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Merge branch 'corvuscorax/OP-1287_PositionVario' into next
This commit is contained in:
Corvus Corax
commit
d6b9c889a5
@ -66,4 +66,29 @@ void plan_setup_land();
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* @brief execute land
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*/
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void plan_run_land();
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/**
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* @brief setup pathfollower for positionvario
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*/
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void plan_setup_PositionVarioFPV();
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void plan_setup_PositionVarioLOS();
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void plan_setup_PositionVarioNSEW();
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/**
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* @brief run for positionvario
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*/
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void plan_run_PositionVarioFPV();
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void plan_run_PositionVarioLOS();
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void plan_run_PositionVarioNSEW();
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/**
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* @brief setup pathplanner/pathfollower for AutoCruise
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*/
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void plan_setup_AutoCruise();
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/**
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* @brief execute AutoCruise
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*/
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void plan_run_AutoCruise();
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#endif /* PLANS_H_ */
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@ -35,6 +35,14 @@
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#include <pathdesired.h>
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#include <positionstate.h>
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#include <flightmodesettings.h>
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#include <manualcontrolcommand.h>
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#include <attitudestate.h>
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#include <sin_lookup.h>
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#define UPDATE_EXPECTED 0.02f
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#define UPDATE_MIN 1.0e-6f
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#define UPDATE_MAX 1.0f
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#define UPDATE_ALPHA 1.0e-2f
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/**
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* @brief initialize UAVOs and structs used by this library
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@ -45,6 +53,8 @@ void plan_initialize()
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PositionStateInitialize();
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PathDesiredInitialize();
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FlightModeSettingsInitialize();
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AttitudeStateInitialize();
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ManualControlCommandInitialize();
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}
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/**
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@ -58,14 +68,19 @@ void plan_setup_positionHold()
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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pathDesired.Start.North = positionState.North;
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pathDesired.Start.East = positionState.East;
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pathDesired.Start.Down = positionState.Down;
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FlightModeSettingsPositionHoldOffsetData offset;
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FlightModeSettingsPositionHoldOffsetGet(&offset);
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float startingVelocity;
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FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
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pathDesired.End.North = positionState.North;
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pathDesired.End.East = positionState.East;
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pathDesired.End.Down = positionState.Down;
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pathDesired.StartingVelocity = 1;
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pathDesired.EndingVelocity = 0;
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pathDesired.Start.North = positionState.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
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pathDesired.Start.East = positionState.East;
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pathDesired.Start.Down = positionState.Down;
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pathDesired.StartingVelocity = startingVelocity;
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pathDesired.EndingVelocity = 0.0f;
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pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
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PathDesiredSet(&pathDesired);
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@ -93,17 +108,21 @@ void plan_setup_returnToBase()
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float destDown;
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FlightModeSettingsReturnToBaseAltitudeOffsetGet(&destDown);
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destDown = MIN(positionStateDown, takeoffLocation.Down) - destDown;
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pathDesired.Start.North = takeoffLocation.North;
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pathDesired.Start.East = takeoffLocation.East;
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pathDesired.Start.Down = destDown;
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FlightModeSettingsPositionHoldOffsetData offset;
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FlightModeSettingsPositionHoldOffsetGet(&offset);
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float startingVelocity;
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FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
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pathDesired.End.North = takeoffLocation.North;
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pathDesired.End.East = takeoffLocation.East;
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pathDesired.End.Down = destDown;
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pathDesired.StartingVelocity = 1;
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pathDesired.EndingVelocity = 0;
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pathDesired.Start.North = takeoffLocation.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
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pathDesired.Start.East = takeoffLocation.East;
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pathDesired.Start.Down = destDown;
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pathDesired.StartingVelocity = startingVelocity;
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pathDesired.EndingVelocity = 0.0f;
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pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
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PathDesiredSet(&pathDesired);
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@ -128,3 +147,319 @@ void plan_run_land()
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PathDesiredEndSet(&pathDesiredEnd);
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}
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/**
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* @brief positionvario functionality
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*/
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static bool vario_hold = true;
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static float hold_position[3];
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static void plan_setup_PositionVario()
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{
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vario_hold = true;
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plan_setup_positionHold();
