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Merge branch 'next' into theothercliff/OP-1840_GPS_serial_port_needed_features

Browse Source 
Conflicts:
	flight/modules/GPS/GPS.c
This commit is contained in:
Cliff Geerdes 2015-05-05 17:05:11 -04:00
commit d9ab9e4f27
139 changed files with 10979 additions and 5804 deletions
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2
.gitignore vendored
View File

@ -2,6 +2,7 @@
/downloads
/tools
/build
/3rdparty
# Exclude temporary and system files
Thumbs.db
@ -11,6 +12,7 @@ GRTAGS
GSYMS
GTAGS
core
*~
# flight
/flight/*.pnproj

27
Makefile
View File

@ -113,6 +113,9 @@ endif
# Include tools installers
include $(ROOT_DIR)/make/tools.mk
# Include third party builders if available
-include $(ROOT_DIR)/make/3rdparty/3rdparty.mk
# We almost need to consider autoconf/automake instead of this
ifeq ($(UNAME), Linux)
QT_SPEC = linux-g++
@ -160,10 +163,10 @@ DIRS += $(UAVOBJGENERATOR_DIR)
.PHONY: uavobjgenerator
uavobjgenerator: | $(UAVOBJGENERATOR_DIR)
$(V1) ( cd $(UAVOBJGENERATOR_DIR) && \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro -spec $(QT_SPEC) -r CONFIG+="$(UAVOGEN_BUILD_CONF) $(UAVOGEN_SILENT)" && \
$(MAKE) --no-print-directory -w ; \
)
$(V1) cd $(UAVOBJGENERATOR_DIR) && \
$(QMAKE) $(ROOT_DIR)/ground/uavobjgenerator/uavobjgenerator.pro \
-spec $(QT_SPEC) -r CONFIG+=$(UAVOGEN_BUILD_CONF) CONFIG+=$(UAVOGEN_SILENT) && \
$(MAKE) --no-print-directory -w
UAVOBJ_TARGETS := gcs flight python matlab java wireshark
@ -469,9 +472,9 @@ OPENPILOTGCS_MAKEFILE := $(OPENPILOTGCS_DIR)/Makefile
.PHONY: openpilotgcs_qmake
openpilotgcs_qmake $(OPENPILOTGCS_MAKEFILE): | $(OPENPILOTGCS_DIR)
$(V1) ( cd $(OPENPILOTGCS_DIR) && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
)
$(V1) cd $(OPENPILOTGCS_DIR) && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/openpilotgcs.pro \
-spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
.PHONY: openpilotgcs
openpilotgcs: uavobjects_gcs $(OPENPILOTGCS_MAKEFILE)
@ -482,6 +485,8 @@ openpilotgcs_clean:
@$(ECHO) " CLEAN $(call toprel, $(OPENPILOTGCS_DIR))"
$(V1) [ ! -d "$(OPENPILOTGCS_DIR)" ] || $(RM) -r "$(OPENPILOTGCS_DIR)"
################################
#
# Serial Uploader tool
@ -495,9 +500,9 @@ UPLOADER_MAKEFILE := $(UPLOADER_DIR)/Makefile
.PHONY: uploader_qmake
uploader_qmake $(UPLOADER_MAKEFILE): | $(UPLOADER_DIR)
$(V1) ( cd $(UPLOADER_DIR) && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro -spec $(QT_SPEC) -r CONFIG+="$(GCS_BUILD_CONF) $(GCS_SILENT)" $(GCS_QMAKE_OPTS) \
)
$(V1) cd $(UPLOADER_DIR) && \
$(QMAKE) $(ROOT_DIR)/ground/openpilotgcs/src/experimental/USB_UPLOAD_TOOL/upload.pro \
-spec $(QT_SPEC) -r CONFIG+=$(GCS_BUILD_CONF) CONFIG+=$(GCS_SILENT) $(GCS_QMAKE_OPTS)
.PHONY: uploader
uploader: $(UPLOADER_MAKEFILE)
@ -711,7 +716,7 @@ $(OPFW_RESOURCE): $(FW_TARGETS) | $(OPGCSSYNTHDIR)
# If opfw_resource or all firmware are requested, GCS should depend on the resource
ifneq ($(strip $(filter opfw_resource all all_fw all_flight package,$(MAKECMDGOALS))),)
$(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
$(OPENPILOTGCS_MAKEFILE): $(OPFW_RESOURCE)
endif
# Packaging targets: package

14
WHATSNEW.txt
View File

@ -1,3 +1,17 @@
--- RELEASE-15.02.01 ---
This release fixes an in important bug that may prevent failsafe to work correctly using CC3D/CC with a PWM receiver.
The full list of bugfixes in this release is accessible here:
https://progress.openpilot.org/issues/?filter=12260
Release Notes - OpenPilot - Version RELEASE-15.02.1
** Bug
* [OP-1812] - CC3D : PWM: Does not go into failsafe when RX is pulled under 50% throttle
--- RELEASE-15.02 --- Ragin' Cajun ---
This release introduces major flight performance improvements, enhancements as well as bug fixes. Many enhancements have been made to reducing dead-time of the communication between the flight controller and ESCs. In our testing, we have found this to be not only the best flight performance so far in the OpenPilot project but the best flight performance of any project we have tested against. This is a recommended upgrade for everyone and the more skilled of a pilot you are, the more you will love this release.

8
flight/libraries/inc/CoordinateConversions.h
View File

@ -112,7 +112,7 @@ static inline void matrix_mult_3x3f(float a[3][3], float b[3][3], float result[3
result[2][2] = a[0][2] * b[2][0] + a[1][2] * b[2][1] + a[2][2] * b[2][2];
}
inline void matrix_inline_scale_3f(float a[3][3], float scale)
static inline void matrix_inline_scale_3f(float a[3][3], float scale)
{
a[0][0] *= scale;
a[0][1] *= scale;
@ -127,7 +127,7 @@ inline void matrix_inline_scale_3f(float a[3][3], float scale)
a[2][2] *= scale;
}
inline void rot_about_axis_x(const float rotation, float R[3][3])
static inline void rot_about_axis_x(const float rotation, float R[3][3])
{
float s = sinf(rotation);
float c = cosf(rotation);
@ -145,7 +145,7 @@ inline void rot_about_axis_x(const float rotation, float R[3][3])
R[2][2] = c;
}
inline void rot_about_axis_y(const float rotation, float R[3][3])
static inline void rot_about_axis_y(const float rotation, float R[3][3])
{
float s = sinf(rotation);
float c = cosf(rotation);
@ -163,7 +163,7 @@ inline void rot_about_axis_y(const float rotation, float R[3][3])
R[2][2] = c;
}
inline void rot_about_axis_z(const float rotation, float R[3][3])
static inline void rot_about_axis_z(const float rotation, float R[3][3])
{
float s = sinf(rotation);
float c = cosf(rotation);

8
flight/libraries/inc/plans.h
View File

@ -62,6 +62,7 @@ void plan_setup_returnToBase();
* @brief setup pathplanner/pathfollower for land
*/
void plan_setup_land();
void plan_setup_AutoTakeoff();
/**
* @brief setup pathplanner/pathfollower for braking
@ -90,6 +91,12 @@ void plan_setup_assistedcontrol(uint8_t timeout_occurred);
#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1 1
#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED2 2
#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED3 3
#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH 0
#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST 1
#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN 2
#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE 3
/**
* @brief setup pathfollower for positionvario
*/
@ -107,6 +114,7 @@ void plan_run_PositionRoam();
void plan_run_VelocityRoam();
void plan_run_HomeLeash();
void plan_run_AbsolutePosition();
void plan_run_AutoTakeoff();
/**
* @brief setup pathplanner/pathfollower for AutoCruise

6
flight/libraries/inc/stopwatch.h
View File

@ -47,7 +47,7 @@ typedef struct {
/////////////////////////////////////////////////////////////////////////////
inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
static inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
{
stopwatch->raw = PIOS_DELAY_GetRaw();
stopwatch->resolution = resolution;
@ -58,7 +58,7 @@ inline int32_t STOPWATCH_Init(uint32_t resolution, stopwatch_t *stopwatch)
// ! Resets the stopwatch
// ! \return < 0 on errors
/////////////////////////////////////////////////////////////////////////////
inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
static inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
{
stopwatch->raw = PIOS_DELAY_GetRaw();
return 0; // no error
@ -68,7 +68,7 @@ inline int32_t STOPWATCH_Reset(stopwatch_t *stopwatch)
// ! Returns current value of stopwatch
// ! \return stopwatch value
/////////////////////////////////////////////////////////////////////////////
inline uint32_t STOPWATCH_ValueGet(stopwatch_t *stopwatch)
static inline uint32_t STOPWATCH_ValueGet(stopwatch_t *stopwatch)
{
uint32_t value = PIOS_DELAY_GetuSSince(stopwatch->raw);

154
flight/libraries/plans.c
View File

@ -41,7 +41,9 @@
#include <attitudestate.h>
#include <vtolpathfollowersettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <sin_lookup.h>
#include <statusvtolautotakeoff.h>
#define UPDATE_EXPECTED 0.02f
#define UPDATE_MIN 1.0e-6f
@ -88,6 +90,7 @@ void plan_initialize()
VelocityStateInitialize();
VtolPathFollowerSettingsInitialize();
StabilizationBankInitialize();
StabilizationDesiredInitialize();
}
/**
@ -154,7 +157,7 @@ void plan_setup_returnToBase()
pathDesired.StartingVelocity = 0.0f;
pathDesired.EndingVelocity = 0.0f;
uint8_t ReturnToBaseNextCommand;
FlightModeSettingsReturnToBaseNextCommandOptions ReturnToBaseNextCommand;
FlightModeSettingsReturnToBaseNextCommandGet(&ReturnToBaseNextCommand);
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND] = (float)ReturnToBaseNextCommand;
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1] = 0.0f;
@ -166,6 +169,155 @@ void plan_setup_returnToBase()
}
// Vtol AutoTakeoff invocation from flight mode requires the following sequence:
// 1. Arming must be done whilst in the AutoTakeOff flight mode
// 2. If the AutoTakeoff flight mode is selected and already armed, requires disarming first
// 3. Wait for armed state
// 4. Once the user increases the throttle position to above 50%, then and only then initiate auto-takeoff.
// 5. Whilst the throttle is < 50% before takeoff, all stick inputs are being ignored.
// 6. If during the autotakeoff sequence, at any stage, if the throttle stick position reduces to less than 10%, landing is initiated.
static StatusVtolAutoTakeoffControlStateOptions autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
#define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN 2.0f
#define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX 50.0f
static void plan_setup_AutoTakeoff_helper(PathDesiredData *pathDesired)
{
PositionStateData positionState;
PositionStateGet(&positionState);
float velocity_down;
float autotakeoff_height;
FlightModeSettingsAutoTakeOffVelocityGet(&velocity_down);
FlightModeSettingsAutoTakeOffHeightGet(&autotakeoff_height);
autotakeoff_height = fabsf(autotakeoff_height);
if (autotakeoff_height < AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN) {
autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN;
} else if (autotakeoff_height > AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX) {
autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX;
}
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH] = 0.0f;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST] = 0.0f;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN] = -velocity_down;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] = (float)autotakeoffState;
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down - autotakeoff_height;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_AUTOTAKEOFF;
}
#define AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT 0.2f
void plan_setup_AutoTakeoff()
{
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
// We only allow takeoff if the state transition of disarmed to armed occurs
// whilst in the autotake flight mode
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
StabilizationDesiredData stabiDesired;
StabilizationDesiredGet(&stabiDesired);
// Are we inflight?
if (flightStatus.Armed && stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT) {
// ok assume already in flight and just enter position hold
// if we are not actually inflight this will just be a violent autotakeoff
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD;
plan_setup_positionHold();
} else {
if (flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST;
// Note that if this mode was invoked unintentionally whilst in flight, effectively
// all inputs get ignored and the vtol continues to fly to its previous
// stabi command.
}
PathDesiredData pathDesired;
plan_setup_AutoTakeoff_helper(&pathDesired);
PathDesiredSet(&pathDesired);
}
}
#define AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START 0.3f
#define AUTOTAKEOFF_THROTTLE_ABORT_LIMIT 0.1f
void plan_run_AutoTakeoff()
{
StatusVtolAutoTakeoffControlStateOptions priorState = autotakeoffState;
switch (autotakeoffState) {
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (!flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
{
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
if (cmd.Throttle > AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
{
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
if (cmd.Throttle < AUTOTAKEOFF_THROTTLE_ABORT_LIMIT) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT;
plan_setup_land();
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
{
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (!flightStatus.Armed) {
autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
}
}
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
// nothing to do. land has been requested. stay here for forever until mode change.
default:
break;
}
if (autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT &&
autotakeoffState != STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD) {
if (priorState != autotakeoffState) {
PathDesiredData pathDesired;
plan_setup_AutoTakeoff_helper(&pathDesired);
PathDesiredSet(&pathDesired);
}
}
}
static void plan_setup_land_helper(PathDesiredData *pathDesired)
{
PositionStateData positionState;

23
flight/libraries/sanitycheck.c
View File

@ -74,7 +74,7 @@ int32_t configuration_check()
// Classify navigation capability
#ifdef REVOLUTION
RevoSettingsInitialize();
uint8_t revoFusion;
RevoSettingsFusionAlgorithmOptions revoFusion;
RevoSettingsFusionAlgorithmGet(&revoFusion);
bool navCapableFusion;
switch (revoFusion) {
@ -104,8 +104,8 @@ int32_t configuration_check()
// For each available flight mode position sanity check the available
// modes
uint8_t num_modes;
uint8_t modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
FlightModeSettingsFlightModePositionOptions modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
StabilizationSettingsFlightModeAssistMapOptions FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
ManualControlSettingsFlightModeNumberGet(&num_modes);
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
FlightModeSettingsFlightModePositionGet(modes);
@ -148,6 +148,7 @@ int32_t configuration_check()
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTAKEOFF:
ADDSEVERITY(!coptercontrol);
ADDSEVERITY(navCapableFusion);
break;
@ -208,7 +209,7 @@ int32_t configuration_check()
}
}
uint8_t checks_disabled;
FlightModeSettingsDisableSanityChecksOptions checks_disabled;
FlightModeSettingsDisableSanityChecksGet(&checks_disabled);
if (checks_disabled == FLIGHTMODESETTINGS_DISABLESANITYCHECKS_TRUE) {
severity = SYSTEMALARMS_ALARM_WARNING;
@ -236,22 +237,22 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
// Get the different axis modes for this switch position
switch (index) {
case 1:
FlightModeSettingsStabilization1SettingsArrayGet(modes);
FlightModeSettingsStabilization1SettingsArrayGet((FlightModeSettingsStabilization1SettingsOptions *)modes);
break;
case 2:
FlightModeSettingsStabilization2SettingsArrayGet(modes);
FlightModeSettingsStabilization2SettingsArrayGet((FlightModeSettingsStabilization2SettingsOptions *)modes);
break;
case 3:
FlightModeSettingsStabilization3SettingsArrayGet(modes);
FlightModeSettingsStabilization3SettingsArrayGet((FlightModeSettingsStabilization3SettingsOptions *)modes);
break;
case 4:
FlightModeSettingsStabilization4SettingsArrayGet(modes);
FlightModeSettingsStabilization4SettingsArrayGet((FlightModeSettingsStabilization4SettingsOptions *)modes);
break;
case 5:
FlightModeSettingsStabilization5SettingsArrayGet(modes);
FlightModeSettingsStabilization5SettingsArrayGet((FlightModeSettingsStabilization5SettingsOptions *)modes);
break;
case 6:
FlightModeSettingsStabilization6SettingsArrayGet(modes);
FlightModeSettingsStabilization6SettingsArrayGet((FlightModeSettingsStabilization6SettingsOptions *)modes);
break;
default:
return false;
@ -325,7 +326,7 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
FrameType_t GetCurrentFrameType()
{
uint8_t airframe_type;
SystemSettingsAirframeTypeOptions airframe_type;
SystemSettingsAirframeTypeGet(&airframe_type);
switch ((SystemSettingsAirframeTypeOptions)airframe_type) {

6
flight/modules/Airspeed/airspeed.c
View File

@ -98,7 +98,7 @@ int32_t AirspeedInitialize()
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesOptions optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesArrayGet(optionalModules);
@ -110,7 +110,7 @@ int32_t AirspeedInitialize()
}
#endif
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingOptions adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adcRouting);
// Determine if the barometric airspeed sensor is routed to an ADC pin
@ -169,6 +169,8 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
imu_airspeedInitialize(&airspeedSettings);
}
break;
default:
break;
}
}
switch (airspeedSettings.AirspeedSensorType) {

7
flight/modules/Battery/battery.c
View File

@ -138,6 +138,13 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
const float dT = SAMPLE_PERIOD_MS / 1000.0f;
float energyRemaining;
// Reset ConsumedEnergy counter
if (batterySettings.ResetConsumedEnergy) {
flightBatteryData.ConsumedEnergy = 0;
batterySettings.ResetConsumedEnergy = false;
FlightBatterySettingsSet(&batterySettings);
}
// calculate the battery parameters
if (voltageADCPin >= 0) {
flightBatteryData.Voltage = (PIOS_ADC_PinGetVolt(voltageADCPin) - batterySettings.SensorCalibrations.VoltageZero) * batterySettings.SensorCalibrations.VoltageFactor; // in Volts

