Merge branch 'heli_improvements'

flight/CopterControl/Makefile

@@ -140,6 +140,7 @@ endif
 
 ## UAVOBJECTS
 ifndef TESTAPP
+SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
 SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
 SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
 SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c

flight/CopterControl/System/inc/pios_config.h

@@ -85,8 +85,8 @@
 #define AUXUART_BAUDRATE		19200
 
 /* Alarm Thresholds */
-#define HEAP_LIMIT_WARNING		350
+#define HEAP_LIMIT_WARNING             220
-#define HEAP_LIMIT_CRITICAL		250
+#define HEAP_LIMIT_CRITICAL            150
 #define CPULOAD_LIMIT_WARNING		80
 #define CPULOAD_LIMIT_CRITICAL		95
 

flight/Modules/Actuator/actuator.c

@@ -32,6 +32,7 @@
 
 
 #include "openpilot.h"
+#include "accessorydesired.h"
 #include "actuator.h"
 #include "actuatorsettings.h"
 #include "systemsettings.h"
@@ -74,7 +75,6 @@ static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutr
 static void setFailsafe();
 static float MixerCurve(const float throttle, const float* curve);
 static bool set_channel(uint8_t mixer_channel, uint16_t value);
-
 float ProcessMixer(const int index, const float curve1, const float curve2,
 		   MixerSettingsData* mixerSettings, ActuatorDesiredData* desired,
 		   const float period);
@@ -200,7 +200,35 @@ static void actuatorTask(void* parameters)
 		bool spinWhileArmed = MotorsSpinWhileArmed == ACTUATORSETTINGS_MOTORSSPINWHILEARMED_TRUE;
 		
 		float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
-		float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
+		//The source for the secondary curve is selectable
+		float curve2 = 0;
+		AccessoryDesiredData accessory;
+		switch(mixerSettings.Curve2Source) {
+			case MIXERSETTINGS_CURVE2SOURCE_THROTTLE:
+				curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);
+				break;
+			case MIXERSETTINGS_CURVE2SOURCE_ROLL:
+				curve2 = MixerCurve(desired.Roll,mixerSettings.ThrottleCurve2);
+				break;
+			case MIXERSETTINGS_CURVE2SOURCE_PITCH:
+				curve2 = MixerCurve(desired.Pitch,mixerSettings.ThrottleCurve2);
+				break;
+			case MIXERSETTINGS_CURVE2SOURCE_YAW:
+				curve2 = MixerCurve(desired.Yaw,mixerSettings.ThrottleCurve2);
+				break;
+			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0:
+			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY1:
+			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY2:
+			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY3:
+			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY4:
+			case MIXERSETTINGS_CURVE2SOURCE_ACCESSORY5:
+				if(AccessoryDesiredInstGet(mixerSettings.Curve2Source - MIXERSETTINGS_CURVE2SOURCE_ACCESSORY0,&accessory) == 0)
+					curve2 = MixerCurve(accessory.AccessoryVal,mixerSettings.ThrottleCurve2);
+				else 
+					curve2 = 0;				
+				break;
+		}
+		
 		for(int ct=0; ct < MAX_MIX_ACTUATORS; ct++)
 		{
 			if(mixers[ct].type == MIXERSETTINGS_MIXER1TYPE_DISABLED) {
@@ -228,7 +256,22 @@ static void actuatorTask(void* parameters)
 					 (status[ct] < 0) )
 					status[ct] = 0;					
 			}
-
+			
+			// If an accessory channel is selected for direct bypass mode
+			// In this configuration the accessory channel is scaled and mapped
+			// directly to output.  Note: THERE IS NO SAFETY CHECK HERE FOR ARMING
+			// these also will not be updated in failsafe mode.  I'm not sure what 
+			// the correct behavior is since it seems domain specific.  I don't love
+			// this code
+			if( (mixers[ct].type >= MIXERSETTINGS_MIXER1TYPE_ACCESSORY0) && 
+			   (mixers[ct].type <= MIXERSETTINGS_MIXER1TYPE_ACCESSORY2))
+			{
+				if(AccessoryDesiredInstGet(mixers[ct].type - MIXERSETTINGS_MIXER1TYPE_ACCESSORY0,&accessory) == 0)
+					status[ct] = accessory.AccessoryVal;
+				else
+					status[ct] = -1;
+			}
+			
 			command.Channel[ct] = scaleChannel(status[ct],
 							   ChannelMax[ct],
 							   ChannelMin[ct],
@@ -452,8 +495,6 @@ static void actuator_update_rate(UAVObjEvent * ev)
 	}
 }
 