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}
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void plan_setup_PositionVarioFPV()
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{
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plan_setup_PositionVario();
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}
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void plan_setup_PositionVarioLOS()
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{
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plan_setup_PositionVario();
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}
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void plan_setup_PositionVarioNSEW()
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{
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plan_setup_PositionVario();
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}
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#define DEADBAND 0.1f
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static bool normalizeDeadband(float controlVector[4])
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{
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bool moving = false;
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// roll, pitch, yaw between -1 and +1
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// thrust between 0 and 1 mapped to -1 to +1
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controlVector[3] = (2.0f * controlVector[3]) - 1.0f;
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int t;
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for (t = 0; t < 4; t++) {
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if (controlVector[t] < -DEADBAND) {
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moving = true;
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controlVector[t] += DEADBAND;
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} else if (controlVector[t] > DEADBAND) {
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moving = true;
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controlVector[t] -= DEADBAND;
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} else {
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controlVector[t] = 0.0f;
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}
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// deadband has been cut out, scale value back to [-1,+1]
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controlVector[t] *= (1.0f / (1.0f - DEADBAND));
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controlVector[t] = boundf(controlVector[t], -1.0f, 1.0f);
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}
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return moving;
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}
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typedef enum { FPV, LOS, NSEW } vario_type;
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static void getVector(float controlVector[4], vario_type type)
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{
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FlightModeSettingsPositionHoldOffsetData offset;
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FlightModeSettingsPositionHoldOffsetGet(&offset);
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// scale controlVector[3] (thrust) by vertical/horizontal to have vertical plane less sensitive
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controlVector[3] *= offset.Vertical / offset.Horizontal;
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float length = sqrtf(controlVector[0] * controlVector[0] + controlVector[1] * controlVector[1] + controlVector[3] * controlVector[3]);
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if (length <= 1e-9f) {
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length = 1.0f; // should never happen as getVector is not called if control within deadband
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}
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{
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float direction[3] = {
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controlVector[1] / length, // pitch is north
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controlVector[0] / length, // roll is east
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controlVector[3] / length // thrust is down
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};
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controlVector[0] = direction[0];
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controlVector[1] = direction[1];
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controlVector[2] = direction[2];
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}
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controlVector[3] = length * offset.Horizontal;
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// rotate north and east - rotation angle based on type
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float angle;
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switch (type) {
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case NSEW:
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angle = 0.0f;
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// NSEW no rotation takes place
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break;
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case FPV:
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// local rotation, using current yaw
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AttitudeStateYawGet(&angle);
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break;
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case LOS:
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// determine location based on vector from takeoff to current location
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{
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PositionStateData positionState;
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PositionStateGet(&positionState);
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TakeOffLocationData takeoffLocation;
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TakeOffLocationGet(&takeoffLocation);
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angle = RAD2DEG(atan2f(positionState.East - takeoffLocation.East, positionState.North - takeoffLocation.North));
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}
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break;
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}
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// rotate horizontally by angle
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{
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float rotated[2] = {
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controlVector[0] * cos_lookup_deg(angle) - controlVector[1] * sin_lookup_deg(angle),
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controlVector[0] * sin_lookup_deg(angle) + controlVector[1] * cos_lookup_deg(angle)
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};
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controlVector[0] = rotated[0];
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controlVector[1] = rotated[1];
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}
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}
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static void plan_run_PositionVario(vario_type type)
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{
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float controlVector[4];
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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FlightModeSettingsPositionHoldOffsetData offset;
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FlightModeSettingsPositionHoldOffsetGet(&offset);
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ManualControlCommandRollGet(&controlVector[0]);
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ManualControlCommandPitchGet(&controlVector[1]);
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ManualControlCommandYawGet(&controlVector[2]);
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ManualControlCommandThrustGet(&controlVector[3]);
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// check if movement is desired
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if (normalizeDeadband(controlVector) == false) {
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// no movement desired, re-enter positionHold at current start-position
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if (!vario_hold) {
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vario_hold = true;