122
flight/modules/GPS/GPS.c
View File

@ -157,6 +157,10 @@ int32_t GPSStart(void)
int32_t GPSInitialize(void)
{
gpsPort = PIOS_COM_GPS;
<<<<<<< HEAD
=======
GPSSettingsDataProtocolOptions gpsProtocol;
>>>>>>> next
HwSettingsInitialize();
#ifdef MODULE_GPS_BUILTIN
@ -346,7 +350,7 @@ static void gpsTask(__attribute__((unused)) void *parameters)
(gpsSettings.DataProtocol == GPSSETTINGS_DATAPROTOCOL_UBX && gpspositionsensor.AutoConfigStatus == GPSPOSITIONSENSOR_AUTOCONFIGSTATUS_ERROR)) {
// we have not received any valid GPS sentences for a while.
// either the GPS is not plugged in or a hardware problem or the GPS has locked up.
uint8_t status = GPSPOSITIONSENSOR_STATUS_NOGPS;
GPSPositionSensorStatusOptions status = GPSPOSITIONSENSOR_STATUS_NOGPS;
GPSPositionSensorStatusSet(&status);
AlarmsSet(SYSTEMALARMS_ALARM_GPS, SYSTEMALARMS_ALARM_ERROR);
} else {
@ -509,72 +513,72 @@ static void updateHwSettings(UAVObjEvent __attribute__((unused)) *ev)
// since 9600 baud and lower are not usable, and are best left at NEMA, I could have coded it to do a factory reset
// - if set to 9600 baud (or lower)
if (gpsPort) {
uint8_t speed;
if (gpsPort) {
HwSettingsGPSSpeedOptions speed;
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
// use 9600 baud during startup if autoconfig is enabled
// that is the flag that the code should assumes a factory default baud rate
if (ev == NULL && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
speed = HWSETTINGS_GPSSPEED_9600;
}
else
// use 9600 baud during startup if autoconfig is enabled
// that is the flag that the code should assumes a factory default baud rate
if (ev == NULL && gpsSettings.UbxAutoConfig != GPSSETTINGS_UBXAUTOCONFIG_DISABLED) {
speed = HWSETTINGS_GPSSPEED_9600;
}
else
#endif
{
// Retrieve settings
HwSettingsGPSSpeedGet(&speed);
}
// must always set the baud here, even if it looks like it is the same
// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
// on startup (ev == NULL) we must set the Revo port baud rate
// after startup (ev != NULL) we must set the Revo port baud rate only if autoconfig is disabled
// always we must set the Revo port baud rate if not using UBX
{
// Retrieve settings
HwSettingsGPSSpeedGet(&speed);
}
// must always set the baud here, even if it looks like it is the same
// e.g. startup sets 9600 here, ubx_autoconfig sets 57600 there, then the user selects a change back to 9600 here
// on startup (ev == NULL) we must set the Revo port baud rate
// after startup (ev != NULL) we must set the Revo port baud rate only if autoconfig is disabled
// always we must set the Revo port baud rate if not using UBX
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
if (ev == NULL || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
if (ev == NULL || gpsSettings.UbxAutoConfig == GPSSETTINGS_UBXAUTOCONFIG_DISABLED || gpsSettings.DataProtocol != GPSSETTINGS_DATAPROTOCOL_UBX)
#endif
{
// Set Revo port speed
switch (speed) {
case HWSETTINGS_GPSSPEED_2400:
PIOS_COM_ChangeBaud(gpsPort, 2400);
break;
case HWSETTINGS_GPSSPEED_4800:
PIOS_COM_ChangeBaud(gpsPort, 4800);
break;
case HWSETTINGS_GPSSPEED_9600:
PIOS_COM_ChangeBaud(gpsPort, 9600);
break;
case HWSETTINGS_GPSSPEED_19200:
PIOS_COM_ChangeBaud(gpsPort, 19200);
break;
case HWSETTINGS_GPSSPEED_38400:
PIOS_COM_ChangeBaud(gpsPort, 38400);
break;
case HWSETTINGS_GPSSPEED_57600:
PIOS_COM_ChangeBaud(gpsPort, 57600);
break;
case HWSETTINGS_GPSSPEED_115200:
PIOS_COM_ChangeBaud(gpsPort, 115200);
break;
case HWSETTINGS_GPSSPEED_230400:
PIOS_COM_ChangeBaud(gpsPort, 230400);
break;
}
{
// Set Revo port speed
switch (speed) {
case HWSETTINGS_GPSSPEED_2400:
PIOS_COM_ChangeBaud(gpsPort, 2400);
break;
case HWSETTINGS_GPSSPEED_4800:
PIOS_COM_ChangeBaud(gpsPort, 4800);
break;
case HWSETTINGS_GPSSPEED_9600:
PIOS_COM_ChangeBaud(gpsPort, 9600);
break;
case HWSETTINGS_GPSSPEED_19200:
PIOS_COM_ChangeBaud(gpsPort, 19200);
break;
case HWSETTINGS_GPSSPEED_38400:
PIOS_COM_ChangeBaud(gpsPort, 38400);
break;
case HWSETTINGS_GPSSPEED_57600:
PIOS_COM_ChangeBaud(gpsPort, 57600);
break;
case HWSETTINGS_GPSSPEED_115200:
PIOS_COM_ChangeBaud(gpsPort, 115200);
break;
case HWSETTINGS_GPSSPEED_230400:
PIOS_COM_ChangeBaud(gpsPort, 230400);
break;
}
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
// even changing the baud rate will make it re-verify the sensor type
// that way the user can just try some baud rates and it when the sensor type is valid, the baud rate is correct
ubx_reset_sensor_type();
// even changing the baud rate will make it re-verify the sensor type
// that way the user can just try some baud rates and it when the sensor type is valid, the baud rate is correct
ubx_reset_sensor_type();
#endif
}
}
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)
else {
// it will never do this during startup because ev == NULL
ubx_autoconfig_set(NULL);
}
else {
// it will never do this during startup because ev == NULL
ubx_autoconfig_set(NULL);
}
#endif
}
}
}
#if defined(PIOS_INCLUDE_GPS_UBX_PARSER) && !defined(PIOS_GPS_MINIMAL)

2
flight/modules/GPS/ubx_autoconfig.c
View File

@ -693,7 +693,7 @@ void ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
HwSettingsGPSSpeedGet(&hwsettings_baud);
#if !defined(ALWAYS_RESET)
// ALWAYS_RESET is undefined because it causes stored settings to change even with autoconfig.nostore
// but with it off, some settings may be enabled that should really be disabled (but aren't) after autoconfig.nostore
// but with it off, some settings may be enabled that should really be disabled (but aren't) after autoconfig.nostore
// if user requests a low baud rate then we just reset and leave it set to NEMA
// because low baud and high OP data rate doesn't play nice
// if user requests that settings be saved, we will reset here too

2
flight/modules/Logging/Logging.c
View File

@ -134,7 +134,7 @@ static void ControlUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
}
DebugLogEntrySet(entry);
} else if (control.Operation == DEBUGLOGCONTROL_OPERATION_FORMATFLASH) {
uint8_t armed;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
if (armed == FLIGHTSTATUS_ARMED_DISARMED) {
PIOS_DEBUGLOG_Format();

22
flight/modules/ManualControl/armhandler.c
View File

@ -35,6 +35,9 @@
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <stabilizationdesired.h>
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
#include <statusvtolland.h>
#endif
// Private constants
#define ARMED_THRESHOLD 0.50f
@ -179,6 +182,8 @@ void armHandler(bool newinit, FrameType_t frameType)
case FLIGHTMODESETTINGS_ARMING_ACCESSORY2:
armingInputLevel = -1.0f * acc.AccessoryVal;
break;
default:
break;
}
bool manualArm = false;
@ -313,6 +318,10 @@ static bool okToArm(void)
case FLIGHTSTATUS_FLIGHTMODE_LAND:
return false;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
return true;
default:
return false;
@ -336,6 +345,19 @@ static bool forcedDisArm(void)
if (alarms.Receiver == SYSTEMALARMS_ALARM_CRITICAL) {
return true;
}
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// check landing state if active
FlightStatusData flightStatus;
FlightStatusGet(&flightStatus);
if (flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_LAND) {
StatusVtolLandData statusland;
StatusVtolLandGet(&statusland);
if (statusland.State == STATUSVTOLLAND_STATE_DISARMED) {
return true;
}
}
#endif
return false;
}

6
flight/modules/ManualControl/manualcontrol.c
View File

@ -182,7 +182,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
frameType = GetCurrentFrameType();
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
uint8_t TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsOptions TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsGet(&TreatCustomCraftAs);
@ -403,6 +403,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
case FLIGHTSTATUS_FLIGHTMODE_LAND:
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
if (newFlightModeAssist) {
// Set the default thrust state
@ -485,7 +486,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
{
uint8_t flightModeAssistOption = STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE;
uint8_t isAssistedFlag = FLIGHTSTATUS_FLIGHTMODEASSIST_NONE;
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
StabilizationSettingsFlightModeAssistMapOptions FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
if (position < STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM) {
@ -527,6 +528,7 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
case FLIGHTSTATUS_FLIGHTMODE_LAND:
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
break;

12
flight/modules/ManualControl/pathfollowerhandler.c
View File

@ -55,9 +55,9 @@ void pathFollowerHandler(bool newinit)
plan_initialize();
}
uint8_t flightMode;
uint8_t assistedControlFlightMode;
uint8_t flightModeAssist;
FlightStatusFlightModeOptions flightMode;
FlightStatusAssistedControlStateOptions assistedControlFlightMode;
FlightStatusFlightModeAssistOptions flightModeAssist;
FlightStatusFlightModeGet(&flightMode);
FlightStatusFlightModeAssistGet(&flightModeAssist);
FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
@ -101,6 +101,9 @@ void pathFollowerHandler(bool newinit)
plan_setup_VelocityRoam();
}
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
plan_setup_AutoTakeoff();
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
plan_setup_AutoCruise();
break;
@ -145,6 +148,9 @@ void pathFollowerHandler(bool newinit)
plan_run_VelocityRoam();
}
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
plan_run_AutoTakeoff();
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
plan_run_AutoCruise();
break;

17
flight/modules/ManualControl/stabilizedhandler.c
View File

@ -96,33 +96,34 @@ void stabilizedHandler(bool newinit)
switch (flightStatus.FlightMode) {
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
stab_settings = FlightModeSettingsStabilization2SettingsToArray(settings.Stabilization2Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization2SettingsToArray(settings.Stabilization2Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
stab_settings = FlightModeSettingsStabilization3SettingsToArray(settings.Stabilization3Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization3SettingsToArray(settings.Stabilization3Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
stab_settings = FlightModeSettingsStabilization4SettingsToArray(settings.Stabilization4Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization4SettingsToArray(settings.Stabilization4Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
stab_settings = FlightModeSettingsStabilization5SettingsToArray(settings.Stabilization5Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization5SettingsToArray(settings.Stabilization5Settings);
break;
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
stab_settings = FlightModeSettingsStabilization6SettingsToArray(settings.Stabilization6Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization6SettingsToArray(settings.Stabilization6Settings);
break;
default:
// Major error, this should not occur because only enter this block when one of these is true
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
stab_settings = (uint8_t *)FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
return;
}
stabilization.Roll =
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER) ? cmd.Roll * stabSettings.ManualRate.Roll :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Roll * stabSettings.RollMax :
(stab_settings[0] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Roll * stabSettings.ManualRate.Roll :
@ -134,6 +135,7 @@ void stabilizedHandler(bool newinit)
stabilization.Pitch =
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Pitch * stabSettings.PitchMax :
(stab_settings[1] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Pitch * stabSettings.ManualRate.Pitch :
@ -155,6 +157,7 @@ void stabilizedHandler(bool newinit)
stabilization.Yaw =
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_MANUAL) ? cmd.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER) ? cmd.Yaw * stabSettings.ManualRate.Yaw :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) ? cmd.Yaw * stabSettings.YawMax :
(stab_settings[2] == STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) ? cmd.Yaw * stabSettings.ManualRate.Yaw :

12
flight/modules/ManualControl/takeofflocationhandler.c
View File

@ -42,8 +42,8 @@ void takeOffLocationHandlerInit()
{
TakeOffLocationInitialize();
// check whether there is a preset/valid takeoff location
uint8_t mode;
uint8_t status;
TakeOffLocationModeOptions mode;
TakeOffLocationStatusOptions status;
TakeOffLocationModeGet(&mode);
TakeOffLocationStatusGet(&status);
// preset with invalid location will actually behave like FirstTakeoff
@ -61,8 +61,8 @@ void takeOffLocationHandlerInit()
*/
void takeOffLocationHandler()
{
uint8_t armed;
uint8_t status;
FlightStatusArmedOptions armed;
TakeOffLocationStatusOptions status;
FlightStatusArmedGet(&armed);
@ -77,7 +77,7 @@ void takeOffLocationHandler()
case FLIGHTSTATUS_ARMED_ARMING:
case FLIGHTSTATUS_ARMED_ARMED:
if (!locationSet || status != TAKEOFFLOCATION_STATUS_VALID) {
uint8_t mode;
TakeOffLocationModeOptions mode;
TakeOffLocationModeGet(&mode);
if ((mode != TAKEOFFLOCATION_MODE_PRESET) || (status == TAKEOFFLOCATION_STATUS_INVALID)) {
@ -91,7 +91,7 @@ void takeOffLocationHandler()
case FLIGHTSTATUS_ARMED_DISARMED:
// unset if location is to be acquired at each arming
if (locationSet) {
uint8_t mode;
TakeOffLocationModeOptions mode;
TakeOffLocationModeGet(&mode);
if (mode == TAKEOFFLOCATION_MODE_ARMINGLOCATION) {
locationSet = false;

76
flight/modules/PathFollower/inc/vtolautotakeoffcontroller.h Normal file
View File

@ -0,0 +1,76 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup PathFollower CONTROL interface class
* @brief vtol land controller class
* @{
*
* @file vtollandcontroller.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Executes CONTROL for landing sequence
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef VTOLAUTOTAKEOFFCONTROLLER_H
#define VTOLAUTOTAKEOFFCONTROLLER_H
#include "pathfollowercontrol.h"
#include "pidcontroldown.h"
#include "pidcontrolne.h"
// forward decl
class VtolAutoTakeoffFSM;
class VtolAutoTakeoffController : public PathFollowerControl {
private:
static VtolAutoTakeoffController *p_inst;
VtolAutoTakeoffController();
public:
static VtolAutoTakeoffController *instance()
{
if (!p_inst) {
p_inst = new VtolAutoTakeoffController();
}
return p_inst;
}
int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
void Activate(void);
void Deactivate(void);
void SettingsUpdated(void);
void UpdateAutoPilot(void);
void ObjectiveUpdated(void);
uint8_t IsActive(void);
uint8_t Mode(void);
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void setArmedIfChanged(FlightStatusArmedOptions val);
VtolAutoTakeoffFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;
PIDControlDown controlDown;
PIDControlNE controlNE;
uint8_t mActive;
};
#endif // VTOLAUTOTAKEOFFCONTROLLER_H

158
flight/modules/PathFollower/inc/vtolautotakeofffsm.h Normal file
View File

@ -0,0 +1,158 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup PathFollower FSM
* @brief Executes landing sequence via an FSM
* @{
*
* @file vtollandfsm.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Executes FSM for landing sequence
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef VTOLAUTOTAKEOFFFSM_H
#define VTOLAUTOTAKEOFFFSM_H
extern "C" {
#include "statusvtolautotakeoff.h"
}
#include "pathfollowerfsm.h"
// AutoTakeoffing state machine
typedef enum {
AUTOTAKEOFF_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
AUTOTAKEOFF_STATE_CHECKSTATE, // Initial condition checks
AUTOTAKEOFF_STATE_SLOWSTART, // Slow start motors
AUTOTAKEOFF_STATE_THRUSTUP, // Ramp motors up to neutral thrust
AUTOTAKEOFF_STATE_TAKEOFF, // Ascend to target velocity
AUTOTAKEOFF_STATE_HOLD, // Hold position as completion of the sequence
AUTOTAKEOFF_STATE_THRUSTDOWN, // Thrust down sequence
AUTOTAKEOFF_STATE_THRUSTOFF, // Thrust is now off
AUTOTAKEOFF_STATE_DISARMED, // Disarmed
AUTOTAKEOFF_STATE_ABORT, // Abort on error triggerig fallback to hold
AUTOTAKEOFF_STATE_SIZE
} PathFollowerFSM_AutoTakeoffState_T;
class VtolAutoTakeoffFSM : public PathFollowerFSM {
private:
static VtolAutoTakeoffFSM *p_inst;
VtolAutoTakeoffFSM();
public:
static VtolAutoTakeoffFSM *instance()
{
if (!p_inst) {
p_inst = new VtolAutoTakeoffFSM();
}
return p_inst;
}
int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings,
PathDesiredData *pathDesired,
FlightStatusData *flightStatus);
void Inactive(void);
void Activate(void);
void Update(void);
void BoundThrust(float &ulow, float &uhigh);
PathFollowerFSMState_T GetCurrentState(void);
void ConstrainStabiDesired(StabilizationDesiredData *stabDesired);
void Abort(void);
uint8_t PositionHoldState(void);
void setControlState(StatusVtolAutoTakeoffControlStateOptions controlState);
protected:
// FSM instance data type
typedef struct {
StatusVtolAutoTakeoffData fsmAutoTakeoffStatus;
StatusVtolAutoTakeoffStateOptions currentState;
TakeOffLocationData takeOffLocation;
uint32_t stateRunCount;
uint32_t stateTimeoutCount;
float sum1;
float sum2;
float expectedAutoTakeoffPositionNorth;
float expectedAutoTakeoffPositionEast;
float thrustLimit;
float boundThrustMin;
float boundThrustMax;
uint8_t observationCount;
uint8_t observation2Count;
uint8_t flZeroStabiHorizontal;
uint8_t flConstrainThrust;
uint8_t flLowAltitude;
uint8_t flAltitudeHold;
} VtolAutoTakeoffFSMData_T;
// FSM state structure
typedef struct {
void(VtolAutoTakeoffFSM::*setup) (void); // Called to initialise the state
void(VtolAutoTakeoffFSM::*run) (uint8_t); // Run the event detection code for a state
} PathFollowerFSM_AutoTakeoffStateHandler_T;
// Private variables
VtolAutoTakeoffFSMData_T *mAutoTakeoffData;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;
PathDesiredData *pathDesired;
FlightStatusData *flightStatus;
void setup_inactive(void);
void setup_checkstate(void);
void setup_slowstart(void);
void run_slowstart(uint8_t);
void setup_takeoff(void);
void run_takeoff(uint8_t);
void setup_hold(void);
void run_hold(uint8_t);
void setup_thrustup(void);
void run_thrustup(uint8_t);
void setup_thrustdown(void);
void run_thrustdown(uint8_t);
void setup_thrustoff(void);
void run_thrustoff(uint8_t);
void setup_disarmed(void);
void run_disarmed(uint8_t);
void setup_abort(void);
void run_abort(uint8_t);
void initFSM(void);
void setState(StatusVtolAutoTakeoffStateOptions newState, StatusVtolAutoTakeoffStateExitReasonOptions reason);
int32_t runState();
int32_t runAlways();
void updateVtolAutoTakeoffFSMStatus();
void assessAltitude(void);
void setStateTimeout(int32_t count);
void fallback_to_hold(void);
static PathFollowerFSM_AutoTakeoffStateHandler_T sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE];
};
#endif // VTOLAUTOTAKEOFFFSM_H