-
-
 #if defined(ARCH_POSIX) || defined(ARCH_WIN32)
 static bool set_channel(uint8_t mixer_channel, uint16_t value) {
 	return true;

flight/Modules/ManualControl/manualcontrol.c

@@ -42,6 +42,7 @@
 #include "stabilizationdesired.h"
 #include "flighttelemetrystats.h"
 #include "flightstatus.h"
+#include "accessorydesired.h"
 
 // Private constants
 #if defined(PIOS_MANUAL_STACK_SIZE)
@@ -170,6 +171,11 @@ static void manualControlTask(void *parameters)
 	uint8_t disconnected_count = 0;
 	uint8_t connected_count = 0;
 
+	// For now manual instantiate extra instances of Accessory Desired.  In future should be done dynamically
+	// this includes not even registering it if not used
+	AccessoryDesiredCreateInstance();
+	AccessoryDesiredCreateInstance();
+
 	// Make sure unarmed on power up
 	ManualControlCommandGet(&cmd);
 	FlightStatusGet(&flightStatus);
@@ -266,10 +272,26 @@ static void manualControlTask(void *parameters)
 				cmd.Throttle       = scaledChannel[settings.Throttle];
 				flightMode         = scaledChannel[settings.FlightMode];
 
-				// Set accessory channels
+				AccessoryDesiredData accessory;
-				cmd.Accessory1 = (settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) ? scaledChannel[settings.Accessory1] : 0;
+				// Set Accessory 0
-				cmd.Accessory2 = (settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) ? scaledChannel[settings.Accessory2] : 0;
+				if(settings.Accessory0 != MANUALCONTROLSETTINGS_ACCESSORY0_NONE) {
-				cmd.Accessory3 = (settings.Accessory3 != MANUALCONTROLSETTINGS_ACCESSORY3_NONE) ? scaledChannel[settings.Accessory3] : 0;
+					accessory.AccessoryVal = scaledChannel[settings.Accessory0];
+					if(AccessoryDesiredInstSet(0, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+				// Set Accessory 1
+				if(settings.Accessory1 != MANUALCONTROLSETTINGS_ACCESSORY1_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory1];
+					if(AccessoryDesiredInstSet(1, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+				// Set Accsesory 2
+				if(settings.Accessory2 != MANUALCONTROLSETTINGS_ACCESSORY2_NONE) {
+					accessory.AccessoryVal = scaledChannel[settings.Accessory2];
+					if(AccessoryDesiredInstSet(2, &accessory) != 0)
+						AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
+				}
+
 
 				processFlightMode(&settings, flightMode);
 				processArm(&cmd, &settings);

flight/OpenPilot/UAVObjects.inc

@@ -24,6 +24,7 @@
 # (all architectures)
 
 UAVOBJSRCFILENAMES =
+UAVOBJSRCFILENAMES += accessorydesired
 UAVOBJSRCFILENAMES += actuatorcommand
 UAVOBJSRCFILENAMES += actuatordesired
 UAVOBJSRCFILENAMES += actuatorsettings

flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj

@@ -2738,6 +2738,7 @@
 		65E6E09912E037C800058553 /* pios_adc_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_adc_priv.h; sourceTree = "<group>"; };
 		65E8C743139A6D0900E1F979 /* pios_crc.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = pios_crc.c; sourceTree = "<group>"; };
 		65E8C745139A6D1A00E1F979 /* pios_crc.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_crc.h; sourceTree = "<group>"; };
+		65E8C788139AA2A800E1F979 /* accessorydesired.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = accessorydesired.xml; sourceTree = "<group>"; };
 		65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
 		65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
 		65E8EF5C11EEA61E00BBF654 /* alarms.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = alarms.c; path = ../../OpenPilot/System/alarms.c; sourceTree = SOURCE_ROOT; };
@@ -7418,6 +7419,7 @@
 		65C35E4F12EFB2F3004811C2 /* uavobjectdefinition */ = {
 			isa = PBXGroup;
 			children = (
+				65E8C788139AA2A800E1F979 /* accessorydesired.xml */,
 				65C35E5012EFB2F3004811C2 /* actuatorcommand.xml */,
 				65C35E5112EFB2F3004811C2 /* actuatordesired.xml */,
 				65C35E5212EFB2F3004811C2 /* actuatorsettings.xml */,

flight/Project/gdb/coptercontrol

@@ -1,7 +1,7 @@
 define connect
 	target remote localhost:3333
 	monitor cortex_m3 vector_catch all
-	file ./build/coptercontrol/CopterControl.elf
+	file ./build/fw_coptercontrol/fw_coptercontrol.elf
 end
 #monitor reset halt
 