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// new hold position is the position that was previously the start position
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pathDesired.End.North = hold_position[0];
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pathDesired.End.East = hold_position[1];
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pathDesired.End.Down = hold_position[2];
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// while the new start position has the same offset as in position hold
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pathDesired.Start.North = pathDesired.End.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
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pathDesired.Start.East = pathDesired.End.East;
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pathDesired.Start.Down = pathDesired.End.Down;
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PathDesiredSet(&pathDesired);
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}
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} else {
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PositionStateData positionState;
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PositionStateGet(&positionState);
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// flip pitch to have pitch down (away) point north
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controlVector[1] = -controlVector[1];
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getVector(controlVector, type);
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// layout of control Vector : unitVector in movement direction {0,1,2} vector length {3} velocity {4}
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if (vario_hold) {
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// start position is the position that was previously the hold position
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vario_hold = false;
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hold_position[0] = pathDesired.End.North;
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hold_position[1] = pathDesired.End.East;
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hold_position[2] = pathDesired.End.Down;
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} else {
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// start position is advanced according to movement - in the direction of ControlVector only
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// projection using scalar product
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float kp = (positionState.North - hold_position[0]) * controlVector[0]
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+ (positionState.East - hold_position[1]) * controlVector[1]
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+ (positionState.Down - hold_position[2]) * -controlVector[2];
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if (kp > 0.0f) {
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hold_position[0] += kp * controlVector[0];
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hold_position[1] += kp * controlVector[1];
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hold_position[2] += kp * -controlVector[2];
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}
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}
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// new destination position is advanced based on controlVector
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pathDesired.End.North = hold_position[0] + controlVector[0] * controlVector[3];
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pathDesired.End.East = hold_position[1] + controlVector[1] * controlVector[3];
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pathDesired.End.Down = hold_position[2] - controlVector[2] * controlVector[3];
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// the new start position has the same offset as in position hold
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pathDesired.Start.North = pathDesired.End.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
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pathDesired.Start.East = pathDesired.End.East;
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pathDesired.Start.Down = pathDesired.End.Down;
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PathDesiredSet(&pathDesired);
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}
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}
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void plan_run_PositionVarioFPV()
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{
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plan_run_PositionVario(FPV);
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}
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void plan_run_PositionVarioLOS()
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{
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plan_run_PositionVario(LOS);
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}
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void plan_run_PositionVarioNSEW()
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{
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plan_run_PositionVario(NSEW);
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}
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/**
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* @brief setup pathplanner/pathfollower for AutoCruise
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*/
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static PiOSDeltatimeConfig actimeval;
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void plan_setup_AutoCruise()
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{
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PositionStateData positionState;
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PositionStateGet(&positionState);
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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FlightModeSettingsPositionHoldOffsetData offset;
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FlightModeSettingsPositionHoldOffsetGet(&offset);
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float startingVelocity;
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FlightModeSettingsPositionHoldStartingVelocityGet(&startingVelocity);
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// initialization is flight in direction of the nose.
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// the velocity is not relevant, as it will be reset by the run function even during first call
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float angle;
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AttitudeStateYawGet(&angle);
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float vector[2] = {
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cos_lookup_deg(angle),
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sin_lookup_deg(angle)
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};
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hold_position[0] = positionState.North;
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hold_position[1] = positionState.East;
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hold_position[2] = positionState.Down;
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pathDesired.End.North = hold_position[0] + vector[0];
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pathDesired.End.East = hold_position[1] + vector[1];
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pathDesired.End.Down = hold_position[2];
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// start position has the same offset as in position hold
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pathDesired.Start.North = pathDesired.End.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
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pathDesired.Start.East = pathDesired.End.East;
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pathDesired.Start.Down = pathDesired.End.Down;
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pathDesired.StartingVelocity = startingVelocity;
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pathDesired.EndingVelocity = 0.0f;
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pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
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PathDesiredSet(&pathDesired);
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// re-iniztializing deltatime is valid and also good practice here since
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// getAverageSeconds() has not been called/updated in a long time if we were in a different flightmode.