2
flight/modules/PathFollower/inc/vtollandcontroller.h
View File

@ -64,7 +64,7 @@ public:
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void setArmedIfChanged(uint8_t val);
void setArmedIfChanged(FlightStatusArmedOptions val);
PathFollowerFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;

4
flight/modules/PathFollower/inc/vtollandfsm.h
View File

@ -82,7 +82,7 @@ protected:
// FSM instance data type
typedef struct {
StatusVtolLandData fsmLandStatus;
PathFollowerFSM_LandState_T currentState;
StatusVtolLandStateOptions currentState;
TakeOffLocationData takeOffLocation;
uint32_t stateRunCount;
uint32_t stateTimeoutCount;
@ -133,7 +133,7 @@ protected:
void setup_abort(void);
void run_abort(uint8_t);
void initFSM(void);
void setState(PathFollowerFSM_LandState_T newState, StatusVtolLandStateExitReasonOptions reason);
void setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason);
int32_t runState();
int32_t runAlways();
void updateVtolLandFSMStatus();

8
flight/modules/PathFollower/pathfollower.cpp
View File

@ -81,12 +81,14 @@ extern "C" {
#include <pidstatus.h>
#include <homelocation.h>
#include <accelstate.h>
#include <statusvtolautotakeoff.h>
#include <statusvtolland.h>
#include <statusgrounddrive.h>
}
#include "pathfollowercontrol.h"
#include "vtollandcontroller.h"
#include "vtolautotakeoffcontroller.h"
#include "vtolvelocitycontroller.h"
#include "vtolbrakecontroller.h"
#include "vtolflycontroller.h"
@ -172,6 +174,7 @@ extern "C" int32_t PathFollowerInitialize()
PIDStatusInitialize();
StatusVtolLandInitialize();
StatusGroundDriveInitialize();
StatusVtolAutoTakeoffInitialize();
// VtolLandFSM additional objects
HomeLocationInitialize();
@ -206,6 +209,7 @@ void pathFollowerInitializeControllersForFrameType()
case FRAME_TYPE_HELI:
if (!multirotor_initialised) {
VtolLandController::instance()->Initialize(&vtolPathFollowerSettings);
VtolAutoTakeoffController::instance()->Initialize(&vtolPathFollowerSettings);
VtolVelocityController::instance()->Initialize(&vtolPathFollowerSettings);
VtolFlyController::instance()->Initialize(&vtolPathFollowerSettings);
VtolBrakeController::instance()->Initialize(&vtolPathFollowerSettings);
@ -263,6 +267,10 @@ static void pathFollowerSetActiveController(void)
activeController = VtolLandController::instance();
activeController->Activate();
break;
case PATHDESIRED_MODE_AUTOTAKEOFF:
activeController = VtolAutoTakeoffController::instance();
activeController->Activate();
break;
default:
activeController = 0;
break;

3
flight/modules/PathFollower/pidcontroldown.cpp
View File

@ -89,8 +89,7 @@ void PIDControlDown::Activate()
float currentThrust;
StabilizationDesiredThrustGet(&currentThrust);
float u0 = currentThrust - mNeutral;
pid2_transfer(&PID, u0);
pid2_transfer(&PID, currentThrust);
mActive = true;
}

5
flight/modules/PathFollower/pidcontrolne.cpp
View File

@ -61,11 +61,6 @@ void PIDControlNE::Deactivate()
void PIDControlNE::Activate()
{
// Do we need to initialise any loops for smooth transition
// float currentNE;
// StabilizationDesiredNEGet(&currentNE);
// float u0 = currentNE - mNeutral;
// pid2_transfer(&PID, u0);
mActive = true;
}

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/*
******************************************************************************
*
* @file vtollandcontroller.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Vtol landing controller loop
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <homelocation.h>
#include <accelstate.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <airspeedstate.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <poilocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <pathsummary.h>
}
// C++ includes
#include "vtolautotakeoffcontroller.h"
#include "pathfollowerfsm.h"
#include "vtolautotakeofffsm.h"
#include "pidcontroldown.h"
// Private constants
// pointer to a singleton instance
VtolAutoTakeoffController *VtolAutoTakeoffController::p_inst = 0;
VtolAutoTakeoffController::VtolAutoTakeoffController()
: fsm(0), vtolPathFollowerSettings(0), mActive(false)
{}
// Called when mode first engaged
void VtolAutoTakeoffController::Activate(void)
{
if (!mActive) {
mActive = true;
SettingsUpdated();
fsm->Activate();
controlDown.Activate();
controlNE.Activate();
}
}
uint8_t VtolAutoTakeoffController::IsActive(void)
{
return mActive;
}
uint8_t VtolAutoTakeoffController::Mode(void)
{
return PATHDESIRED_MODE_AUTOTAKEOFF;
}
// Objective updated in pathdesired, e.g. same flight mode but new target velocity
void VtolAutoTakeoffController::ObjectiveUpdated(void)
{
// Set the objective's target velocity
controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN]);
controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH],
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST]);
controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
controlDown.UpdatePositionSetpoint(pathDesired->End.Down);
fsm->setControlState((StatusVtolAutoTakeoffControlStateOptions)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE]);
}
void VtolAutoTakeoffController::Deactivate(void)
{
if (mActive) {
mActive = false;
fsm->Inactive();
controlDown.Deactivate();
controlNE.Deactivate();
}
}
// AutoTakeoff Uses different vertical velocity PID.
void VtolAutoTakeoffController::SettingsUpdated(void)
{
const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
vtolPathFollowerSettings->HorizontalVelPID.Ki,
vtolPathFollowerSettings->HorizontalVelPID.Kd,
vtolPathFollowerSettings->HorizontalVelPID.ILimit,
dT,
vtolPathFollowerSettings->HorizontalVelMax);
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
controlDown.UpdateParameters(vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Kp,
vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Ki,
vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Kd,
vtolPathFollowerSettings->AutoTakeoffVerticalVelPID.Beta,
dT,
vtolPathFollowerSettings->VerticalVelMax);
controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
VtolSelfTuningStatsData vtolSelfTuningStats;
VtolSelfTuningStatsGet(&vtolSelfTuningStats);
controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
fsm->SettingsUpdated();
}
// AutoTakeoff Uses a different FSM to its parent
int32_t VtolAutoTakeoffController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
if (fsm == 0) {
fsm = VtolAutoTakeoffFSM::instance();
VtolAutoTakeoffFSM::instance()->Initialize(vtolPathFollowerSettings, pathDesired, flightStatus);
controlDown.Initialize(fsm);
}
return 0;
}
void VtolAutoTakeoffController::UpdateVelocityDesired()
{
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
VelocityDesiredData velocityDesired;
PositionStateData positionState;
PositionStateGet(&positionState);
if (fsm->PositionHoldState()) {
controlDown.UpdatePositionState(positionState.Down);
controlDown.ControlPosition();
}
controlDown.UpdateVelocityState(velocityState.Down);
controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
controlNE.UpdatePositionState(positionState.North, positionState.East);
controlNE.ControlPosition();
velocityDesired.Down = controlDown.GetVelocityDesired();
float north, east;
controlNE.GetVelocityDesired(&north, &east);
velocityDesired.North = north;
velocityDesired.East = east;
// update pathstatus
pathStatus->error = 0.0f;
pathStatus->fractional_progress = 0.0f;
if (fsm->PositionHoldState()) {
pathStatus->fractional_progress = 1.0f;
// note if the takeoff waypoint and the launch position are significantly different
// the above check might need to expand to assessment of north and east.
}
pathStatus->path_direction_north = velocityDesired.North;
pathStatus->path_direction_east = velocityDesired.East;
pathStatus->path_direction_down = velocityDesired.Down;
pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
pathStatus->correction_direction_east = velocityDesired.East - velocityState.East;
pathStatus->correction_direction_down = velocityDesired.Down - velocityState.Down;
VelocityDesiredSet(&velocityDesired);
}
int8_t VtolAutoTakeoffController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
{
uint8_t result = 1;
StabilizationDesiredData stabDesired;
AttitudeStateData attitudeState;
StabilizationBankData stabSettings;
float northCommand;
float eastCommand;
StabilizationDesiredGet(&stabDesired);
AttitudeStateGet(&attitudeState);
StabilizationBankGet(&stabSettings);
controlNE.GetNECommand(&northCommand, &eastCommand);
stabDesired.Thrust = controlDown.GetDownCommand();
float angle_radians = DEG2RAD(attitudeState.Yaw);
float cos_angle = cosf(angle_radians);
float sine_angle = sinf(angle_radians);
float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
if (yaw_attitude) {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Yaw = yaw_direction;
} else {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
}
// default thrust mode to cruise control
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
StabilizationDesiredSet(&stabDesired);
return result;
}
void VtolAutoTakeoffController::UpdateAutoPilot()
{
fsm->Update();
UpdateVelocityDesired();
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
bool yaw_attitude = true;
float yaw = 0.0f;
fsm->GetYaw(yaw_attitude, yaw);
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fsm->Abort();
}
if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
}
PathStatusSet(pathStatus);
}
void VtolAutoTakeoffController::setArmedIfChanged(FlightStatusArmedOptions val)
{
if (flightStatus->Armed != val) {
flightStatus->Armed = val;
FlightStatusSet(flightStatus);
}
}

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/*
******************************************************************************
*
* @file vtolautotakeofffsm.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief This autotakeoff state machine is a helper state machine to the
* VtolAutoTakeoffController.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <homelocation.h>
#include <accelstate.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <statusvtolautotakeoff.h>
#include <pathsummary.h>
}
// C++ includes
#include <vtolautotakeofffsm.h>
// Private constants
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define TIMEOUT_SLOWSTART (2 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTUP (1 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTDOWN (2 * TIMER_COUNT_PER_SECOND)
#define AUTOTAKEOFFING_SLOWDOWN_HEIGHT -5.0f
VtolAutoTakeoffFSM::PathFollowerFSM_AutoTakeoffStateHandler_T VtolAutoTakeoffFSM::sAutoTakeoffStateTable[AUTOTAKEOFF_STATE_SIZE] = {
[AUTOTAKEOFF_STATE_INACTIVE] = { .setup = &VtolAutoTakeoffFSM::setup_inactive, .run = 0 },
[AUTOTAKEOFF_STATE_CHECKSTATE] = { .setup = &VtolAutoTakeoffFSM::setup_checkstate, .run = 0 },
[AUTOTAKEOFF_STATE_SLOWSTART] = { .setup = &VtolAutoTakeoffFSM::setup_slowstart, .run = &VtolAutoTakeoffFSM::run_slowstart },
[AUTOTAKEOFF_STATE_THRUSTUP] = { .setup = &VtolAutoTakeoffFSM::setup_thrustup, .run = &VtolAutoTakeoffFSM::run_thrustup },
[AUTOTAKEOFF_STATE_TAKEOFF] = { .setup = &VtolAutoTakeoffFSM::setup_takeoff, .run = &VtolAutoTakeoffFSM::run_takeoff },
[AUTOTAKEOFF_STATE_HOLD] = { .setup = &VtolAutoTakeoffFSM::setup_hold, .run = &VtolAutoTakeoffFSM::run_hold },
[AUTOTAKEOFF_STATE_THRUSTDOWN] = { .setup = &VtolAutoTakeoffFSM::setup_thrustdown, .run = &VtolAutoTakeoffFSM::run_thrustdown },
[AUTOTAKEOFF_STATE_THRUSTOFF] = { .setup = &VtolAutoTakeoffFSM::setup_thrustoff, .run = &VtolAutoTakeoffFSM::run_thrustoff },
[AUTOTAKEOFF_STATE_DISARMED] = { .setup = &VtolAutoTakeoffFSM::setup_disarmed, .run = &VtolAutoTakeoffFSM::run_disarmed },
[AUTOTAKEOFF_STATE_ABORT] = { .setup = &VtolAutoTakeoffFSM::setup_abort, .run = &VtolAutoTakeoffFSM::run_abort }
};
// pointer to a singleton instance
VtolAutoTakeoffFSM *VtolAutoTakeoffFSM::p_inst = 0;
VtolAutoTakeoffFSM::VtolAutoTakeoffFSM()
: mAutoTakeoffData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
{}
// Private types
// Private functions
// Public API methods
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolAutoTakeoffFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
PathDesiredData *ptr_pathDesired,
FlightStatusData *ptr_flightStatus)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
PIOS_Assert(ptr_pathDesired);
PIOS_Assert(ptr_flightStatus);
if (mAutoTakeoffData == 0) {
mAutoTakeoffData = (VtolAutoTakeoffFSMData_T *)pios_malloc(sizeof(VtolAutoTakeoffFSMData_T));
PIOS_Assert(mAutoTakeoffData);
}
memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
pathDesired = ptr_pathDesired;
flightStatus = ptr_flightStatus;
initFSM();
return 0;
}
void VtolAutoTakeoffFSM::Inactive(void)
{
memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
initFSM();
}
// Initialise the FSM
void VtolAutoTakeoffFSM::initFSM(void)
{
if (vtolPathFollowerSettings != 0) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
} else {
mAutoTakeoffData->currentState = STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE;
}
}
void VtolAutoTakeoffFSM::Activate()
{
memset(mAutoTakeoffData, 0, sizeof(VtolAutoTakeoffFSMData_T));
mAutoTakeoffData->currentState = STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE;
mAutoTakeoffData->flLowAltitude = true;
mAutoTakeoffData->flAltitudeHold = false;
mAutoTakeoffData->boundThrustMin = 0.0f;
mAutoTakeoffData->boundThrustMax = 0.0f;
mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
TakeOffLocationGet(&(mAutoTakeoffData->takeOffLocation));
mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE] = 0.0f;
mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
assessAltitude();
// Check if we are already flying. This can happen in pathplanner mode
// going into a second loop of the waypoints.
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
return;
}
// initially inactive and wait for a change in controlstate.
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
void VtolAutoTakeoffFSM::Abort(void)
{
setState(STATUSVTOLAUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolAutoTakeoffFSM::GetCurrentState(void)
{
switch (mAutoTakeoffData->currentState) {
case STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case STATUSVTOLAUTOTAKEOFF_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case STATUSVTOLAUTOTAKEOFF_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
break;
default:
return PFFSM_STATE_ACTIVE;
break;
}
}
void VtolAutoTakeoffFSM::Update()
{
runState();
if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
runAlways();
}
}
int32_t VtolAutoTakeoffFSM::runState(void)
{
uint8_t flTimeout = false;
mAutoTakeoffData->stateRunCount++;
if (mAutoTakeoffData->stateTimeoutCount > 0 && mAutoTakeoffData->stateRunCount > mAutoTakeoffData->stateTimeoutCount) {
flTimeout = true;
}
// If the current state has a static function, call it
if (sAutoTakeoffStateTable[mAutoTakeoffData->currentState].run) {
(this->*sAutoTakeoffStateTable[mAutoTakeoffData->currentState].run)(flTimeout);
}
return 0;
}
int32_t VtolAutoTakeoffFSM::runAlways(void)
{
void assessAltitude(void);
return 0;
}
// PathFollower implements the PID scheme and has a objective
// set by a PathDesired object. Based on the mode, pathfollower
// uses FSM's as helper functions that manage state and event detection.
// PathFollower calls into FSM methods to alter its commands.
void VtolAutoTakeoffFSM::BoundThrust(float &ulow, float &uhigh)
{
ulow = mAutoTakeoffData->boundThrustMin;
uhigh = mAutoTakeoffData->boundThrustMax;
if (mAutoTakeoffData->flConstrainThrust) {
uhigh = mAutoTakeoffData->thrustLimit;
}
}
void VtolAutoTakeoffFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
{
if (mAutoTakeoffData->flZeroStabiHorizontal && stabDesired) {
stabDesired->Pitch = 0.0f;
stabDesired->Roll = 0.0f;
stabDesired->Yaw = 0.0f;
}
}
// Set the new state and perform setup for subsequent state run calls
// This is called by state run functions on event detection that drive
// state transitions.
void VtolAutoTakeoffFSM::setState(StatusVtolAutoTakeoffStateOptions newState, StatusVtolAutoTakeoffStateExitReasonOptions reason)
{
mAutoTakeoffData->fsmAutoTakeoffStatus.StateExitReason[mAutoTakeoffData->currentState] = reason;
if (mAutoTakeoffData->currentState == newState) {
return;
}
mAutoTakeoffData->currentState = newState;
if (newState != STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE) {
PositionStateData positionState;
PositionStateGet(&positionState);
float takeOffDown = 0.0f;
if (mAutoTakeoffData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
takeOffDown = mAutoTakeoffData->takeOffLocation.Down;
}
mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
assessAltitude();
}
// Restart state timer counter
mAutoTakeoffData->stateRunCount = 0;
// Reset state timeout to disabled/zero
mAutoTakeoffData->stateTimeoutCount = 0;
if (sAutoTakeoffStateTable[mAutoTakeoffData->currentState].setup) {
(this->*sAutoTakeoffStateTable[mAutoTakeoffData->currentState].setup)();
}
updateVtolAutoTakeoffFSMStatus();
}
// Timeout utility function for use by state init implementations
void VtolAutoTakeoffFSM::setStateTimeout(int32_t count)
{
mAutoTakeoffData->stateTimeoutCount = count;
}
void VtolAutoTakeoffFSM::updateVtolAutoTakeoffFSMStatus()
{
mAutoTakeoffData->fsmAutoTakeoffStatus.State = mAutoTakeoffData->currentState;
if (mAutoTakeoffData->flLowAltitude) {
mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeState = STATUSVTOLAUTOTAKEOFF_ALTITUDESTATE_LOW;
} else {
mAutoTakeoffData->fsmAutoTakeoffStatus.AltitudeState = STATUSVTOLAUTOTAKEOFF_ALTITUDESTATE_HIGH;
}
StatusVtolAutoTakeoffSet(&mAutoTakeoffData->fsmAutoTakeoffStatus);
}
void VtolAutoTakeoffFSM::assessAltitude(void)
{
float positionDown;
PositionStateDownGet(&positionDown);
float takeOffDown = 0.0f;
if (mAutoTakeoffData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
takeOffDown = mAutoTakeoffData->takeOffLocation.Down;
}
float positionDownRelativeToTakeoff = positionDown - takeOffDown;
if (positionDownRelativeToTakeoff < AUTOTAKEOFFING_SLOWDOWN_HEIGHT) {
mAutoTakeoffData->flLowAltitude = false;
} else {
mAutoTakeoffData->flLowAltitude = true;
}
}
// Action the required state from plans.c
void VtolAutoTakeoffFSM::setControlState(StatusVtolAutoTakeoffControlStateOptions controlState)
{
mAutoTakeoffData->fsmAutoTakeoffStatus.ControlState = controlState;
switch (controlState) {
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE:
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
setState(STATUSVTOLAUTOTAKEOFF_STATE_INACTIVE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE:
setState(STATUSVTOLAUTOTAKEOFF_STATE_CHECKSTATE, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD:
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
setState(STATUSVTOLAUTOTAKEOFF_STATE_ABORT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
break;
}
}
// State: INACTIVE
void VtolAutoTakeoffFSM::setup_inactive(void)
{
// Re-initialise local variables
mAutoTakeoffData->flZeroStabiHorizontal = false;
mAutoTakeoffData->flConstrainThrust = false;
}
// State: CHECKSTATE
void VtolAutoTakeoffFSM::setup_checkstate(void)
{
// Assumptions that do not need to be checked if flight mode is AUTOTAKEOFF
// 1. Already armed
// 2. Not in flight. This was checked in plans.c
// 3. User has placed throttle position to more than 50% to allow autotakeoff
// If pathplanner, we need additional checks
// E.g. if inflight, this mode is just positon hol
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust > vtolPathFollowerSettings->ThrustLimits.Min) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
return;
}
// Start from a enforced thrust off condition
mAutoTakeoffData->flConstrainThrust = false;
mAutoTakeoffData->boundThrustMin = -0.1f;
mAutoTakeoffData->boundThrustMax = 0.0f;
setState(STATUSVTOLAUTOTAKEOFF_STATE_SLOWSTART, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
// STATE: SLOWSTART spools up motors to vtol min over 2 seconds for effect.
// PID loops may be cumulating I terms but that problem needs to be solved
#define SLOWSTART_INITIAL_THRUST 0.05f // assumed to be less than vtol min
void VtolAutoTakeoffFSM::setup_slowstart(void)
{
setStateTimeout(TIMEOUT_SLOWSTART);
mAutoTakeoffData->flZeroStabiHorizontal = true; // turn off positional controllers
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
float vtol_thrust_min = vtolPathFollowerSettings->ThrustLimits.Min;
if (vtol_thrust_min < SLOWSTART_INITIAL_THRUST) {
vtol_thrust_min = SLOWSTART_INITIAL_THRUST;
}
mAutoTakeoffData->sum1 = (vtol_thrust_min - SLOWSTART_INITIAL_THRUST) / (float)TIMEOUT_SLOWSTART;
mAutoTakeoffData->sum2 = vtol_thrust_min;
mAutoTakeoffData->boundThrustMin = SLOWSTART_INITIAL_THRUST;
mAutoTakeoffData->boundThrustMax = SLOWSTART_INITIAL_THRUST;
PositionStateData positionState;
PositionStateGet(&positionState);
mAutoTakeoffData->expectedAutoTakeoffPositionNorth = positionState.North;
mAutoTakeoffData->expectedAutoTakeoffPositionEast = positionState.East;
}
void VtolAutoTakeoffFSM::run_slowstart(__attribute__((unused)) uint8_t flTimeout)
{
// increase thrust setpoint step by step
if (mAutoTakeoffData->boundThrustMin < mAutoTakeoffData->sum2) {
mAutoTakeoffData->boundThrustMin += mAutoTakeoffData->sum1;
}
mAutoTakeoffData->boundThrustMax += mAutoTakeoffData->sum1;
if (mAutoTakeoffData->boundThrustMax > mAutoTakeoffData->sum2) {
mAutoTakeoffData->boundThrustMax = mAutoTakeoffData->sum2;
}
if (flTimeout) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTUP, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
}
// STATE: THRUSTUP spools up motors to vtol min over 5 seconds for effect.
// PID loops may be cumulating I terms but that problem needs to be solved
#define THRUSTUP_FINAL_THRUST_AS_RATIO_OF_VTOLMAX 0.8f
void VtolAutoTakeoffFSM::setup_thrustup(void)
{
setStateTimeout(TIMEOUT_THRUSTUP);
mAutoTakeoffData->flZeroStabiHorizontal = false;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
mAutoTakeoffData->sum2 = THRUSTUP_FINAL_THRUST_AS_RATIO_OF_VTOLMAX * vtolPathFollowerSettings->ThrustLimits.Max;
mAutoTakeoffData->sum1 = (mAutoTakeoffData->sum2 - mAutoTakeoffData->boundThrustMax) / (float)TIMEOUT_THRUSTUP;
mAutoTakeoffData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
}
void VtolAutoTakeoffFSM::run_thrustup(__attribute__((unused)) uint8_t flTimeout)
{
// increase thrust setpoint step by step
mAutoTakeoffData->boundThrustMax += mAutoTakeoffData->sum1;
if (mAutoTakeoffData->boundThrustMax > mAutoTakeoffData->sum2) {
mAutoTakeoffData->boundThrustMax = mAutoTakeoffData->sum2;
}
if (flTimeout) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_TAKEOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
}
// STATE: TAKEOFF
void VtolAutoTakeoffFSM::setup_takeoff(void)
{
mAutoTakeoffData->flZeroStabiHorizontal = false;
}
void VtolAutoTakeoffFSM::run_takeoff(__attribute__((unused)) uint8_t flTimeout)
{
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
return;
}
// detect broad sideways drift.
PositionStateData positionState;
PositionStateGet(&positionState);
float north_error = mAutoTakeoffData->expectedAutoTakeoffPositionNorth - positionState.North;
float east_error = mAutoTakeoffData->expectedAutoTakeoffPositionEast - positionState.East;
float down_error = pathDesired->End.Down - positionState.Down;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 3.0f) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTDOWN, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_POSITIONERROR);
return;
}
if (fabsf(down_error) < 0.5f) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_HOLD, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ARRIVEDATALT);
return;
}
}
// STATE: HOLD
void VtolAutoTakeoffFSM::setup_hold(void)
{
mAutoTakeoffData->flZeroStabiHorizontal = false;
mAutoTakeoffData->flAltitudeHold = true;
}
void VtolAutoTakeoffFSM::run_hold(__attribute__((unused)) uint8_t flTimeout)
{}
uint8_t VtolAutoTakeoffFSM::PositionHoldState(void)
{
return mAutoTakeoffData->flAltitudeHold;
}
// STATE: THRUSTDOWN
void VtolAutoTakeoffFSM::setup_thrustdown(void)
{
setStateTimeout(TIMEOUT_THRUSTDOWN);
mAutoTakeoffData->flZeroStabiHorizontal = true;
mAutoTakeoffData->flConstrainThrust = true;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
mAutoTakeoffData->thrustLimit = stabDesired.Thrust;
mAutoTakeoffData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
mAutoTakeoffData->boundThrustMin = -0.1f;
mAutoTakeoffData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Neutral;
}
void VtolAutoTakeoffFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
{
// reduce thrust setpoint step by step
mAutoTakeoffData->thrustLimit -= mAutoTakeoffData->sum1;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f || mAutoTakeoffData->thrustLimit < 0.0f) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_ZEROTHRUST);
}
if (flTimeout) {
setState(STATUSVTOLAUTOTAKEOFF_STATE_THRUSTOFF, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_TIMEOUT);
}
}
// STATE: THRUSTOFF
void VtolAutoTakeoffFSM::setup_thrustoff(void)
{
mAutoTakeoffData->thrustLimit = -1.0f;
mAutoTakeoffData->flConstrainThrust = true;
mAutoTakeoffData->boundThrustMin = -0.1f;
mAutoTakeoffData->boundThrustMax = 0.0f;
}
void VtolAutoTakeoffFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
{
setState(STATUSVTOLAUTOTAKEOFF_STATE_DISARMED, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
// STATE: DISARMED
void VtolAutoTakeoffFSM::setup_disarmed(void)
{
// nothing to do
mAutoTakeoffData->flConstrainThrust = false;
mAutoTakeoffData->flZeroStabiHorizontal = false;
mAutoTakeoffData->observationCount = 0;
mAutoTakeoffData->boundThrustMin = -0.1f;
mAutoTakeoffData->boundThrustMax = 0.0f;
}
void VtolAutoTakeoffFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
#ifdef DEBUG_GROUNDIMPACT
if (mAutoTakeoffData->observationCount++ > 100) {
setState(AUTOTAKEOFF_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLAUTOTAKEOFF_STATEEXITREASON_NONE);
}
#endif
}
void VtolAutoTakeoffFSM::fallback_to_hold(void)
{
PositionStateData positionState;
PositionStateGet(&positionState);
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(pathDesired);
}
// abort repeatedly overwrites pathfollower's objective on a landing abort and
// continues to do so until a flight mode change.
void VtolAutoTakeoffFSM::setup_abort(void)
{
mAutoTakeoffData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mAutoTakeoffData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
mAutoTakeoffData->flConstrainThrust = false;
mAutoTakeoffData->flZeroStabiHorizontal = false;
fallback_to_hold();
}
void VtolAutoTakeoffFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
{}