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -23,7 +23,8 @@ SOURCES += uavobject.cpp \
 OTHER_FILES += UAVObjects.pluginspec
 
 # Add in all of the synthetic/generated uavobject files
-HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
+HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
+    $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
     $$UAVOBJECT_SYNTHETICS/ahrscalibration.h \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.h \
     $$UAVOBJECT_SYNTHETICS/attitudeactual.h \
@@ -69,7 +70,8 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/ahrsstatus.h \
     $$UAVOBJECT_SYNTHETICS/flightstatus.h \
     $$UAVOBJECT_SYNTHETICS/attitudesettings.h
 
-SOURCES += $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
+SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
+    $$UAVOBJECT_SYNTHETICS/ahrsstatus.cpp \
     $$UAVOBJECT_SYNTHETICS/ahrscalibration.cpp \
     $$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
     $$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \

ground/openpilotgcs/src/plugins/uavtalk/uavtalk.cpp

@@ -295,7 +295,7 @@ bool UAVTalk::processInputByte(quint8 rxbyte)
                 }
 
                 // Check the lengths match
-                if ((rxPacketLength + rxLength) != packetSize)
+                if ((rxPacketLength + rxLength + (rxObj->isSingleInstance() ? 0 : 2)) != packetSize)
                 {   // packet error - mismatched packet size
                     stats.rxErrors++;
                     rxState = STATE_SYNC;
@@ -805,17 +805,3 @@ quint8 UAVTalk::updateCRC(quint8 crc, const quint8* data, qint32 length)
         crc = crc_table[crc ^ *data++];
     return crc;
 }
-
-
-
-
-
-
-
-
-
-
-
-
-
-

shared/uavobjectdefinition/accessorydesired.xml

@@ -0,0 +1,10 @@
+<xml>
+    <object name="AccessoryDesired" singleinstance="false" settings="false">
+        <description>Desired Auxillary actuator settings.  Comes from @ref ManualControlModule.</description>
+        <field name="AccessoryVal" units="" type="float" elements="1"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <logging updatemode="never" period="0"/>
+    </object>
+</xml>

shared/uavobjectdefinition/manualcontrolcommand.xml

@@ -6,11 +6,7 @@
         <field name="Pitch" units="%" type="float" elements="1"/>
         <field name="Yaw" units="%" type="float" elements="1"/>
         <field name="Throttle" units="%" type="float" elements="1"/>
-		
+	<field name="Channel" units="us" type="uint16" elements="8"/>
-        <field name="Accessory1" units="%" type="float" elements="1"/>
-        <field name="Accessory2" units="%" type="float" elements="1"/>
-        <field name="Accessory3" units="%" type="float" elements="1"/>
-        <field name="Channel" units="us" type="uint16" elements="8"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="2000"/>

shared/uavobjectdefinition/manualcontrolsettings.xml

@@ -7,9 +7,9 @@
         <field name="Yaw" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Throttle" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="FlightMode" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
+        <field name="Accessory0" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Accessory1" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Accessory2" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
-        <field name="Accessory3" units="channel" type="enum" elements="1" options="Channel1,Channel2,Channel3,Channel4,Channel5,Channel6,Channel7,Channel8,None" defaultvalue="None"/>
         <field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
 	
 	<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->

shared/uavobjectdefinition/mixersettings.xml

@@ -6,22 +6,23 @@
         <field name="AccelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="DecelTime" units="ms" type="float" elements="1" defaultvalue="0"/>
         <field name="ThrottleCurve1" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
+        <field name="Curve2Source" units="" type="enum" elements="1" options="Throttle,Roll,Pitch,Yaw,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Throttle"/>
         <field name="ThrottleCurve2" units="percent" type="float" elements="5" elementnames="0,25,50,75,100" defaultvalue="0,0.25,0.5,0.75,1"/>
-        <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer1Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer1Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer2Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer2Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer3Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer3Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer4Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer4Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer5Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer5Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer6Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer6Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer7Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer7Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
-        <field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo" defaultvalue="Disabled"/>
+        <field name="Mixer8Type" units="" type="enum" elements="1" options="Disabled,Motor,Servo,Accessory0,Accessory1,Accessory2,Accessory3,Accessory4,Accessory5" defaultvalue="Disabled"/>
         <field name="Mixer8Vector" units="" type="int8" elements="5" elementnames="ThrottleCurve1,ThrottleCurve2,Roll,Pitch,Yaw" defaultvalue="0"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="true" updatemode="onchange" period="0"/>