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PIOS_DELTATIME_Init(&actimeval, UPDATE_EXPECTED, UPDATE_MIN, UPDATE_MAX, UPDATE_ALPHA);
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}
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/**
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* @brief execute autocruise
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*/
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void plan_run_AutoCruise()
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{
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PositionStateData positionState;
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PositionStateGet(&positionState);
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PathDesiredData pathDesired;
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PathDesiredGet(&pathDesired);
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FlightModeSettingsPositionHoldOffsetData offset;
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FlightModeSettingsPositionHoldOffsetGet(&offset);
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float controlVector[4];
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ManualControlCommandRollGet(&controlVector[0]);
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ManualControlCommandPitchGet(&controlVector[1]);
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ManualControlCommandYawGet(&controlVector[2]);
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controlVector[3] = 0.5f; // dummy, thrust is normalized separately
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normalizeDeadband(controlVector); // return value ignored
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ManualControlCommandThrustGet(&controlVector[3]); // no deadband as we are using thrust for velocity
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controlVector[3] = boundf(controlVector[3], 1e-6f, 1.0f); // bound to above zero, to prevent loss of vector direction
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// normalize old desired movement vector
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float vector[3] = { pathDesired.End.North - hold_position[0],
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pathDesired.End.East - hold_position[1],
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pathDesired.End.Down - hold_position[2] };
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float length = sqrtf(vector[0] * vector[0] + vector[1] * vector[1] + vector[2] * vector[2]);
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if (length < 1e-9f) {
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length = 1.0f; // should not happen since initialized properly in setup()
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}
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vector[0] /= length;
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vector[1] /= length;
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vector[2] /= length;
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// start position is advanced according to actual movement - in the direction of desired vector only
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// projection using scalar product
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float kp = (positionState.North - hold_position[0]) * vector[0]
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+ (positionState.East - hold_position[1]) * vector[1]
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+ (positionState.Down - hold_position[2]) * vector[2];
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if (kp > 0.0f) {
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hold_position[0] += kp * vector[0];
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hold_position[1] += kp * vector[1];
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hold_position[2] += kp * vector[2];
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}
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// new angle is equal to old angle plus offset depending on yaw input and time
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// (controlVector is normalized with a deadband, change is zero within deadband)
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float angle = RAD2DEG(atan2f(vector[1], vector[0]));
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float dT = PIOS_DELTATIME_GetAverageSeconds(&actimeval);
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angle += 10.0f * controlVector[2] * dT; // TODO magic value could eventually end up in a to be created settings
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// resulting movement vector is scaled by velocity demand in controlvector[3] [0.0-1.0]
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vector[0] = cosf(DEG2RAD(angle)) * offset.Horizontal * controlVector[3];
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vector[1] = sinf(DEG2RAD(angle)) * offset.Horizontal * controlVector[3];
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vector[2] = -controlVector[1] * offset.Vertical * controlVector[3];
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pathDesired.End.North = hold_position[0] + vector[0];
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pathDesired.End.East = hold_position[1] + vector[1];
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pathDesired.End.Down = hold_position[2] + vector[2];
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// start position has the same offset as in position hold
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pathDesired.Start.North = pathDesired.End.North + offset.Horizontal; // in FlyEndPoint the direction of this vector does not matter
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pathDesired.Start.East = pathDesired.End.East;
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pathDesired.Start.Down = pathDesired.End.Down;
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PathDesiredSet(&pathDesired);
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}
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@ -151,9 +151,13 @@ int32_t configuration_check()
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}
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// intentionally no break as this also needs pathfollower
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONVARIOFPV:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONVARIOLOS:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONVARIONSEW:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE:
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case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOCRUISE:
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ADDSEVERITY(!coptercontrol);
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ADDSEVERITY(PIOS_TASK_MONITOR_IsRunning(TASKINFO_RUNNING_PATHFOLLOWER));
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ADDSEVERITY(navCapableFusion);
|
||||
@ -226,7 +230,7 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
|
||||
// coptercontrol cannot do altitude holding
|
||||
if (coptercontrol) {
|
||||
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|
||||
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|
||||
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
|
||||
) {
|
||||
return false;
|
||||
}
|
||||
@ -235,14 +239,14 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
|
||||
// check that thrust modes are only set to thrust axis
|
||||
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST; i++) {
|
||||
if (modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|
||||
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|
||||
|| modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
|
||||
) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
if (!(modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL
|
||||
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|
||||
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY
|
||||
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO
|
||||
|| modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL
|
||||
)) {
|
||||
return false;
|
||||
|
||||
@ -103,7 +103,7 @@ void takeOffLocationHandlerInit();
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
|
||||
1 \
|
||||
)
|
||||
@ -120,7 +120,7 @@ void takeOffLocationHandlerInit();
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
|
||||
1 \
|
||||
)
|
||||
@ -137,7 +137,7 @@ void takeOffLocationHandlerInit();
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
|
||||
1 \
|
||||
)
|
||||
@ -154,7 +154,7 @@ void takeOffLocationHandlerInit();
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION4SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
|
||||
1 \
|
||||
)
|
||||
@ -171,7 +171,7 @@ void takeOffLocationHandlerInit();
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION5SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
|
||||
1 \
|
||||
)
|
||||
@ -188,7 +188,7 @@ void takeOffLocationHandlerInit();
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYRATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYRATE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_RELAYATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RELAYATTITUDE) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ALTITUDEHOLD == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_VERTICALVELOCITY == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_ALTITUDEVARIO == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) && \
|
||||
((int)FLIGHTMODESETTINGS_STABILIZATION6SETTINGS_CRUISECONTROL == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL) && \
|
||||
1 \
|
||||
)
|
||||
|
||||
@ -205,9 +205,13 @@ static void manualControlTask(void)
|
||||
break;
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_LAND:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POI:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
|
||||
handler = &handler_PATHFOLLOWER;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
|
||||
|
||||
@ -68,32 +68,45 @@ void pathFollowerHandler(bool newinit)
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
plan_setup_positionHold();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV:
|
||||
plan_setup_PositionVarioFPV();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS:
|
||||
plan_setup_PositionVarioLOS();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW:
|
||||
plan_setup_PositionVarioNSEW();
|
||||
break;
|
||||
|
||||
case FLIGHTSTATUS_FLIGHTMODE_LAND:
|
||||
plan_setup_land();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
|
||||
plan_setup_AutoCruise();
|
||||
break;
|
||||
|
||||
default:
|
||||
plan_setup_positionHold();
|
||||
|
||||
/* Disable this section, until such time as proper discussion can be had about how to implement it for all types of crafts.