4
flight/modules/PathFollower/vtolbrakecontroller.cpp
View File

@ -312,8 +312,10 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
// and a better throttle management to the standard Position Hold.
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
default:
break;
}
stabDesired.StabilizationMode.Thrust = thrustMode;
stabDesired.StabilizationMode.Thrust = (StabilizationDesiredStabilizationModeOptions)thrustMode;
}
// set the thrust value

6
flight/modules/PathFollower/vtolbrakefsm.cpp
View File

@ -101,7 +101,7 @@ int32_t VtolBrakeFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollo
mBrakeData = (VtolBrakeFSMData_T *)pios_malloc(sizeof(VtolBrakeFSMData_T));
PIOS_Assert(mBrakeData);
}
memset(mBrakeData, sizeof(VtolBrakeFSMData_T), 0);
memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T));
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
pathDesired = ptr_pathDesired;
flightStatus = ptr_flightStatus;
@ -113,7 +113,7 @@ int32_t VtolBrakeFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollo
void VtolBrakeFSM::Inactive(void)
{
memset(mBrakeData, sizeof(VtolBrakeFSMData_T), 0);
memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T));
initFSM();
}
@ -125,7 +125,7 @@ void VtolBrakeFSM::initFSM(void)
void VtolBrakeFSM::Activate()
{
memset(mBrakeData, sizeof(VtolBrakeFSMData_T), 0);
memset(mBrakeData, 0, sizeof(VtolBrakeFSMData_T));
mBrakeData->currentState = BRAKE_STATE_INACTIVE;
setState(BRAKE_STATE_BRAKE, FSMBRAKESTATUS_STATEEXITREASON_NONE);
}

558
flight/modules/PathFollower/vtollandcontroller.cpp
View File

@ -1,283 +1,275 @@
/*
******************************************************************************
*
* @file vtollandcontroller.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Vtol landing controller loop
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <accelstate.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <pathsummary.h>
}
// C++ includes
#include "vtollandcontroller.h"
#include "pathfollowerfsm.h"
#include "vtollandfsm.h"
#include "pidcontroldown.h"
// Private constants
// pointer to a singleton instance
VtolLandController *VtolLandController::p_inst = 0;
VtolLandController::VtolLandController()
: fsm(NULL), vtolPathFollowerSettings(NULL), mActive(false)
{}
// Called when mode first engaged
void VtolLandController::Activate(void)
{
if (!mActive) {
mActive = true;
SettingsUpdated();
fsm->Activate();
controlDown.Activate();
controlNE.Activate();
}
}
uint8_t VtolLandController::IsActive(void)
{
return mActive;
}
uint8_t VtolLandController::Mode(void)
{
return PATHDESIRED_MODE_LAND;
}
// Objective updated in pathdesired, e.g. same flight mode but new target velocity
void VtolLandController::ObjectiveUpdated(void)
{
// Set the objective's target velocity
controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN]);
controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH],
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST]);
controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
}
void VtolLandController::Deactivate(void)
{
if (mActive) {
mActive = false;
fsm->Inactive();
controlDown.Deactivate();
controlNE.Deactivate();
}
}
void VtolLandController::SettingsUpdated(void)
{
const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
vtolPathFollowerSettings->HorizontalVelPID.Ki,
vtolPathFollowerSettings->HorizontalVelPID.Kd,
vtolPathFollowerSettings->HorizontalVelPID.ILimit,
dT,
vtolPathFollowerSettings->HorizontalVelMax);
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
vtolPathFollowerSettings->LandVerticalVelPID.Ki,
vtolPathFollowerSettings->LandVerticalVelPID.Kd,
vtolPathFollowerSettings->LandVerticalVelPID.Beta,
dT,
vtolPathFollowerSettings->VerticalVelMax);
// The following is not currently used in the landing control.
controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
VtolSelfTuningStatsData vtolSelfTuningStats;
VtolSelfTuningStatsGet(&vtolSelfTuningStats);
controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
// initialise limits on thrust but note the FSM can override.
controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
fsm->SettingsUpdated();
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolLandController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
if (fsm == 0) {
fsm = (PathFollowerFSM *)VtolLandFSM::instance();
VtolLandFSM::instance()->Initialize(ptr_vtolPathFollowerSettings, pathDesired, flightStatus);
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
controlDown.Initialize(fsm);
}
return 0;
}
void VtolLandController::UpdateVelocityDesired()
{
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
VelocityDesiredData velocityDesired;
controlDown.UpdateVelocityState(velocityState.Down);
controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
// Implement optional horizontal position hold.
if (((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) {
// landing flight mode has stored original horizontal position in pathdesired
PositionStateData positionState;
PositionStateGet(&positionState);
controlNE.UpdatePositionState(positionState.North, positionState.East);
controlNE.ControlPosition();
}
velocityDesired.Down = controlDown.GetVelocityDesired();
float north, east;
controlNE.GetVelocityDesired(&north, &east);
velocityDesired.North = north;
velocityDesired.East = east;
// update pathstatus
pathStatus->error = 0.0f;
pathStatus->fractional_progress = 0.0f;
pathStatus->path_direction_north = velocityDesired.North;
pathStatus->path_direction_east = velocityDesired.East;
pathStatus->path_direction_down = velocityDesired.Down;
pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
pathStatus->correction_direction_east = velocityDesired.East - velocityState.East;
pathStatus->correction_direction_down = velocityDesired.Down - velocityState.Down;
VelocityDesiredSet(&velocityDesired);
}
int8_t VtolLandController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
{
uint8_t result = 1;
StabilizationDesiredData stabDesired;
AttitudeStateData attitudeState;
StabilizationBankData stabSettings;
float northCommand;
float eastCommand;
StabilizationDesiredGet(&stabDesired);
AttitudeStateGet(&attitudeState);
StabilizationBankGet(&stabSettings);
controlNE.GetNECommand(&northCommand, &eastCommand);
stabDesired.Thrust = controlDown.GetDownCommand();
float angle_radians = DEG2RAD(attitudeState.Yaw);
float cos_angle = cosf(angle_radians);
float sine_angle = sinf(angle_radians);
float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
if (yaw_attitude) {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Yaw = yaw_direction;
} else {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
}
// default thrust mode to cruise control
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
StabilizationDesiredSet(&stabDesired);
return result;
}
void VtolLandController::UpdateAutoPilot()
{
fsm->Update();
UpdateVelocityDesired();
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
bool yaw_attitude = false;
float yaw = 0.0f;
fsm->GetYaw(yaw_attitude, yaw);
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fsm->Abort();
}
if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
setArmedIfChanged(FLIGHTSTATUS_ARMED_DISARMED);
}
PathStatusSet(pathStatus);
}
void VtolLandController::setArmedIfChanged(uint8_t val)
{
if (flightStatus->Armed != val) {
flightStatus->Armed = val;
FlightStatusSet(flightStatus);
}
}
/*
******************************************************************************
*
* @file vtollandcontroller.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Vtol landing controller loop
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <accelstate.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <pathsummary.h>
}
// C++ includes
#include "vtollandcontroller.h"
#include "pathfollowerfsm.h"
#include "vtollandfsm.h"
#include "pidcontroldown.h"
// Private constants
// pointer to a singleton instance
VtolLandController *VtolLandController::p_inst = 0;
VtolLandController::VtolLandController()
: fsm(NULL), vtolPathFollowerSettings(NULL), mActive(false)
{}
// Called when mode first engaged
void VtolLandController::Activate(void)
{
if (!mActive) {
mActive = true;
SettingsUpdated();
fsm->Activate();
controlDown.Activate();
controlNE.Activate();
}
}
uint8_t VtolLandController::IsActive(void)
{
return mActive;
}
uint8_t VtolLandController::Mode(void)
{
return PATHDESIRED_MODE_LAND;
}
// Objective updated in pathdesired, e.g. same flight mode but new target velocity
void VtolLandController::ObjectiveUpdated(void)
{
// Set the objective's target velocity
controlDown.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN]);
controlNE.UpdateVelocitySetpoint(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH],
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST]);
controlNE.UpdatePositionSetpoint(pathDesired->End.North, pathDesired->End.East);
}
void VtolLandController::Deactivate(void)
{
if (mActive) {
mActive = false;
fsm->Inactive();
controlDown.Deactivate();
controlNE.Deactivate();
}
}
void VtolLandController::SettingsUpdated(void)
{
const float dT = vtolPathFollowerSettings->UpdatePeriod / 1000.0f;
controlNE.UpdateParameters(vtolPathFollowerSettings->HorizontalVelPID.Kp,
vtolPathFollowerSettings->HorizontalVelPID.Ki,
vtolPathFollowerSettings->HorizontalVelPID.Kd,
vtolPathFollowerSettings->HorizontalVelPID.ILimit,
dT,
vtolPathFollowerSettings->HorizontalVelMax);
controlNE.UpdatePositionalParameters(vtolPathFollowerSettings->HorizontalPosP);
controlNE.UpdateCommandParameters(-vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->MaxRollPitch, vtolPathFollowerSettings->VelocityFeedforward);
controlDown.UpdateParameters(vtolPathFollowerSettings->LandVerticalVelPID.Kp,
vtolPathFollowerSettings->LandVerticalVelPID.Ki,
vtolPathFollowerSettings->LandVerticalVelPID.Kd,
vtolPathFollowerSettings->LandVerticalVelPID.Beta,
dT,
vtolPathFollowerSettings->VerticalVelMax);
// The following is not currently used in the landing control.
controlDown.UpdatePositionalParameters(vtolPathFollowerSettings->VerticalPosP);
VtolSelfTuningStatsData vtolSelfTuningStats;
VtolSelfTuningStatsGet(&vtolSelfTuningStats);
controlDown.UpdateNeutralThrust(vtolSelfTuningStats.NeutralThrustOffset + vtolPathFollowerSettings->ThrustLimits.Neutral);
// initialise limits on thrust but note the FSM can override.
controlDown.SetThrustLimits(vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
fsm->SettingsUpdated();
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolLandController::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
if (fsm == 0) {
fsm = (PathFollowerFSM *)VtolLandFSM::instance();
VtolLandFSM::instance()->Initialize(ptr_vtolPathFollowerSettings, pathDesired, flightStatus);
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
controlDown.Initialize(fsm);
}
return 0;
}
void VtolLandController::UpdateVelocityDesired()
{
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
VelocityDesiredData velocityDesired;
controlDown.UpdateVelocityState(velocityState.Down);
controlNE.UpdateVelocityState(velocityState.North, velocityState.East);
// Implement optional horizontal position hold.
if ((((uint8_t)pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS]) == PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH) ||
(flightStatus->ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE)) {
// landing flight mode has stored original horizontal position in pathdesired
PositionStateData positionState;
PositionStateGet(&positionState);
controlNE.UpdatePositionState(positionState.North, positionState.East);
controlNE.ControlPosition();
}
velocityDesired.Down = controlDown.GetVelocityDesired();
float north, east;
controlNE.GetVelocityDesired(&north, &east);
velocityDesired.North = north;
velocityDesired.East = east;
// update pathstatus
pathStatus->error = 0.0f;
pathStatus->fractional_progress = 0.0f;
if (fsm->GetCurrentState() == PFFSM_STATE_DISARMED) {
pathStatus->fractional_progress = 1.0f;
}
pathStatus->path_direction_north = velocityDesired.North;
pathStatus->path_direction_east = velocityDesired.East;
pathStatus->path_direction_down = velocityDesired.Down;
pathStatus->correction_direction_north = velocityDesired.North - velocityState.North;
pathStatus->correction_direction_east = velocityDesired.East - velocityState.East;
pathStatus->correction_direction_down = velocityDesired.Down - velocityState.Down;
VelocityDesiredSet(&velocityDesired);
}
int8_t VtolLandController::UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction)
{
uint8_t result = 1;
StabilizationDesiredData stabDesired;
AttitudeStateData attitudeState;
StabilizationBankData stabSettings;
float northCommand;
float eastCommand;
StabilizationDesiredGet(&stabDesired);
AttitudeStateGet(&attitudeState);
StabilizationBankGet(&stabSettings);
controlNE.GetNECommand(&northCommand, &eastCommand);
stabDesired.Thrust = controlDown.GetDownCommand();
float angle_radians = DEG2RAD(attitudeState.Yaw);
float cos_angle = cosf(angle_radians);
float sine_angle = sinf(angle_radians);
float maxPitch = vtolPathFollowerSettings->MaxRollPitch;
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Pitch = boundf(-northCommand * cos_angle - eastCommand * sine_angle, -maxPitch, maxPitch);
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Roll = boundf(-northCommand * sine_angle + eastCommand * cos_angle, -maxPitch, maxPitch);
ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl);
if (yaw_attitude) {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
stabDesired.Yaw = yaw_direction;
} else {
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
}
// default thrust mode to cruise control
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
fsm->ConstrainStabiDesired(&stabDesired); // excludes thrust
StabilizationDesiredSet(&stabDesired);
return result;
}
void VtolLandController::UpdateAutoPilot()
{
fsm->Update();
UpdateVelocityDesired();
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
bool yaw_attitude = false;
float yaw = 0.0f;
fsm->GetYaw(yaw_attitude, yaw);
int8_t result = UpdateStabilizationDesired(yaw_attitude, yaw);
if (!result) {
fsm->Abort();
}
PathStatusSet(pathStatus);
}

