( new UAVObjectField(QString("RollKd"), QString(""), UAVObjectField::FLOAT32, RollKdElemNames, QStringList()) );
QStringList YawKpElemNames;
YawKpElemNames.append("0");
fields.append( new UAVObjectField(QString("YawKp"), QString(""), UAVObjectField::FLOAT32, YawKpElemNames, QStringList()) );
QStringList YawKiElemNames;
YawKiElemNames.append("0");
fields.append( new UAVObjectField(QString("YawKi"), QString(""), UAVObjectField::FLOAT32, YawKiElemNames, QStringList()) );
QStringList YawKdElemNames;
YawKdElemNames.append("0");
fields.append( new UAVObjectField(QString("YawKd"), QString(""), UAVObjectField::FLOAT32, YawKdElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
@ -82,9 +112,19 @@ UAVObject::Metadata StabilizationSettings::getDefaultMetadata()
*/
void StabilizationSettings::setDefaultFieldValues()
{
data.UpdatePeriod = 10;
data.RollMax = 35;
data.PitchMax = 35;
data.ThrottleMax = 100;
data.ThrottleMax = 1;
data.PitchKp = 0.04;
data.PitchKi = 4e-06;
data.PitchKd = 0.01;
data.RollKp = 0.02;
data.RollKi = 4e-06;
data.RollKd = 0.01;
data.YawKp = 1;
data.YawKi = 0;
data.YawKd = 0;
}

22
ground/src/plugins/uavobjects/stabilizationsettings.h
View File

@ -41,20 +41,40 @@ class UAVOBJECTS_EXPORT StabilizationSettings: public UAVDataObject
public:
// Field structure
typedef struct {
quint16 UpdatePeriod;
float RollMax;
float PitchMax;
float ThrottleMax;
float PitchKp;
float PitchKi;
float PitchKd;
float RollKp;
float RollKi;
float RollKd;
float YawKp;
float YawKi;
float YawKd;
} __attribute__((packed)) DataFields;
// Field information
// Field UpdatePeriod information
// Field RollMax information
// Field PitchMax information
// Field ThrottleMax information
// Field PitchKp information
// Field PitchKi information
// Field PitchKd information
// Field RollKp information
// Field RollKi information
// Field RollKd information
// Field YawKp information
// Field YawKi information
// Field YawKd information
// Constants
static const quint32 OBJID = 1855169608U;
static const quint32 OBJID = 2185681924U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;

102
ground/src/plugins/uavobjects/stabilizationsettings.py
View File

@ -37,6 +37,16 @@ from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'UpdatePeriod',
'H',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollMax',
'f',
@ -67,12 +77,102 @@ _fields = [ \
{
}
),
uavobject.UAVObjectField(
'PitchKp',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'PitchKi',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'PitchKd',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollKp',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollKi',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollKd',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'YawKp',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'YawKi',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'YawKd',
'f',
1,
[
'0',
],
{
}
),
]
class StabilizationSettings(uavobject.UAVObject):
## Object constants
OBJID = 1855169608
OBJID = 2185681924
NAME = "StabilizationSettings"
METANAME = "StabilizationSettingsMeta"
ISSINGLEINST = 1

1
ground/src/plugins/uavobjects/systemalarms.cpp
View File

@ -49,6 +49,7 @@ SystemAlarms::SystemAlarms(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
AlarmElemNames.append("Telemetry");
AlarmElemNames.append("ManualControl");
AlarmElemNames.append("Actuator");
AlarmElemNames.append("Stabilization");
QStringList AlarmEnumOptions;
AlarmEnumOptions.append("OK");
AlarmEnumOptions.append("Warning");

6
ground/src/plugins/uavobjects/systemalarms.h
View File

@ -41,7 +41,7 @@ class UAVOBJECTS_EXPORT SystemAlarms: public UAVDataObject
public:
// Field structure
typedef struct {
quint8 Alarm[8];
quint8 Alarm[9];
} __attribute__((packed)) DataFields;
@ -50,9 +50,9 @@ public:
/* Enumeration options for field Alarm */
typedef enum { ALARM_OK=0, ALARM_WARNING=1, ALARM_ERROR=2, ALARM_CRITICAL=3, } AlarmOptions;
/* Array element names for field Alarm */
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, ALARM_SDCARD=4, ALARM_TELEMETRY=5, ALARM_MANUALCONTROL=6, ALARM_ACTUATOR=7, } AlarmElem;
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, ALARM_SDCARD=4, ALARM_TELEMETRY=5, ALARM_MANUALCONTROL=6, ALARM_ACTUATOR=7, ALARM_STABILIZATION=8, } AlarmElem;
/* Number of elements for field Alarm */
static const quint32 ALARM_NUMELEM = 8;
static const quint32 ALARM_NUMELEM = 9;
// Constants