|
||||
} else {
|
||||
PathDesiredData pathDesired;
|
||||
PathDesiredGet(&pathDesired);
|
||||
pathDesired.End[PATHDESIRED_END_NORTH] += dT * -cmd->Pitch;
|
||||
pathDesired.End[PATHDESIRED_END_EAST] += dT * cmd->Roll;
|
||||
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
|
||||
PathDesiredSet(&pathDesired);
|
||||
*/
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
switch (flightMode) {
|
||||
// special handling of autoland - behaves like positon hold but with slow altitude decrease
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV:
|
||||
plan_run_PositionVarioFPV();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS:
|
||||
plan_run_PositionVarioLOS();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW:
|
||||
plan_run_PositionVarioNSEW();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_LAND:
|
||||
plan_run_land();
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
|
||||
plan_run_AutoCruise();
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
@ -247,7 +247,7 @@ static void stabilizationOuterloopTask()
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE:
|
||||
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEHOLD, reinit);
|
||||
break;
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY:
|
||||
case STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO:
|
||||
rateDesiredAxis[t] = stabilizationAltitudeHold(stabilizationDesiredAxis[t], ALTITUDEVARIO, reinit);
|
||||
break;
|
||||
#endif /* REVOLUTION */
|
||||
|
||||
@ -174,8 +174,8 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
|
||||
cast_struct_to_array(status.OuterLoop, status.OuterLoop.Roll)[t] = STABILIZATIONSTATUS_OUTERLOOP_ALTITUDE;
|
||||
cast_struct_to_array(status.InnerLoop, status.InnerLoop.Roll)[t] = STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL;
|
||||
break;
|
||||
case STABILIZATIONDESIRED_STABILIZATIONMODE_VERTICALVELOCITY:
|
||||
cast_struct_to_array(status.OuterLoop, status.OuterLoop.Roll)[t] = STABILIZATIONSTATUS_OUTERLOOP_VERTICALVELOCITY;
|
||||
case STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO:
|
||||
cast_struct_to_array(status.OuterLoop, status.OuterLoop.Roll)[t] = STABILIZATIONSTATUS_OUTERLOOP_ALTITUDEVARIO;
|
||||
cast_struct_to_array(status.InnerLoop, status.InnerLoop.Roll)[t] = STABILIZATIONSTATUS_INNERLOOP_CRUISECONTROL;
|
||||
break;
|
||||
case STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL:
|
||||
|
||||
@ -7,69 +7,69 @@
|
||||
<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
|
||||
<field name="Stabilization1Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Thrust"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
|
||||
defaultvalue="Attitude,Attitude,AxisLock,Manual"
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
|
||||
/>
|
||||
<field name="Stabilization2Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Thrust"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
|
||||
defaultvalue="Attitude,Attitude,Rate,Manual"
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
|
||||
/>
|
||||
<field name="Stabilization3Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Thrust"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
|
||||
defaultvalue="Rate,Rate,Rate,Manual"
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
|
||||
/>
|
||||
<field name="Stabilization4Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Thrust"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
|
||||
defaultvalue="Attitude,Attitude,AxisLock,CruiseControl"
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
|
||||
/>
|
||||
<field name="Stabilization5Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Thrust"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
|
||||
defaultvalue="Attitude,Attitude,Rate,CruiseControl"
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
|
||||
/>
|
||||
<field name="Stabilization6Settings" units="" type="enum"
|
||||
elementnames="Roll,Pitch,Yaw,Thrust"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"
|
||||
options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"
|
||||
defaultvalue="Rate,Rate,Rate,CruiseControl"
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity:CruiseControl; \
|
||||
limits="%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario:CruiseControl; \
|
||||
%NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude,\
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:VerticalVelocity;"
|
||||
%0401NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario,\
|
||||
%0402NE:Rate:Attitude:AxisLock:WeakLeveling:VirtualBar:Rattitude:RelayRate:RelayAttitude:AltitudeHold:AltitudeVario;"