1404
flight/modules/PathFollower/vtollandfsm.cpp
View File

@ -1,703 +1,701 @@
/*
******************************************************************************
*
* @file vtollandfsm.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief This landing state machine is a helper state machine to the
* VtolLandController.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <homelocation.h>
#include <accelstate.h>
#include <fixedwingpathfollowersettings.h>
#include <fixedwingpathfollowerstatus.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <airspeedstate.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <poilocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <statusvtolland.h>
#include <pathsummary.h>
}
// C++ includes
#include <vtollandfsm.h>
// Private constants
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define MIN_LANDRATE 0.1f
#define MAX_LANDRATE 0.6f
#define LOW_ALT_DESCENT_REDUCTION_FACTOR 0.7f // TODO Need to make the transition smooth
#define LANDRATE_LOWLIMIT_FACTOR 0.5f
#define LANDRATE_HILIMIT_FACTOR 1.5f
#define TIMEOUT_INIT_ALTHOLD (3 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_WTG_FOR_DESCENTRATE (10 * TIMER_COUNT_PER_SECOND)
#define WTG_FOR_DESCENTRATE_COUNT_LIMIT 10
#define TIMEOUT_AT_DESCENTRATE 10
#define TIMEOUT_GROUNDEFFECT (1 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTDOWN (2 * TIMER_COUNT_PER_SECOND)
#define LANDING_PID_SCALAR_P 2.0f
#define LANDING_PID_SCALAR_I 10.0f
#define LANDING_SLOWDOWN_HEIGHT -5.0f
#define BOUNCE_VELOCITY_TRIGGER_LIMIT -0.3f
#define BOUNCE_ACCELERATION_TRIGGER_LIMIT -6.0f
#define BOUNCE_TRIGGER_COUNT 4
#define GROUNDEFFECT_SLOWDOWN_FACTOR 0.3f
#define GROUNDEFFECT_SLOWDOWN_COUNT 4
VtolLandFSM::PathFollowerFSM_LandStateHandler_T VtolLandFSM::sLandStateTable[LAND_STATE_SIZE] = {
[LAND_STATE_INACTIVE] = { .setup = &VtolLandFSM::setup_inactive, .run = 0 },
[LAND_STATE_INIT_ALTHOLD] = { .setup = &VtolLandFSM::setup_init_althold, .run = &VtolLandFSM::run_init_althold },
[LAND_STATE_WTG_FOR_DESCENTRATE] = { .setup = &VtolLandFSM::setup_wtg_for_descentrate, .run = &VtolLandFSM::run_wtg_for_descentrate },
[LAND_STATE_AT_DESCENTRATE] = { .setup = &VtolLandFSM::setup_at_descentrate, .run = &VtolLandFSM::run_at_descentrate },
[LAND_STATE_WTG_FOR_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_wtg_for_groundeffect, .run = &VtolLandFSM::run_wtg_for_groundeffect },
[LAND_STATE_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_groundeffect, .run = &VtolLandFSM::run_groundeffect },
[LAND_STATE_THRUSTDOWN] = { .setup = &VtolLandFSM::setup_thrustdown, .run = &VtolLandFSM::run_thrustdown },
[LAND_STATE_THRUSTOFF] = { .setup = &VtolLandFSM::setup_thrustoff, .run = &VtolLandFSM::run_thrustoff },
[LAND_STATE_DISARMED] = { .setup = &VtolLandFSM::setup_disarmed, .run = &VtolLandFSM::run_disarmed },
[LAND_STATE_ABORT] = { .setup = &VtolLandFSM::setup_abort, .run = &VtolLandFSM::run_abort }
};
// pointer to a singleton instance
VtolLandFSM *VtolLandFSM::p_inst = 0;
VtolLandFSM::VtolLandFSM()
: mLandData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
{}
// Private types
// Private functions
// Public API methods
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolLandFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
PathDesiredData *ptr_pathDesired,
FlightStatusData *ptr_flightStatus)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
PIOS_Assert(ptr_pathDesired);
PIOS_Assert(ptr_flightStatus);
if (mLandData == 0) {
mLandData = (VtolLandFSMData_T *)pios_malloc(sizeof(VtolLandFSMData_T));
PIOS_Assert(mLandData);
}
memset(mLandData, sizeof(VtolLandFSMData_T), 0);
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
pathDesired = ptr_pathDesired;
flightStatus = ptr_flightStatus;
initFSM();
return 0;
}
void VtolLandFSM::Inactive(void)
{
memset(mLandData, sizeof(VtolLandFSMData_T), 0);
initFSM();
}
// Initialise the FSM
void VtolLandFSM::initFSM(void)
{
if (vtolPathFollowerSettings != 0) {
setState(LAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
} else {
mLandData->currentState = LAND_STATE_INACTIVE;
}
}
void VtolLandFSM::Activate()
{
memset(mLandData, sizeof(VtolLandFSMData_T), 0);
mLandData->currentState = LAND_STATE_INACTIVE;
mLandData->flLowAltitude = false;
mLandData->flAltitudeHold = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->fsmLandStatus.calculatedNeutralThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
TakeOffLocationGet(&(mLandData->takeOffLocation));
mLandData->fsmLandStatus.AltitudeAtState[LAND_STATE_INACTIVE] = 0.0f;
assessAltitude();
if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_INIT_ALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
#else
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
#endif
} else {
// move to error state and callback to position hold
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
}
void VtolLandFSM::Abort(void)
{
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
{
switch (mLandData->currentState) {
case LAND_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case LAND_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case LAND_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
break;
default:
return PFFSM_STATE_ACTIVE;
break;
}
}
void VtolLandFSM::Update()
{
runState();
if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
runAlways();
}
}
int32_t VtolLandFSM::runState(void)
{
uint8_t flTimeout = false;
mLandData->stateRunCount++;
if (mLandData->stateTimeoutCount > 0 && mLandData->stateRunCount > mLandData->stateTimeoutCount) {
flTimeout = true;
}
// If the current state has a static function, call it
if (sLandStateTable[mLandData->currentState].run) {
(this->*sLandStateTable[mLandData->currentState].run)(flTimeout);
}
return 0;
}
int32_t VtolLandFSM::runAlways(void)
{
void assessAltitude(void);
return 0;
}
// PathFollower implements the PID scheme and has a objective
// set by a PathDesired object. Based on the mode, pathfollower
// uses FSM's as helper functions that manage state and event detection.
// PathFollower calls into FSM methods to alter its commands.
void VtolLandFSM::BoundThrust(float &ulow, float &uhigh)
{
ulow = mLandData->boundThrustMin;
uhigh = mLandData->boundThrustMax;
if (mLandData->flConstrainThrust) {
uhigh = mLandData->thrustLimit;
}
}
void VtolLandFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
{
if (mLandData->flZeroStabiHorizontal && stabDesired) {
stabDesired->Pitch = 0.0f;
stabDesired->Roll = 0.0f;
stabDesired->Yaw = 0.0f;
}
}
void VtolLandFSM::CheckPidScaler(pid_scaler *local_scaler)
{
if (mLandData->flLowAltitude) {
local_scaler->p = LANDING_PID_SCALAR_P;
local_scaler->i = LANDING_PID_SCALAR_I;
}
}
// Set the new state and perform setup for subsequent state run calls
// This is called by state run functions on event detection that drive
// state transitions.
void VtolLandFSM::setState(PathFollowerFSM_LandState_T newState, StatusVtolLandStateExitReasonOptions reason)
{
mLandData->fsmLandStatus.StateExitReason[mLandData->currentState] = reason;
if (mLandData->currentState == newState) {
return;
}
mLandData->currentState = newState;
if (newState != LAND_STATE_INACTIVE) {
PositionStateData positionState;
PositionStateGet(&positionState);
float takeOffDown = 0.0f;
if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
takeOffDown = mLandData->takeOffLocation.Down;
}
mLandData->fsmLandStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
assessAltitude();
}
// Restart state timer counter
mLandData->stateRunCount = 0;
// Reset state timeout to disabled/zero
mLandData->stateTimeoutCount = 0;
if (sLandStateTable[mLandData->currentState].setup) {
(this->*sLandStateTable[mLandData->currentState].setup)();
}
updateVtolLandFSMStatus();
}
// Timeout utility function for use by state init implementations
void VtolLandFSM::setStateTimeout(int32_t count)
{
mLandData->stateTimeoutCount = count;
}
void VtolLandFSM::updateVtolLandFSMStatus()
{
mLandData->fsmLandStatus.State = mLandData->currentState;
if (mLandData->flLowAltitude) {
mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_LOW;
} else {
mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_HIGH;
}
StatusVtolLandSet(&mLandData->fsmLandStatus);
}
float VtolLandFSM::BoundVelocityDown(float velocity_down)
{
velocity_down = boundf(velocity_down, MIN_LANDRATE, MAX_LANDRATE);
if (mLandData->flLowAltitude) {
velocity_down *= LOW_ALT_DESCENT_REDUCTION_FACTOR;
}
mLandData->fsmLandStatus.targetDescentRate = velocity_down;
if (mLandData->flAltitudeHold) {
return 0.0f;
} else {
return velocity_down;
}
}
void VtolLandFSM::assessAltitude(void)
{
float positionDown;
PositionStateDownGet(&positionDown);
float takeOffDown = 0.0f;
if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
takeOffDown = mLandData->takeOffLocation.Down;
}
float positionDownRelativeToTakeoff = positionDown - takeOffDown;
if (positionDownRelativeToTakeoff < LANDING_SLOWDOWN_HEIGHT) {
mLandData->flLowAltitude = false;
} else {
mLandData->flLowAltitude = true;
}
}
// FSM Setup and Run method implementation
// State: INACTIVE
void VtolLandFSM::setup_inactive(void)
{
// Re-initialise local variables
mLandData->flZeroStabiHorizontal = false;
mLandData->flConstrainThrust = false;
}
// State: INIT ALTHOLD
void VtolLandFSM::setup_init_althold(void)
{
setStateTimeout(TIMEOUT_INIT_ALTHOLD);
// get target descent velocity
mLandData->flZeroStabiHorizontal = false;
mLandData->fsmLandStatus.targetDescentRate = BoundVelocityDown(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN]);
mLandData->flConstrainThrust = false;
mLandData->flAltitudeHold = true;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_init_althold(uint8_t flTimeout)
{
if (flTimeout) {
mLandData->flAltitudeHold = false;
setState(LAND_STATE_WTG_FOR_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// State: WAITING FOR DESCENT RATE
void VtolLandFSM::setup_wtg_for_descentrate(void)
{
setStateTimeout(TIMEOUT_WTG_FOR_DESCENTRATE);
// get target descent velocity
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->observation2Count = 0;
mLandData->flConstrainThrust = false;
mLandData->flAltitudeHold = false;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
{
// Look at current actual thrust...are we already shutdown??
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
// We don't expect PID to get exactly the target descent rate, so have a lower
// water mark but need to see 5 observations to be confident that we have semi-stable
// descent achieved
// we need to see velocity down within a range of control before we proceed, without which we
// really don't have confidence to allow later states to run.
if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
setState(LAND_STATE_AT_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
return;
}
}
if (flTimeout) {
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// State: AT DESCENT RATE
void VtolLandFSM::setup_at_descentrate(void)
{
setStateTimeout(TIMEOUT_AT_DESCENTRATE);
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->sum1 = 0.0f;
mLandData->sum2 = 0.0f;
mLandData->flConstrainThrust = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
{
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
mLandData->sum1 += velocityState.Down;
mLandData->sum2 += stabDesired.Thrust;
mLandData->observationCount++;
if (flTimeout) {
mLandData->fsmLandStatus.averageDescentRate = boundf((mLandData->sum1 / (float)(mLandData->observationCount)), 0.5f * MIN_LANDRATE, 1.5f * MAX_LANDRATE);
mLandData->fsmLandStatus.averageDescentThrust = boundf((mLandData->sum2 / (float)(mLandData->observationCount)), vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
// We need to calculate a neutral limit to use later to constrain upper thrust range during states where we are close to the ground
// As our battery gets flat, ThrustLimits.Neutral needs to constrain us too much and we get too fast a descent rate. We can
// detect this by the fact that the descent rate will exceed the target and the required thrust will exceed the neutral value
mLandData->fsmLandStatus.calculatedNeutralThrust = mLandData->fsmLandStatus.averageDescentRate / mLandData->fsmLandStatus.targetDescentRate * mLandData->fsmLandStatus.averageDescentThrust;
mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
}
}
// State: WAITING FOR GROUND EFFECT
void VtolLandFSM::setup_wtg_for_groundeffect(void)
{
// No timeout
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->observation2Count = 0;
mLandData->sum1 = 0.0f;
mLandData->sum2 = 0.0f;
mLandData->flConstrainThrust = false;
mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTimeout)
{
// detect material downrating in thrust for 1 second.
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
AccelStateData accelState;
AccelStateGet(&accelState);
// +ve 9.8 expected
float g_e;
HomeLocationg_eGet(&g_e);
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
// detect bounce
uint8_t flBounce = (velocityState.Down < BOUNCE_VELOCITY_TRIGGER_LIMIT);
if (flBounce) {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = velocityState.Down;
} else {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
}
// invert sign of accel to the standard convention of down is +ve and subtract the gravity to get
// a relative acceleration term.
float bounceAccel = -accelState.z - g_e;
uint8_t flBounceAccel = (bounceAccel < BOUNCE_ACCELERATION_TRIGGER_LIMIT);
if (flBounceAccel) {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = bounceAccel;
} else {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
}
if (flBounce || flBounceAccel) {
mLandData->observation2Count++;
if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
setState(LAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
return;
}
} else {
mLandData->observation2Count = 0;
}
// detect low descent rate
uint8_t flDescentRateLow = (velocityState.Down < (GROUNDEFFECT_SLOWDOWN_FACTOR * mLandData->fsmLandStatus.averageDescentRate));
if (flDescentRateLow) {
mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
mLandData->observationCount++;
if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
#endif
return;
}
} else {
mLandData->observationCount = 0;
}
updateVtolLandFSMStatus();
}
// STATE: GROUNDEFFET
void VtolLandFSM::setup_groundeffect(void)
{
setStateTimeout(TIMEOUT_GROUNDEFFECT);
mLandData->flZeroStabiHorizontal = true;
PositionStateData positionState;
PositionStateGet(&positionState);
mLandData->expectedLandPositionNorth = positionState.North;
mLandData->expectedLandPositionEast = positionState.East;
mLandData->flConstrainThrust = false;
// now that we have ground effect limit max thrust to neutral
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
}
void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
{
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
return;
}
// Stay in this state until we get a low altitude flag.
if (mLandData->flLowAltitude == false) {
// worst case scenario is that we land and the pid brings thrust down to zero.
return;
}
// detect broad sideways drift. If for some reason we have a hard landing that the bounce detection misses, this will kick in
PositionStateData positionState;
PositionStateGet(&positionState);
float north_error = mLandData->expectedLandPositionNorth - positionState.North;
float east_error = mLandData->expectedLandPositionEast - positionState.East;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 0.3f) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
return;
}
if (flTimeout) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// STATE: THRUSTDOWN
void VtolLandFSM::setup_thrustdown(void)
{
setStateTimeout(TIMEOUT_THRUSTDOWN);
mLandData->flZeroStabiHorizontal = true;
mLandData->flConstrainThrust = true;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
mLandData->thrustLimit = stabDesired.Thrust;
mLandData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
}
void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
{
// reduce thrust setpoint step by step
mLandData->thrustLimit -= mLandData->sum1;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
}
if (flTimeout) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// STATE: THRUSTOFF
void VtolLandFSM::setup_thrustoff(void)
{
mLandData->thrustLimit = -1.0f;
mLandData->flConstrainThrust = true;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
}
void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
{
setState(LAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
// STATE: DISARMED
void VtolLandFSM::setup_disarmed(void)
{
// nothing to do
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
}
void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
#ifdef DEBUG_GROUNDIMPACT
if (mLandData->observationCount++ > 100) {
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
#endif
}
void VtolLandFSM::fallback_to_hold(void)
{
PositionStateData positionState;
PositionStateGet(&positionState);
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(pathDesired);
}
// abort repeatedly overwrites pathfollower's objective on a landing abort and
// continues to do so until a flight mode change.
void VtolLandFSM::setup_abort(void)
{
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
fallback_to_hold();
}
void VtolLandFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
{}
/*
******************************************************************************
*
* @file vtollandfsm.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief This landing state machine is a helper state machine to the
* VtolLandController.
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
extern "C" {
#include <openpilot.h>
#include <callbackinfo.h>
#include <math.h>
#include <pid.h>
#include <CoordinateConversions.h>
#include <sin_lookup.h>
#include <pathdesired.h>
#include <paths.h>
#include "plans.h"
#include <sanitycheck.h>
#include <homelocation.h>
#include <accelstate.h>
#include <vtolpathfollowersettings.h>
#include <flightstatus.h>
#include <flightmodesettings.h>
#include <pathstatus.h>