3
ground/src/plugins/uavobjects/systemalarms.py
View File

@ -40,7 +40,7 @@ _fields = [ \
uavobject.UAVObjectField(
'Alarm',
'b',
8,
9,
[
'OutOfMemory',
'StackOverflow',
@ -50,6 +50,7 @@ _fields = [ \
'Telemetry',
'ManualControl',
'Actuator',
'Stabilization',
],
{
'0' : 'OK',

28
ground/src/shared/uavobjectdefinition/actuatorsettings.xml
View File

@ -1,19 +1,19 @@
<xml>
<object name="ActuatorSettings" singleinstance="true" settings="true">
<field name="FixedWingRoll1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="FixedWingRoll2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="FixedWingPitch1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="FixedWingPitch2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="FixedWingYaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="FixedWingThrottle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorN" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorNE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorSE" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorS" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorSW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="VTOLMotorNW" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
<field name="FixedWingRoll1" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="FixedWingRoll2" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="FixedWingPitch1" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="FixedWingPitch2" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="FixedWingYaw" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="FixedWingThrottle" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorN" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorNE" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorE" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorSE" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorS" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorSW" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorW" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="VTOLMotorNW" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="None"/>
<field name="ChannelUpdateFreq" units="Hz" type="int16" elements="2" defaultvalue="50"/>
<field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>

10
ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml
View File

@ -1,11 +1,11 @@
<xml>
<object name="ManualControlSettings" singleinstance="true" settings="true">
<field name="InputMode" units="" type="enum" elements="1" options="PWM,PPM,Spektrum" defaultvalue="PWM"/>
<field name="Roll" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel1"/>
<field name="Pitch" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel2"/>
<field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel3"/>
<field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel4"/>
<field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="Channel5"/>
<field name="Roll" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="Channel0"/>
<field name="Pitch" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="Channel1"/>
<field name="Yaw" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="Channel2"/>
<field name="Throttle" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="Channel3"/>
<field name="FlightMode" units="channel" type="enum" elements="1" options="Channel0,Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,None" defaultvalue="Channel4"/>
<field name="ChannelMax" units="us" type="int16" elements="8" defaultvalue="2000"/>
<field name="ChannelNeutral" units="us" type="int16" elements="8" defaultvalue="1500"/>
<field name="ChannelMin" units="us" type="int16" elements="8" defaultvalue="1000"/>

12
ground/src/shared/uavobjectdefinition/stabilizationsettings.xml
View File

@ -1,8 +1,18 @@
<xml>
<object name="StabilizationSettings" singleinstance="true" settings="true">
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="10"/>
<field name="RollMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
<field name="PitchMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
<field name="ThrottleMax" units="%" type="float" elements="1" defaultvalue="100.0"/>
<field name="ThrottleMax" units="%" type="float" elements="1" defaultvalue="1.0"/>
<field name="PitchKp" units="" type="float" elements="1" defaultvalue="0.04"/>
<field name="PitchKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
<field name="PitchKd" units="" type="float" elements="1" defaultvalue="0.01"/>
<field name="RollKp" units="" type="float" elements="1" defaultvalue="0.02"/>
<field name="RollKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
<field name="RollKd" units="" type="float" elements="1" defaultvalue="0.01"/>
<field name="YawKp" units="" type="float" elements="1" defaultvalue="1.0"/>
<field name="YawKi" units="" type="float" elements="1" defaultvalue="0.0"/>
<field name="YawKd" units="" type="float" elements="1" defaultvalue="0.0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

2
ground/src/shared/uavobjectdefinition/systemalarms.xml
View File

@ -1,7 +1,7 @@
<xml>
<object name="SystemAlarms" singleinstance="true" settings="false">
<field name="Alarm" units="" type="enum" options="OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator"/>
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Stabilization"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="4000"/>