|
||||
/>
|
||||
|
||||
<!-- Note these options values should be identical to those defined in FlightMode -->
|
||||
@ -78,37 +78,42 @@
|
||||
units=""
|
||||
type="enum"
|
||||
elements="6"
|
||||
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,ReturnToBase,Land,PathPlanner,POI"
|
||||
options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,PositionVarioFPV,PositionVarioLOS,PositionVarioNSEW,ReturnToBase,Land,PathPlanner,POI,AutoCruise"
|
||||
defaultvalue="Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6"
|
||||
limits="\
|
||||
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
|
||||
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0903NE:Autotune:AutoCruise;\
|
||||
\
|
||||
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
|
||||
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0903NE:Autotune:AutoCruise;\
|
||||
\
|
||||
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
|
||||
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0903NE:Autotune:AutoCruise;\
|
||||
\
|
||||
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
|
||||
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0903NE:Autotune:AutoCruise;\
|
||||
\
|
||||
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI;\
|
||||
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0903NE:Autotune:AutoCruise;\
|
||||
\
|
||||
%0401NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0402NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI,\
|
||||
%0903NE:Autotune:PositionHold:ReturnToBase:Land:PathPlanner:POI"/>
|
||||
%0401NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0402NE:Autotune:PositionHold:PositionVarioFPV:PositionVarioLOS:PositionVarioNSEW:ReturnToBase:Land:PathPlanner:POI:AutoCruise,\
|
||||
%0903NE:Autotune:AutoCruise"/>
|
||||
|
||||
<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
|
||||
<field name="ArmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
|
||||
<field name="DisarmingSequenceTime" units="ms" type="uint16" elements="1" defaultvalue="1000"/>
|
||||
<field name="ReturnToBaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="10"/>
|
||||
<field name="PositionHoldOffset" units="m" type="float" elementnames="Horizontal,Vertical" defaultvalue="10,2"/>
|
||||
<!-- optimized for current vtolpathfollower,
|
||||
for fixed wing pathfollower set to Horizontal=500,Vertical=5 -->
|
||||
<field name="PositionHoldStartingVelocity" units="m/s" type="float" elements="1" defaultvalue="20"/>
|
||||
<!-- currently ignored by vtolpathfollower -->
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -4,7 +4,7 @@
|
||||
<field name="Armed" units="" type="enum" elements="1" options="Disarmed,Arming,Armed" defaultvalue="Disarmed"/>
|
||||
|
||||
<!-- Note these enumerated values should be the same as ManualControlSettings -->
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,ReturnToBase,Land,PathPlanner,POI"/>
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,Autotune,PositionHold,PositionVarioFPV,PositionVarioLOS,PositionVarioNSEW,ReturnToBase,Land,PathPlanner,POI,AutoCruise"/>
|
||||
|
||||
<field name="ControlChain" units="bool" type="enum" options="false,true">
|
||||
<elementnames>
|
||||
|
||||
@ -23,7 +23,7 @@
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="onchange" period="1000"/>
|
||||
<logging updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
|
||||
@ -6,7 +6,7 @@
|
||||
<field name="Yaw" units="degrees" type="float" elements="1"/>
|
||||
<field name="Thrust" units="%" type="float" elements="1"/>
|
||||
<!-- These values should match those in FlightModeSettings.Stabilization{1,2,3}Settings -->
|
||||
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,VerticalVelocity,CruiseControl"/>
|
||||
<field name="StabilizationMode" units="" type="enum" elementnames="Roll,Pitch,Yaw,Thrust" options="Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Rattitude,RelayRate,RelayAttitude,AltitudeHold,AltitudeVario,CruiseControl"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
<description>Contains status information to control submodules for stabilization.</description>
|
||||
|
||||
|
||||
<field name="OuterLoop" units="" type="enum" options="Direct,Attitude,Rattitude,Weakleveling,Altitude,VerticalVelocity">
|
||||
<field name="OuterLoop" units="" type="enum" options="Direct,Attitude,Rattitude,Weakleveling,Altitude,AltitudeVario">
|
||||
<elementnames>
|
||||
<elementname>Roll</elementname>
|
||||
<elementname>Pitch</elementname>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user