#include <positionstate.h>
#include <velocitystate.h>
#include <velocitydesired.h>
#include <stabilizationdesired.h>
#include <airspeedstate.h>
#include <attitudestate.h>
#include <takeofflocation.h>
#include <poilocation.h>
#include <manualcontrolcommand.h>
#include <systemsettings.h>
#include <stabilizationbank.h>
#include <stabilizationdesired.h>
#include <vtolselftuningstats.h>
#include <statusvtolland.h>
#include <pathsummary.h>
}
// C++ includes
#include <vtollandfsm.h>
// Private constants
#define TIMER_COUNT_PER_SECOND (1000 / vtolPathFollowerSettings->UpdatePeriod)
#define MIN_LANDRATE 0.1f
#define MAX_LANDRATE 0.6f
#define LOW_ALT_DESCENT_REDUCTION_FACTOR 0.7f // TODO Need to make the transition smooth
#define LANDRATE_LOWLIMIT_FACTOR 0.5f
#define LANDRATE_HILIMIT_FACTOR 1.5f
#define TIMEOUT_INIT_ALTHOLD (3 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_WTG_FOR_DESCENTRATE (10 * TIMER_COUNT_PER_SECOND)
#define WTG_FOR_DESCENTRATE_COUNT_LIMIT 10
#define TIMEOUT_AT_DESCENTRATE 10
#define TIMEOUT_GROUNDEFFECT (1 * TIMER_COUNT_PER_SECOND)
#define TIMEOUT_THRUSTDOWN (2 * TIMER_COUNT_PER_SECOND)
#define LANDING_PID_SCALAR_P 2.0f
#define LANDING_PID_SCALAR_I 10.0f
#define LANDING_SLOWDOWN_HEIGHT -5.0f
#define BOUNCE_VELOCITY_TRIGGER_LIMIT -0.3f
#define BOUNCE_ACCELERATION_TRIGGER_LIMIT -9.0f // -6.0 found to be too sensitive
#define BOUNCE_TRIGGER_COUNT 4
#define GROUNDEFFECT_SLOWDOWN_FACTOR 0.3f
#define GROUNDEFFECT_SLOWDOWN_COUNT 4
VtolLandFSM::PathFollowerFSM_LandStateHandler_T VtolLandFSM::sLandStateTable[LAND_STATE_SIZE] = {
[LAND_STATE_INACTIVE] = { .setup = &VtolLandFSM::setup_inactive, .run = 0 },
[LAND_STATE_INIT_ALTHOLD] = { .setup = &VtolLandFSM::setup_init_althold, .run = &VtolLandFSM::run_init_althold },
[LAND_STATE_WTG_FOR_DESCENTRATE] = { .setup = &VtolLandFSM::setup_wtg_for_descentrate, .run = &VtolLandFSM::run_wtg_for_descentrate },
[LAND_STATE_AT_DESCENTRATE] = { .setup = &VtolLandFSM::setup_at_descentrate, .run = &VtolLandFSM::run_at_descentrate },
[LAND_STATE_WTG_FOR_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_wtg_for_groundeffect, .run = &VtolLandFSM::run_wtg_for_groundeffect },
[LAND_STATE_GROUNDEFFECT] = { .setup = &VtolLandFSM::setup_groundeffect, .run = &VtolLandFSM::run_groundeffect },
[LAND_STATE_THRUSTDOWN] = { .setup = &VtolLandFSM::setup_thrustdown, .run = &VtolLandFSM::run_thrustdown },
[LAND_STATE_THRUSTOFF] = { .setup = &VtolLandFSM::setup_thrustoff, .run = &VtolLandFSM::run_thrustoff },
[LAND_STATE_DISARMED] = { .setup = &VtolLandFSM::setup_disarmed, .run = &VtolLandFSM::run_disarmed },
[LAND_STATE_ABORT] = { .setup = &VtolLandFSM::setup_abort, .run = &VtolLandFSM::run_abort }
};
// pointer to a singleton instance
VtolLandFSM *VtolLandFSM::p_inst = 0;
VtolLandFSM::VtolLandFSM()
: mLandData(0), vtolPathFollowerSettings(0), pathDesired(0), flightStatus(0)
{}
// Private types
// Private functions
// Public API methods
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t VtolLandFSM::Initialize(VtolPathFollowerSettingsData *ptr_vtolPathFollowerSettings,
PathDesiredData *ptr_pathDesired,
FlightStatusData *ptr_flightStatus)
{
PIOS_Assert(ptr_vtolPathFollowerSettings);
PIOS_Assert(ptr_pathDesired);
PIOS_Assert(ptr_flightStatus);
if (mLandData == 0) {
mLandData = (VtolLandFSMData_T *)pios_malloc(sizeof(VtolLandFSMData_T));
PIOS_Assert(mLandData);
}
memset(mLandData, 0, sizeof(VtolLandFSMData_T));
vtolPathFollowerSettings = ptr_vtolPathFollowerSettings;
pathDesired = ptr_pathDesired;
flightStatus = ptr_flightStatus;
initFSM();
return 0;
}
void VtolLandFSM::Inactive(void)
{
memset(mLandData, 0, sizeof(VtolLandFSMData_T));
initFSM();
}
// Initialise the FSM
void VtolLandFSM::initFSM(void)
{
if (vtolPathFollowerSettings != 0) {
setState(STATUSVTOLLAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
} else {
mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
}
}
void VtolLandFSM::Activate()
{
memset(mLandData, 0, sizeof(VtolLandFSMData_T));
mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
mLandData->flLowAltitude = false;
mLandData->flAltitudeHold = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->fsmLandStatus.calculatedNeutralThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
TakeOffLocationGet(&(mLandData->takeOffLocation));
mLandData->fsmLandStatus.AltitudeAtState[STATUSVTOLLAND_STATE_INACTIVE] = 0.0f;
assessAltitude();
if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
#ifndef DEBUG_GROUNDIMPACT
setState(STATUSVTOLLAND_STATE_INITALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
#else
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
#endif
} else {
// move to error state and callback to position hold
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
}
void VtolLandFSM::Abort(void)
{
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
{
switch (mLandData->currentState) {
case STATUSVTOLLAND_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case STATUSVTOLLAND_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case STATUSVTOLLAND_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
break;
default:
return PFFSM_STATE_ACTIVE;
break;
}
}
void VtolLandFSM::Update()
{
runState();
if (GetCurrentState() != PFFSM_STATE_INACTIVE) {
runAlways();
}
}
int32_t VtolLandFSM::runState(void)
{
uint8_t flTimeout = false;
mLandData->stateRunCount++;
if (mLandData->stateTimeoutCount > 0 && mLandData->stateRunCount > mLandData->stateTimeoutCount) {
flTimeout = true;
}
// If the current state has a static function, call it
if (sLandStateTable[mLandData->currentState].run) {
(this->*sLandStateTable[mLandData->currentState].run)(flTimeout);
}
return 0;
}
int32_t VtolLandFSM::runAlways(void)
{
void assessAltitude(void);
return 0;
}
// PathFollower implements the PID scheme and has a objective
// set by a PathDesired object. Based on the mode, pathfollower
// uses FSM's as helper functions that manage state and event detection.
// PathFollower calls into FSM methods to alter its commands.
void VtolLandFSM::BoundThrust(float &ulow, float &uhigh)
{
ulow = mLandData->boundThrustMin;
uhigh = mLandData->boundThrustMax;
if (mLandData->flConstrainThrust) {
uhigh = mLandData->thrustLimit;
}
}
void VtolLandFSM::ConstrainStabiDesired(StabilizationDesiredData *stabDesired)
{
if (mLandData->flZeroStabiHorizontal && stabDesired) {
stabDesired->Pitch = 0.0f;
stabDesired->Roll = 0.0f;
stabDesired->Yaw = 0.0f;
}
}
void VtolLandFSM::CheckPidScaler(pid_scaler *local_scaler)
{
if (mLandData->flLowAltitude) {
local_scaler->p = LANDING_PID_SCALAR_P;
local_scaler->i = LANDING_PID_SCALAR_I;
}
}
// Set the new state and perform setup for subsequent state run calls
// This is called by state run functions on event detection that drive
// state transitions.
void VtolLandFSM::setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason)
{
mLandData->fsmLandStatus.StateExitReason[mLandData->currentState] = reason;
if (mLandData->currentState == newState) {
return;
}
mLandData->currentState = newState;
if (newState != STATUSVTOLLAND_STATE_INACTIVE) {
PositionStateData positionState;
PositionStateGet(&positionState);
float takeOffDown = 0.0f;
if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
takeOffDown = mLandData->takeOffLocation.Down;
}
mLandData->fsmLandStatus.AltitudeAtState[newState] = positionState.Down - takeOffDown;
assessAltitude();
}
// Restart state timer counter
mLandData->stateRunCount = 0;
// Reset state timeout to disabled/zero
mLandData->stateTimeoutCount = 0;
if (sLandStateTable[mLandData->currentState].setup) {
(this->*sLandStateTable[mLandData->currentState].setup)();
}
updateVtolLandFSMStatus();
}
// Timeout utility function for use by state init implementations
void VtolLandFSM::setStateTimeout(int32_t count)
{
mLandData->stateTimeoutCount = count;
}
void VtolLandFSM::updateVtolLandFSMStatus()
{
mLandData->fsmLandStatus.State = mLandData->currentState;
if (mLandData->flLowAltitude) {
mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_LOW;
} else {
mLandData->fsmLandStatus.AltitudeState = STATUSVTOLLAND_ALTITUDESTATE_HIGH;
}
StatusVtolLandSet(&mLandData->fsmLandStatus);
}
float VtolLandFSM::BoundVelocityDown(float velocity_down)
{
velocity_down = boundf(velocity_down, MIN_LANDRATE, MAX_LANDRATE);
if (mLandData->flLowAltitude) {
velocity_down *= LOW_ALT_DESCENT_REDUCTION_FACTOR;
}
mLandData->fsmLandStatus.targetDescentRate = velocity_down;
if (mLandData->flAltitudeHold) {
return 0.0f;
} else {
return velocity_down;
}
}
void VtolLandFSM::assessAltitude(void)
{
float positionDown;
PositionStateDownGet(&positionDown);
float takeOffDown = 0.0f;
if (mLandData->takeOffLocation.Status == TAKEOFFLOCATION_STATUS_VALID) {
takeOffDown = mLandData->takeOffLocation.Down;
}
float positionDownRelativeToTakeoff = positionDown - takeOffDown;
if (positionDownRelativeToTakeoff < LANDING_SLOWDOWN_HEIGHT) {
mLandData->flLowAltitude = false;
} else {
mLandData->flLowAltitude = true;
}
}
// FSM Setup and Run method implementation
// State: INACTIVE
void VtolLandFSM::setup_inactive(void)
{
// Re-initialise local variables
mLandData->flZeroStabiHorizontal = false;
mLandData->flConstrainThrust = false;
}
// State: INIT ALTHOLD
void VtolLandFSM::setup_init_althold(void)
{
setStateTimeout(TIMEOUT_INIT_ALTHOLD);
// get target descent velocity
mLandData->flZeroStabiHorizontal = false;
mLandData->fsmLandStatus.targetDescentRate = BoundVelocityDown(pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN]);
mLandData->flConstrainThrust = false;
mLandData->flAltitudeHold = true;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_init_althold(uint8_t flTimeout)
{
if (flTimeout) {
mLandData->flAltitudeHold = false;
setState(STATUSVTOLLAND_STATE_WTGFORDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// State: WAITING FOR DESCENT RATE
void VtolLandFSM::setup_wtg_for_descentrate(void)
{
setStateTimeout(TIMEOUT_WTG_FOR_DESCENTRATE);
// get target descent velocity
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->observation2Count = 0;
mLandData->flConstrainThrust = false;
mLandData->flAltitudeHold = false;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
{
// Look at current actual thrust...are we already shutdown??
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
// We don't expect PID to get exactly the target descent rate, so have a lower
// water mark but need to see 5 observations to be confident that we have semi-stable
// descent achieved
// we need to see velocity down within a range of control before we proceed, without which we
// really don't have confidence to allow later states to run.
if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
setState(STATUSVTOLLAND_STATE_ATDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
return;
}
}
if (flTimeout) {
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// State: AT DESCENT RATE
void VtolLandFSM::setup_at_descentrate(void)
{
setStateTimeout(TIMEOUT_AT_DESCENTRATE);
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->sum1 = 0.0f;
mLandData->sum2 = 0.0f;
mLandData->flConstrainThrust = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
mLandData->fsmLandStatus.averageDescentThrust = vtolPathFollowerSettings->ThrustLimits.Neutral;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
{
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
mLandData->sum1 += velocityState.Down;
mLandData->sum2 += stabDesired.Thrust;
mLandData->observationCount++;
if (flTimeout) {
mLandData->fsmLandStatus.averageDescentRate = boundf((mLandData->sum1 / (float)(mLandData->observationCount)), 0.5f * MIN_LANDRATE, 1.5f * MAX_LANDRATE);
mLandData->fsmLandStatus.averageDescentThrust = boundf((mLandData->sum2 / (float)(mLandData->observationCount)), vtolPathFollowerSettings->ThrustLimits.Min, vtolPathFollowerSettings->ThrustLimits.Max);
// We need to calculate a neutral limit to use later to constrain upper thrust range during states where we are close to the ground
// As our battery gets flat, ThrustLimits.Neutral needs to constrain us too much and we get too fast a descent rate. We can
// detect this by the fact that the descent rate will exceed the target and the required thrust will exceed the neutral value
mLandData->fsmLandStatus.calculatedNeutralThrust = mLandData->fsmLandStatus.averageDescentRate / mLandData->fsmLandStatus.targetDescentRate * mLandData->fsmLandStatus.averageDescentThrust;
mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
}
}
// State: WAITING FOR GROUND EFFECT
void VtolLandFSM::setup_wtg_for_groundeffect(void)
{
// No timeout
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->observation2Count = 0;
mLandData->sum1 = 0.0f;
mLandData->sum2 = 0.0f;
mLandData->flConstrainThrust = false;
mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
}
void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTimeout)
{
// detect material downrating in thrust for 1 second.
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
AccelStateData accelState;
AccelStateGet(&accelState);
// +ve 9.8 expected
float g_e;
HomeLocationg_eGet(&g_e);
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
// detect bounce
uint8_t flBounce = (velocityState.Down < BOUNCE_VELOCITY_TRIGGER_LIMIT);
if (flBounce) {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = velocityState.Down;
} else {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceVelocity = 0.0f;
}
// invert sign of accel to the standard convention of down is +ve and subtract the gravity to get
// a relative acceleration term.
float bounceAccel = -accelState.z - g_e;
uint8_t flBounceAccel = (bounceAccel < BOUNCE_ACCELERATION_TRIGGER_LIMIT);
if (flBounceAccel) {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = bounceAccel;
} else {
mLandData->fsmLandStatus.WtgForGroundEffect.BounceAccel = 0.0f;
}
if (flBounce) { // || flBounceAccel) { // accel trigger can occur due to vibration and is too sensitive
mLandData->observation2Count++;
if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
return;
}
} else {
mLandData->observation2Count = 0;
}
// detect low descent rate
uint8_t flDescentRateLow = (velocityState.Down < (GROUNDEFFECT_SLOWDOWN_FACTOR * mLandData->fsmLandStatus.averageDescentRate));
if (flDescentRateLow) {
mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
mLandData->observationCount++;
if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
#ifndef DEBUG_GROUNDIMPACT
setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
#endif
return;
}
} else {
mLandData->observationCount = 0;
}
updateVtolLandFSMStatus();
}
// STATE: GROUNDEFFET
void VtolLandFSM::setup_groundeffect(void)
{
setStateTimeout(TIMEOUT_GROUNDEFFECT);
mLandData->flZeroStabiHorizontal = false;
PositionStateData positionState;
PositionStateGet(&positionState);
mLandData->expectedLandPositionNorth = positionState.North;
mLandData->expectedLandPositionEast = positionState.East;
mLandData->flConstrainThrust = false;
// now that we have ground effect limit max thrust to neutral
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
}
void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
{
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f) {
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
return;
}
// Stay in this state until we get a low altitude flag.
if (mLandData->flLowAltitude == false) {
// worst case scenario is that we land and the pid brings thrust down to zero.
return;
}
// detect broad sideways drift. If for some reason we have a hard landing that the bounce detection misses, this will kick in
PositionStateData positionState;
PositionStateGet(&positionState);
float north_error = mLandData->expectedLandPositionNorth - positionState.North;
float east_error = mLandData->expectedLandPositionEast - positionState.East;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 1.5f) {
setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
return;
}
if (flTimeout) {
setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// STATE: THRUSTDOWN
void VtolLandFSM::setup_thrustdown(void)
{
setStateTimeout(TIMEOUT_THRUSTDOWN);
mLandData->flZeroStabiHorizontal = true;
mLandData->flConstrainThrust = true;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
mLandData->thrustLimit = stabDesired.Thrust;
mLandData->sum1 = stabDesired.Thrust / (float)TIMEOUT_THRUSTDOWN;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = mLandData->fsmLandStatus.calculatedNeutralThrust;
}
void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
{
// reduce thrust setpoint step by step
mLandData->thrustLimit -= mLandData->sum1;
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
}
if (flTimeout) {
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
// STATE: THRUSTOFF
void VtolLandFSM::setup_thrustoff(void)
{
mLandData->thrustLimit = -1.0f;
mLandData->flConstrainThrust = true;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
}
void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
{
setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
// STATE: DISARMED
void VtolLandFSM::setup_disarmed(void)
{
// nothing to do
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
mLandData->observationCount = 0;
mLandData->boundThrustMin = -0.1f;
mLandData->boundThrustMax = 0.0f;
}
void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
#ifdef DEBUG_GROUNDIMPACT
if (mLandData->observationCount++ > 100) {
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
#endif
}
void VtolLandFSM::fallback_to_hold(void)
{
PositionStateData positionState;
PositionStateGet(&positionState);
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_GOTOENDPOINT;
PathDesiredSet(pathDesired);
}
// abort repeatedly overwrites pathfollower's objective on a landing abort and
// continues to do so until a flight mode change.
void VtolLandFSM::setup_abort(void)
{
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
mLandData->flConstrainThrust = false;
mLandData->flZeroStabiHorizontal = false;
fallback_to_hold();
}
void VtolLandFSM::run_abort(__attribute__((unused)) uint8_t flTimeout)
{}

