diff --git a/ground/src/plugins/hitl/flightgearbridge.cpp b/ground/src/plugins/hitl/flightgearbridge.cpp index 774eeaa83..9fda75aab 100644 --- a/ground/src/plugins/hitl/flightgearbridge.cpp +++ b/ground/src/plugins/hitl/flightgearbridge.cpp @@ -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(); 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); } diff --git a/ground/src/plugins/uavobjects/actuatorsettings.cpp b/ground/src/plugins/uavobjects/actuatorsettings.cpp index 261cfa585..f6a5ef166 100644 --- a/ground/src/plugins/uavobjects/actuatorsettings.cpp +++ b/ground/src/plugins/uavobjects/actuatorsettings.cpp @@ -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; diff --git a/ground/src/plugins/uavobjects/actuatorsettings.h b/ground/src/plugins/uavobjects/actuatorsettings.h index 4bd5a7f43..cfdc394ed 100644 --- a/ground/src/plugins/uavobjects/actuatorsettings.h +++ b/ground/src/plugins/uavobjects/actuatorsettings.h @@ -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; diff --git a/ground/src/plugins/uavobjects/actuatorsettings.py b/ground/src/plugins/uavobjects/actuatorsettings.py index 0122913ea..3ec6cb061 100644 --- a/ground/src/plugins/uavobjects/actuatorsettings.py +++ b/ground/src/plugins/uavobjects/actuatorsettings.py @@ -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', } ), diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.cpp b/ground/src/plugins/uavobjects/manualcontrolsettings.cpp index 7c234ac1a..cd6ec5554 100644 --- a/ground/src/plugins/uavobjects/manualcontrolsettings.cpp +++ b/ground/src/plugins/uavobjects/manualcontrolsettings.cpp @@ -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; diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.h b/ground/src/plugins/uavobjects/manualcontrolsettings.h index b6f726c91..a6695d876 100644 --- a/ground/src/plugins/uavobjects/manualcontrolsettings.h +++ b/ground/src/plugins/uavobjects/manualcontrolsettings.h @@ -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; diff --git a/ground/src/plugins/uavobjects/manualcontrolsettings.py b/ground/src/plugins/uavobjects/manualcontrolsettings.py index 5afbbf8dd..08213da4d 100644 --- a/ground/src/plugins/uavobjects/manualcontrolsettings.py +++ b/ground/src/plugins/uavobjects/manualcontrolsettings.py @@ -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', } ), diff --git a/ground/src/plugins/uavobjects/stabilizationsettings.cpp b/ground/src/plugins/uavobjects/stabilizationsettings.cpp index 2ae279263..230be7fcf 100644 --- a/ground/src/plugins/uavobjects/stabilizationsettings.cpp +++ b/ground/src/plugins/uavobjects/stabilizationsettings.cpp @@ -40,6 +40,9 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS { // Create fields QList 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; } diff --git a/ground/src/plugins/uavobjects/stabilizationsettings.h b/ground/src/plugins/uavobjects/stabilizationsettings.h index eb2af43d9..f1d5481ef 100644 --- a/ground/src/plugins/uavobjects/stabilizationsettings.h +++ b/ground/src/plugins/uavobjects/stabilizationsettings.h @@ -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; diff --git a/ground/src/plugins/uavobjects/stabilizationsettings.py b/ground/src/plugins/uavobjects/stabilizationsettings.py index d2e00fbe5..847f544d7 100644 --- a/ground/src/plugins/uavobjects/stabilizationsettings.py +++ b/ground/src/plugins/uavobjects/stabilizationsettings.py @@ -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 diff --git a/ground/src/plugins/uavobjects/systemalarms.cpp b/ground/src/plugins/uavobjects/systemalarms.cpp index 87ba13c99..a8c9c9254 100644 --- a/ground/src/plugins/uavobjects/systemalarms.cpp +++ b/ground/src/plugins/uavobjects/systemalarms.cpp @@ -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"); diff --git a/ground/src/plugins/uavobjects/systemalarms.h b/ground/src/plugins/uavobjects/systemalarms.h index d1d53dcac..53fb70989 100644 --- a/ground/src/plugins/uavobjects/systemalarms.h +++ b/ground/src/plugins/uavobjects/systemalarms.h @@ -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 diff --git a/ground/src/plugins/uavobjects/systemalarms.py b/ground/src/plugins/uavobjects/systemalarms.py index b1ae870e5..4ae1dfa2d 100644 --- a/ground/src/plugins/uavobjects/systemalarms.py +++ b/ground/src/plugins/uavobjects/systemalarms.py @@ -40,7 +40,7 @@ _fields = [ \ uavobject.UAVObjectField( 'Alarm', 'b', - 8, + 9, [ 'OutOfMemory', 'StackOverflow', @@ -50,6 +50,7 @@ _fields = [ \ 'Telemetry', 'ManualControl', 'Actuator', + 'Stabilization', ], { '0' : 'OK', diff --git a/ground/src/shared/uavobjectdefinition/actuatorsettings.xml b/ground/src/shared/uavobjectdefinition/actuatorsettings.xml index 9d5ba2797..3cffb7c3d 100644 --- a/ground/src/shared/uavobjectdefinition/actuatorsettings.xml +++ b/ground/src/shared/uavobjectdefinition/actuatorsettings.xml @@ -1,19 +1,19 @@ - - - - - - - - - - - - - - + + + + + + + + + + + + + + diff --git a/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml b/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml index d965a5408..9fa4f8978 100644 --- a/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml +++ b/ground/src/shared/uavobjectdefinition/manualcontrolsettings.xml @@ -1,11 +1,11 @@ - - - - - + + + + + diff --git a/ground/src/shared/uavobjectdefinition/stabilizationsettings.xml b/ground/src/shared/uavobjectdefinition/stabilizationsettings.xml index 2a7a86bef..a8543ded7 100644 --- a/ground/src/shared/uavobjectdefinition/stabilizationsettings.xml +++ b/ground/src/shared/uavobjectdefinition/stabilizationsettings.xml @@ -1,8 +1,18 @@ + - + + + + + + + + + + diff --git a/ground/src/shared/uavobjectdefinition/systemalarms.xml b/ground/src/shared/uavobjectdefinition/systemalarms.xml index fa1ed819d..7f90021f0 100644 --- a/ground/src/shared/uavobjectdefinition/systemalarms.xml +++ b/ground/src/shared/uavobjectdefinition/systemalarms.xml @@ -1,7 +1,7 @@ + elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Stabilization"/>