205
flight/modules/PathPlanner/pathplanner.c
View File

@ -48,6 +48,9 @@
#include "plans.h"
#include <sanitycheck.h>
#include <vtolpathfollowersettings.h>
#include <statusvtolautotakeoff.h>
#include <statusvtolland.h>
#include <manualcontrolcommand.h>
// Private constants
#define STACK_SIZE_BYTES 1024
@ -77,6 +80,9 @@ static uint8_t conditionPointingTowardsNext();
static uint8_t conditionPythonScript();
static uint8_t conditionImmediate();
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev);
static void planner_setup_pathdesired_land(PathDesiredData *pathDesired);
static void planner_setup_pathdesired_takeoff(PathDesiredData *pathDesired);
static void planner_setup_pathdesired(PathDesiredData *pathDesired);
// Private variables
@ -126,6 +132,8 @@ int32_t PathPlannerInitialize()
VelocityStateInitialize();
WaypointInitialize();
WaypointActiveInitialize();
StatusVtolAutoTakeoffInitialize();
StatusVtolLandInitialize();
pathPlannerHandle = PIOS_CALLBACKSCHEDULER_Create(&pathPlannerTask, CALLBACK_PRIORITY_REGULAR, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER0, STACK_SIZE_BYTES);
pathDesiredUpdaterHandle = PIOS_CALLBACKSCHEDULER_Create(&updatePathDesired, CALLBACK_PRIORITY_CRITICAL, TASK_PRIORITY, CALLBACKINFO_RUNNING_PATHPLANNER1, STACK_SIZE_BYTES);
@ -138,7 +146,7 @@ MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart);
static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
uint8_t TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsOptions TreatCustomCraftAs;
VtolPathFollowerSettingsTreatCustomCraftAsGet(&TreatCustomCraftAs);
@ -167,6 +175,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
}
}
#define AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START 0.3f
/**
* Module task
@ -219,6 +228,17 @@ static void pathPlannerTask()
WaypointActiveGet(&waypointActive);
// with the introduction of takeoff, we allow for arming
// whilst in pathplanner mode. Previously it was just an assumption that
// a user never armed in pathplanner mode. This check allows a user to select
// pathplanner, to upload waypoints, and then arm in pathplanner.
if (!flightStatus.Armed) {
return;
}
// the transition from pathplanner to another flightmode back to pathplanner
// triggers a reset back to 0 index in the waypoint list
if (pathplanner_active == false) {
pathplanner_active = true;
@ -245,6 +265,22 @@ static void pathPlannerTask()
return;
}
// check start conditions
// autotakeoff requires midpoint thrust if we are in a pending takeoff situation
if (pathAction.Mode == PATHACTION_MODE_AUTOTAKEOFF) {
pathAction.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING;
if ((uint8_t)pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] == STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE) {
ManualControlCommandData cmd;
ManualControlCommandGet(&cmd);
if (cmd.Throttle > AUTOTAKEOFF_THROTTLE_LIMIT_TO_ALLOW_TAKEOFF_START) {
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] = (float)STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_INITIATE;
PathDesiredSet(&pathDesired);
}
return;
}
}
// check if condition has been met
endCondition = pathConditionCheck();
// decide what to do
@ -283,6 +319,38 @@ static void pathPlannerTask()
}
}
// callback function when waypoints changed in any way, update pathDesired
void updatePathDesired()
{
// only ever touch pathDesired if pathplanner is enabled
if (!pathplanner_active) {
return;
}
PathDesiredData pathDesired;
// find out current waypoint
WaypointActiveGet(&waypointActive);
WaypointInstGet(waypointActive.Index, &waypoint);
PathActionInstGet(waypoint.Action, &pathAction);
switch (pathAction.Mode) {
case PATHACTION_MODE_AUTOTAKEOFF:
planner_setup_pathdesired_takeoff(&pathDesired);
break;
case PATHACTION_MODE_LAND:
planner_setup_pathdesired_land(&pathDesired);
break;
default:
planner_setup_pathdesired(&pathDesired);
break;
}
PathDesiredSet(&pathDesired);
}
// safety checks for path plan integrity
static uint8_t checkPathPlan()
{
@ -367,33 +435,20 @@ void statusUpdated(__attribute__((unused)) UAVObjEvent *ev)
PIOS_CALLBACKSCHEDULER_Dispatch(pathPlannerHandle);
}
// callback function when waypoints changed in any way, update pathDesired
void updatePathDesired()
// Standard setup of a pathDesired command from the waypoint path plan
static void planner_setup_pathdesired(PathDesiredData *pathDesired)
{
// only ever touch pathDesired if pathplanner is enabled
if (!pathplanner_active) {
return;
}
pathDesired->End.North = waypoint.Position.North;
pathDesired->End.East = waypoint.Position.East;
pathDesired->End.Down = waypoint.Position.Down;
pathDesired->EndingVelocity = waypoint.Velocity;
pathDesired->Mode = pathAction.Mode;
pathDesired->ModeParameters[0] = pathAction.ModeParameters[0];
pathDesired->ModeParameters[1] = pathAction.ModeParameters[1];
pathDesired->ModeParameters[2] = pathAction.ModeParameters[2];
pathDesired->ModeParameters[3] = pathAction.ModeParameters[3];
pathDesired->UID = waypointActive.Index;
PathDesiredData pathDesired;
// find out current waypoint
WaypointActiveGet(&waypointActive);
WaypointInstGet(waypointActive.Index, &waypoint);
PathActionInstGet(waypoint.Action, &pathAction);
pathDesired.End.North = waypoint.Position.North;
pathDesired.End.East = waypoint.Position.East;
pathDesired.End.Down = waypoint.Position.Down;
pathDesired.EndingVelocity = waypoint.Velocity;
pathDesired.Mode = pathAction.Mode;
pathDesired.ModeParameters[0] = pathAction.ModeParameters[0];
pathDesired.ModeParameters[1] = pathAction.ModeParameters[1];
pathDesired.ModeParameters[2] = pathAction.ModeParameters[2];
pathDesired.ModeParameters[3] = pathAction.ModeParameters[3];
pathDesired.UID = waypointActive.Index;
if (waypointActive.Index == 0) {
PositionStateData positionState;
@ -403,23 +458,90 @@ void updatePathDesired()
/*pathDesired.Start[PATHDESIRED_START_NORTH] = waypoint.Position[WAYPOINT_POSITION_NORTH];
pathDesired.Start[PATHDESIRED_START_EAST] = waypoint.Position[WAYPOINT_POSITION_EAST];
pathDesired.Start[PATHDESIRED_START_DOWN] = waypoint.Position[WAYPOINT_POSITION_DOWN];*/
pathDesired.Start.North = positionState.North;
pathDesired.Start.East = positionState.East;
pathDesired.Start.Down = positionState.Down;
pathDesired.StartingVelocity = pathDesired.EndingVelocity;
// note takeoff relies on the start being the current location as it merely ascends and using
// the start as assumption current NE location
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->StartingVelocity = pathDesired->EndingVelocity;
} else {
// Get previous waypoint as start point
WaypointData waypointPrev;
WaypointInstGet(waypointActive.Index - 1, &waypointPrev);
pathDesired.Start.North = waypointPrev.Position.North;
pathDesired.Start.East = waypointPrev.Position.East;
pathDesired.Start.Down = waypointPrev.Position.Down;
pathDesired.StartingVelocity = waypointPrev.Velocity;
pathDesired->Start.North = waypointPrev.Position.North;
pathDesired->Start.East = waypointPrev.Position.East;
pathDesired->Start.Down = waypointPrev.Position.Down;
pathDesired->StartingVelocity = waypointPrev.Velocity;
}
PathDesiredSet(&pathDesired);
}
#define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN 2.0f
#define AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX 50.0f
static void planner_setup_pathdesired_takeoff(PathDesiredData *pathDesired)
{
PositionStateData positionState;
PositionStateGet(&positionState);
float velocity_down;
float autotakeoff_height;
FlightModeSettingsAutoTakeOffVelocityGet(&velocity_down);
FlightModeSettingsAutoTakeOffHeightGet(&autotakeoff_height);
autotakeoff_height = fabsf(autotakeoff_height);
if (autotakeoff_height < AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN) {
autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MIN;
} else if (autotakeoff_height > AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX) {
autotakeoff_height = AUTOTAKEOFF_TO_INCREMENTAL_HEIGHT_MAX;
}
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH] = 0.0f;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST] = 0.0f;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN] = -velocity_down;
// initially halt takeoff.
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE] = (float)STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down - autotakeoff_height;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_AUTOTAKEOFF;
pathDesired->UID = waypointActive.Index;
}
static void planner_setup_pathdesired_land(PathDesiredData *pathDesired)
{
PositionStateData positionState;
PositionStateGet(&positionState);
float velocity_down;
FlightModeSettingsLandingVelocityGet(&velocity_down);
pathDesired->Start.North = positionState.North;
pathDesired->Start.East = positionState.East;
pathDesired->Start.Down = positionState.Down;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_NORTH] = 0.0f;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_EAST] = 0.0f;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN] = velocity_down;
pathDesired->End.North = positionState.North;
pathDesired->End.East = positionState.East;
pathDesired->End.Down = positionState.Down;
pathDesired->StartingVelocity = 0.0f;
pathDesired->EndingVelocity = 0.0f;
pathDesired->Mode = PATHDESIRED_MODE_LAND;
pathDesired->ModeParameters[PATHDESIRED_MODEPARAMETER_LAND_OPTIONS] = (float)PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH;
}
// helper function to go to a specific waypoint
static void setWaypoint(uint16_t num)
{
@ -553,18 +675,11 @@ static uint8_t conditionDistanceToTarget()
*/
static uint8_t conditionLegRemaining()
{
PathDesiredData pathDesired;
PositionStateData positionState;
PathStatusData pathStatus;
PathDesiredGet(&pathDesired);
PositionStateGet(&positionState);
PathStatusGet(&pathStatus);
float cur[3] = { positionState.North, positionState.East, positionState.Down };
struct path_status progress;
path_progress(&pathDesired,
cur, &progress, mode3D);
if (progress.fractional_progress >= 1.0f - pathAction.ConditionParameters[0]) {
if (pathStatus.fractional_progress >= (1.0f - pathAction.ConditionParameters[0])) {
return true;
}
return false;

3
flight/modules/Receiver/receiver.c
View File

@ -612,6 +612,9 @@ static bool updateRcvrActivityCompare(uint32_t rcvr_id, struct rcvr_activity_fsm
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS:
group = RECEIVERACTIVITY_ACTIVEGROUP_SBUS;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL:
group = RECEIVERACTIVITY_ACTIVEGROUP_SRXL;
break;
case MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS:
group = RECEIVERACTIVITY_ACTIVEGROUP_GCS;
break;

4
flight/modules/Sensors/sensors.c
View File

@ -444,8 +444,8 @@ static void handleGyro(float *samples, float temperature)
static void handleMag(float *samples, float temperature)
{
MagSensorData mag;
float mags[3] = { (float)samples[1] - mag_bias[0],
(float)samples[0] - mag_bias[1],
float mags[3] = { (float)samples[0] - mag_bias[0],
(float)samples[1] - mag_bias[1],
(float)samples[2] - mag_bias[2] };
rot_mult(mag_transform, mags, samples);

22
flight/modules/Stabilization/innerloop.c
View File

@ -49,7 +49,7 @@
#include <stabilization.h>
#include <virtualflybar.h>
#include <cruisecontrol.h>
#include <sanitycheck.h>
// Private constants
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_CRITICAL
@ -66,6 +66,7 @@ static float axis_lock_accum[3] = { 0, 0, 0 };
static uint8_t previous_mode[AXES] = { 255, 255, 255, 255 };
static PiOSDeltatimeConfig timeval;
static float speedScaleFactor = 1.0f;
static bool frame_is_multirotor;
// Private functions
static void stabilizationInnerloopTask();
@ -95,6 +96,8 @@ void stabilizationInnerloopInit()
// schedule dead calls every FAILSAFE_TIMEOUT_MS to have the watchdog cleared
PIOS_CALLBACKSCHEDULER_Schedule(callbackHandle, FAILSAFE_TIMEOUT_MS, CALLBACK_UPDATEMODE_LATER);
frame_is_multirotor = (GetCurrentFrameType() == FRAME_TYPE_MULTIROTOR);
}
static float get_pid_scale_source_value()
@ -241,6 +244,10 @@ static void stabilizationInnerloopTask()
float dT;
dT = PIOS_DELTATIME_GetAverageSeconds(&timeval);
StabilizationStatusOuterLoopData outerLoop;
StabilizationStatusOuterLoopGet(&outerLoop);
bool allowPiroComp = true;
for (t = 0; t < AXES; t++) {
bool reinit = (StabilizationStatusInnerLoopToArray(enabled)[t] != previous_mode[t]);
previous_mode[t] = StabilizationStatusInnerLoopToArray(enabled)[t];
@ -248,6 +255,15 @@ static void stabilizationInnerloopTask()
if (t < STABILIZATIONSTATUS_INNERLOOP_THRUST) {
if (reinit) {
stabSettings.innerPids[t].iAccumulator = 0;
if (frame_is_multirotor) {
// Multirotors should dump axis lock accumulators when unarmed or throttle is low.
// Fixed wing or ground vehicles can fly/drive with low throttle.
axis_lock_accum[t] = 0;
}
}
// Any self leveling on roll or pitch must prevent pirouette compensation
if (t < STABILIZATIONSTATUS_INNERLOOP_YAW && StabilizationStatusOuterLoopToArray(outerLoop)[t] != STABILIZATIONSTATUS_OUTERLOOP_DIRECT) {
allowPiroComp = false;
}
switch (StabilizationStatusInnerLoopToArray(enabled)[t]) {
case STABILIZATIONSTATUS_INNERLOOP_VIRTUALFLYBAR:
@ -322,7 +338,7 @@ static void stabilizationInnerloopTask()
}
}
if (stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
if (allowPiroComp && stabSettings.stabBank.EnablePiroComp == STABILIZATIONBANK_ENABLEPIROCOMP_TRUE && stabSettings.innerPids[0].iLim > 1e-3f && stabSettings.innerPids[1].iLim > 1e-3f) {
// attempted piro compensation - rotate pitch and yaw integrals (experimental)
float angleYaw = DEG2RAD(gyro_filtered[2] * dT);
float sinYaw = sinf(angleYaw);
@ -334,7 +350,7 @@ static void stabilizationInnerloopTask()
}
{
uint8_t armed;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);

39
flight/modules/Stabilization/outerloop.c
View File

@ -120,6 +120,7 @@ static void stabilizationOuterloopTask()
case STABILIZATIONSTATUS_OUTERLOOP_WEAKLEVELING:
rpy_desired[t] = stabilizationDesiredAxis[t];
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rpy_desired[t] = ((float *)&attitudeState.Roll)[t];
@ -148,6 +149,8 @@ static void stabilizationOuterloopTask()
}
#endif /* if defined(PIOS_QUATERNION_STABILIZATION) */
}
for (t = 0; t < AXES; t++) {
bool reinit = (StabilizationStatusOuterLoopToArray(enabled)[t] != previous_mode[t]);
previous_mode[t] = StabilizationStatusOuterLoopToArray(enabled)[t];
@ -239,6 +242,40 @@ static void stabilizationOuterloopTask()
rateDesiredAxis[t] = rate_input + weak_leveling;
}
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS:
rateDesiredAxis[t] = stabilizationDesiredAxis[t]; // default for all axes
// now test limits for pitch and/or roll
if (t == 1) { // pitch
if (attitudeState.Pitch < -stabSettings.stabBank.PitchMax) {
// attitude exceeds pitch max.
// zero rate desired if also -ve
if (rateDesiredAxis[t] < 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
} else if (attitudeState.Pitch > stabSettings.stabBank.PitchMax) {
// attitude exceeds pitch max
// zero rate desired if also +ve
if (rateDesiredAxis[t] > 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
}
} else if (t == 0) { // roll
if (attitudeState.Roll < -stabSettings.stabBank.RollMax) {
// attitude exceeds roll max.
// zero rate desired if also -ve
if (rateDesiredAxis[t] < 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
} else if (attitudeState.Roll > stabSettings.stabBank.RollMax) {
// attitude exceeds roll max
// zero rate desired if also +ve
if (rateDesiredAxis[t] > 0.0f) {
rateDesiredAxis[t] = 0.0f;
}
}
}
break;
case STABILIZATIONSTATUS_OUTERLOOP_DIRECT:
default:
rateDesiredAxis[t] = stabilizationDesiredAxis[t];
@ -264,7 +301,7 @@ static void stabilizationOuterloopTask()
RateDesiredSet(&rateDesired);
{
uint8_t armed;
FlightStatusArmedOptions armed;
FlightStatusArmedGet(&armed);
float throttleDesired;
ManualControlCommandThrottleGet(&throttleDesired);

4
flight/modules/Stabilization/stabilization.c
View File

@ -137,6 +137,10 @@ static void StabilizationDesiredUpdatedCb(__attribute__((unused)) UAVObjEvent *e
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECT;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_RATETRAINER:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_DIRECTWITHLIMITS;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;
break;
case STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE:
StabilizationStatusOuterLoopToArray(status.OuterLoop)[t] = STABILIZATIONSTATUS_OUTERLOOP_ATTITUDE;
StabilizationStatusInnerLoopToArray(status.InnerLoop)[t] = STABILIZATIONSTATUS_INNERLOOP_RATE;

39
flight/modules/StateEstimation/filterstationary.c
View File

@ -30,13 +30,17 @@
*/
#include "inc/stateestimation.h"
// Fake pos rate in uS
#define FILTERSTATIONARY_FAKEPOSRATE 100000
// Private constants
#define STACK_REQUIRED 64
#define STACK_REQUIRED 64
// Private types
// Private types
struct data {
uint32_t lastUpdate;
};
// Private variables
// Private functions
@ -49,27 +53,34 @@ int32_t filterStationaryInitialize(stateFilter *handle)
{
handle->init = &init;
handle->filter = &filter;
handle->localdata = NULL;
handle->localdata = pios_malloc(sizeof(struct data));
return STACK_REQUIRED;
}
static int32_t init(__attribute__((unused)) stateFilter *self)
static int32_t init(stateFilter *self)
{
struct data *this = (struct data *)self->localdata;
this->lastUpdate = PIOS_DELAY_GetRaw();
return 0;
}
static filterResult filter(__attribute__((unused)) stateFilter *self, stateEstimation *state)
static filterResult filter(stateFilter *self, stateEstimation *state)
{
state->pos[0] = 0.0f;
state->pos[1] = 0.0f;
state->pos[2] = 0.0f;
state->updated |= SENSORUPDATES_pos;
struct data *this = (struct data *)self->localdata;
state->vel[0] = 0.0f;
state->vel[1] = 0.0f;
state->vel[2] = 0.0f;
state->updated |= SENSORUPDATES_vel;
if (PIOS_DELAY_DiffuS(this->lastUpdate) > FILTERSTATIONARY_FAKEPOSRATE) {
this->lastUpdate = PIOS_DELAY_GetRaw();
state->pos[0] = 0.0f;
state->pos[1] = 0.0f;
state->pos[2] = 0.0f;
state->updated |= SENSORUPDATES_pos;
state->vel[0] = 0.0f;
state->vel[1] = 0.0f;
state->vel[2] = 0.0f;
state->updated |= SENSORUPDATES_vel;
}
return FILTERRESULT_OK;
}

2
flight/modules/System/systemmod.c
View File

@ -101,7 +101,9 @@ static enum { STACKOVERFLOW_NONE = 0, STACKOVERFLOW_WARNING = 1, STACKOVERFLOW_C
static bool mallocFailed;
static HwSettingsData bootHwSettings;
static FrameType_t bootFrameType;
#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
static struct PIOS_FLASHFS_Stats fsStats;
#endif
// Private functions
static void objectUpdatedCb(UAVObjEvent *ev);

2
flight/modules/Telemetry/telemetry.c
View File

@ -888,7 +888,7 @@ static void updateSettings(channelContext *channel)
if (port) {
// Retrieve settings
uint8_t speed;
HwSettingsTelemetrySpeedOptions speed;
HwSettingsTelemetrySpeedGet(&speed);
// Set port speed

5
flight/modules/gpsp/gps9maghandler.c
View File

@ -49,9 +49,8 @@ void handleMag()
if (PIOS_HMC5x83_ReadMag(onboard_mag, mag) == 0) {
MagUbxPkt magPkt;
// swap axis so that if side with connector is aligned to revo side with connectors, mags data are aligned
magPkt.fragments.data.X = -mag[1];
magPkt.fragments.data.Y = mag[0];
magPkt.fragments.data.X = mag[0];
magPkt.fragments.data.Y = mag[1];
magPkt.fragments.data.Z = mag[2];
magPkt.fragments.data.status = 1;
ubx_buildPacket(&magPkt.packet, UBX_OP_CUST_CLASS, UBX_OP_MAG, sizeof(MagData));

56
flight/pios/common/pios_hmc5x83.c
View File

@ -224,7 +224,7 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
dev->data_ready = false;
uint8_t buffer[6];
int32_t temp;
int16_t temp[3];
int32_t sensitivity;
if (dev->cfg->Driver->Read(handler, PIOS_HMC5x83_DATAOUT_XMSB_REG, buffer, 6) != 0) {
@ -259,16 +259,54 @@ int32_t PIOS_HMC5x83_ReadMag(pios_hmc5x83_dev_t handler, int16_t out[3])
default:
PIOS_Assert(0);
}
for (int i = 0; i < 3; i++) {
temp = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / sensitivity;
out[i] = temp;
int16_t v = ((int16_t)((uint16_t)buffer[2 * i] << 8)
+ buffer[2 * i + 1]) * 1000 / sensitivity;
temp[i] = v;
}
switch (dev->cfg->Orientation) {
case PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP:
out[0] = temp[2];
out[1] = temp[0];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP:
out[0] = -temp[0];
out[1] = temp[2];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP:
out[0] = -temp[2];
out[1] = -temp[0];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP:
out[0] = temp[0];
out[1] = -temp[2];
out[2] = -temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN:
out[0] = temp[2];
out[1] = -temp[0];
out[2] = temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN:
out[0] = -temp[0];
out[1] = -temp[2];
out[2] = temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN:
out[0] = -temp[2];
out[1] = temp[0];
out[2] = temp[1];
break;
case PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN:
out[0] = temp[0];
out[1] = temp[2];
out[2] = temp[1];
break;
}
// Data reads out as X,Z,Y
temp = out[2];
out[2] = out[1];
out[1] = temp;
// This should not be necessary but for some reason it is coming out of continuous conversion mode
dev->cfg->Driver->Write(handler, PIOS_HMC5x83_MODE_REG, PIOS_HMC5x83_MODE_CONTINUOUS);

365
flight/pios/common/pios_srxl.c Normal file
View File

@ -0,0 +1,365 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SRXL Multiplex SRXL receiver functions
* @brief Code to read Multiplex SRXL receiver serial stream
* @{
*
* @file pios_srxl.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Code to read Multiplex SRXL receiver serial stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_SRXL
#include "pios_srxl_priv.h"
// #define PIOS_INSTRUMENT_MODULE
#include <pios_instrumentation_helper.h>
PERF_DEFINE_COUNTER(crcFailureCount);
PERF_DEFINE_COUNTER(failsafeCount);
PERF_DEFINE_COUNTER(successfulCount);
PERF_DEFINE_COUNTER(messageUnrollTimer);
PERF_DEFINE_COUNTER(messageReceiveRate);
PERF_DEFINE_COUNTER(receivedBytesCount);
PERF_DEFINE_COUNTER(frameStartCount);
PERF_DEFINE_COUNTER(frameAbortCount);
PERF_DEFINE_COUNTER(completeMessageCount);
/* Forward Declarations */
static int32_t PIOS_SRXL_Get(uint32_t rcvr_id, uint8_t channel);
static uint16_t PIOS_SRXL_RxInCallback(uint32_t context,
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield);
static void PIOS_SRXL_Supervisor(uint32_t srxl_id);
/* Local Variables */
const struct pios_rcvr_driver pios_srxl_rcvr_driver = {
.read = PIOS_SRXL_Get,
};
enum pios_srxl_dev_magic {
PIOS_SRXL_DEV_MAGIC = 0x55545970,
};
struct pios_srxl_state {
uint16_t channel_data[PIOS_SRXL_NUM_INPUTS];
uint8_t received_data[SRXL_FRAME_LENGTH];
uint8_t receive_timer;
uint8_t failsafe_timer;
uint8_t frame_found;
uint8_t byte_count;
uint8_t data_bytes;
};
struct pios_srxl_dev {
enum pios_srxl_dev_magic magic;
struct pios_srxl_state state;
};
/* Allocate S.Bus device descriptor */
#if defined(PIOS_INCLUDE_FREERTOS)
static struct pios_srxl_dev *PIOS_SRXL_Alloc(void)
{
struct pios_srxl_dev *srxl_dev;
srxl_dev = (struct pios_srxl_dev *)pios_malloc(sizeof(*srxl_dev));
if (!srxl_dev) {
return NULL;
}
srxl_dev->magic = PIOS_SRXL_DEV_MAGIC;
return srxl_dev;
}
#else
static struct pios_srxl_dev pios_srxl_devs[PIOS_SRXL_MAX_DEVS];
static uint8_t pios_srxl_num_devs;
static struct pios_srxl_dev *PIOS_SRXL_Alloc(void)
{
struct pios_srxl_dev *srxl_dev;
if (pios_srxl_num_devs >= PIOS_SRXL_MAX_DEVS) {
return NULL;
}
srxl_dev = &pios_srxl_devs[pios_srxl_num_devs++];
srxl_dev->magic = PIOS_SRXL_DEV_MAGIC;
return srxl_dev;
}
#endif /* if defined(PIOS_INCLUDE_FREERTOS) */
/* Validate SRXL device descriptor */
static bool PIOS_SRXL_Validate(struct pios_srxl_dev *srxl_dev)
{
return srxl_dev->magic == PIOS_SRXL_DEV_MAGIC;
}
/* Reset channels in case of lost signal or explicit failsafe receiver flag */
static void PIOS_SRXL_ResetChannels(struct pios_srxl_state *state)
{
for (int i = 0; i < PIOS_SRXL_NUM_INPUTS; i++) {
state->channel_data[i] = PIOS_RCVR_TIMEOUT;
}
}
/* Reset SRXL receiver state */
static void PIOS_SRXL_ResetState(struct pios_srxl_state *state)
{
state->receive_timer = 0;
state->failsafe_timer = 0;
state->frame_found = 0;
state->data_bytes = 0;
PIOS_SRXL_ResetChannels(state);
}
/* Initialize SRXL receiver interface */
int32_t PIOS_SRXL_Init(uint32_t *srxl_id,
const struct pios_com_driver *driver,
uint32_t lower_id)
{
PIOS_DEBUG_Assert(srxl_id);
PIOS_DEBUG_Assert(driver);
struct pios_srxl_dev *srxl_dev;
srxl_dev = (struct pios_srxl_dev *)PIOS_SRXL_Alloc();
if (!srxl_dev) {
goto out_fail;
}
PIOS_SRXL_ResetState(&(srxl_dev->state));
*srxl_id = (uint32_t)srxl_dev;
/* Set comm driver callback */
(driver->bind_rx_cb)(lower_id, PIOS_SRXL_RxInCallback, *srxl_id);
if (!PIOS_RTC_RegisterTickCallback(PIOS_SRXL_Supervisor, *srxl_id)) {
PIOS_DEBUG_Assert(0);
}
PERF_INIT_COUNTER(crcFailureCount, 0x5551);
PERF_INIT_COUNTER(failsafeCount, 0x5552);
PERF_INIT_COUNTER(successfulCount, 0x5553);
PERF_INIT_COUNTER(messageUnrollTimer, 0x5554);
PERF_INIT_COUNTER(messageReceiveRate, 0x5555);
PERF_INIT_COUNTER(receivedBytesCount, 0x5556);
PERF_INIT_COUNTER(frameStartCount, 0x5557);
PERF_INIT_COUNTER(frameAbortCount, 0x5558);
PERF_INIT_COUNTER(completeMessageCount, 0x5559);
return 0;
out_fail:
return -1;
}
/**
* Get the value of an input channel
* \param[in] channel Number of the channel desired (zero based)
* \output PIOS_RCVR_INVALID channel not available
* \output PIOS_RCVR_TIMEOUT failsafe condition or missing receiver
* \output >=0 channel value
*/
static int32_t PIOS_SRXL_Get(uint32_t rcvr_id, uint8_t channel)
{
struct pios_srxl_dev *srxl_dev = (struct pios_srxl_dev *)rcvr_id;
if (!PIOS_SRXL_Validate(srxl_dev)) {
return PIOS_RCVR_INVALID;
}
/* return error if channel is not available */
if (channel >= PIOS_SRXL_NUM_INPUTS) {
return PIOS_RCVR_INVALID;
}
return srxl_dev->state.channel_data[channel];
}
static void PIOS_SRXL_UnrollChannels(struct pios_srxl_state *state)
{
PERF_TIMED_SECTION_START(messageUnrollTimer);
uint8_t *received_data = state->received_data;
uint8_t channel;
uint16_t channel_value;
for (channel = 0; channel < (state->data_bytes / 2); channel++) {
channel_value = ((uint16_t)received_data[SRXL_HEADER_LENGTH + (channel * 2)]) << 8;
channel_value = channel_value + ((uint16_t)received_data[SRXL_HEADER_LENGTH + (channel * 2) + 1]);
state->channel_data[channel] = (800 + ((channel_value * 1400) >> 12));
}
PERF_TIMED_SECTION_END(messageUnrollTimer);
}
static bool PIOS_SRXL_Validate_Checksum(struct pios_srxl_state *state)
{
// Check the CRC16 checksum. The provided checksum is immediately after the channel data.
// All data including start byte and version byte is included in crc calculation.
uint8_t i = 0;
uint16_t crc = 0;
for (i = 0; i < SRXL_HEADER_LENGTH + state->data_bytes; i++) {
crc = crc ^ (int16_t)state->received_data[i] << 8;
uint8_t j = 0;
for (j = 0; j < 8; j++) {
if (crc & 0x8000) {
crc = crc << 1 ^ 0x1021;
} else {
crc = crc << 1;
}
}
}
uint16_t checksum = (((uint16_t)(state->received_data[i] << 8) |
(uint16_t)state->received_data[i + 1]));
return crc == checksum;
}
/* Update decoder state processing input byte from the SRXL stream */
static void PIOS_SRXL_UpdateState(struct pios_srxl_state *state, uint8_t b)
{
/* should not process any data until new frame is found */
if (!state->frame_found) {
return;
}
if (state->byte_count < (SRXL_HEADER_LENGTH + state->data_bytes + SRXL_CHECKSUM_LENGTH)) {
if (state->byte_count == 0) {
// Set up the length of the channel data according to version received
PERF_INCREMENT_VALUE(frameStartCount);
if (b == SRXL_V1_HEADER) {
state->data_bytes = SRXL_V1_CHANNEL_DATA_BYTES;
} else if (b == SRXL_V2_HEADER) {
state->data_bytes = SRXL_V2_CHANNEL_DATA_BYTES;
} else {
/* discard the whole frame if the 1st byte is not correct */
state->frame_found = 0;
PERF_INCREMENT_VALUE(frameAbortCount);
return;
}
}
/* store next byte */
state->received_data[state->byte_count] = b;
state->byte_count++;
if (state->byte_count == (SRXL_HEADER_LENGTH + state->data_bytes + SRXL_CHECKSUM_LENGTH)) {
PERF_INCREMENT_VALUE(completeMessageCount);
// We have a complete message, lets decode it
if (PIOS_SRXL_Validate_Checksum(state)) {
/* data looking good */
PIOS_SRXL_UnrollChannels(state);
state->failsafe_timer = 0;
PERF_INCREMENT_VALUE(successfulCount);
} else {
/* discard whole frame */
PERF_INCREMENT_VALUE(crcFailureCount);
}
/* prepare for the next frame */
state->frame_found = 0;
PERF_MEASURE_PERIOD(messageReceiveRate);
}
}
}
/* Comm byte received callback */
static uint16_t PIOS_SRXL_RxInCallback(uint32_t context,
uint8_t *buf,
uint16_t buf_len,
uint16_t *headroom,
bool *need_yield)
{
struct pios_srxl_dev *srxl_dev = (struct pios_srxl_dev *)context;
bool valid = PIOS_SRXL_Validate(srxl_dev);
PIOS_Assert(valid);
struct pios_srxl_state *state = &(srxl_dev->state);
/* process byte(s) and clear receive timer */
for (uint8_t i = 0; i < buf_len; i++) {
PIOS_SRXL_UpdateState(state, buf[i]);
state->receive_timer = 0;
PERF_INCREMENT_VALUE(receivedBytesCount);
}
/* Always signal that we can accept another byte */
if (headroom) {
*headroom = SRXL_FRAME_LENGTH;
}
/* We never need a yield */
*need_yield = false;
/* Always indicate that all bytes were consumed */
return buf_len;
}
/**
* Input data supervisor is called periodically and provides
* two functions: frame syncing and failsafe triggering.
*
* Multiplex SRXL frames come at 14ms (FastResponse ON) or 21ms (FastResponse OFF)
* rate at 115200bps.
* RTC timer is running at 625Hz (1.6ms). So with divider 2 it gives
* 3.2ms pause between frames which is good for both SRXL frame rates.
*
* Data receive function must clear the receive_timer to confirm new
* data reception. If no new data received in 100ms, we must call the
* failsafe function which clears all channels.
*/
static void PIOS_SRXL_Supervisor(uint32_t srxl_id)
{
struct pios_srxl_dev *srxl_dev = (struct pios_srxl_dev *)srxl_id;
bool valid = PIOS_SRXL_Validate(srxl_dev);
PIOS_Assert(valid);
struct pios_srxl_state *state = &(srxl_dev->state);
/* waiting for new frame if no bytes were received in 6.4ms */
if (++state->receive_timer > 4) {
state->frame_found = 1;
state->byte_count = 0;
state->receive_timer = 0;
}
/* activate failsafe if no frames have arrived in 102.4ms */
if (++state->failsafe_timer > 64) {
PIOS_SRXL_ResetChannels(state);
state->failsafe_timer = 0;
PERF_INCREMENT_VALUE(failsafeCount);
}
}
#endif /* PIOS_INCLUDE_SRXL */
/**
* @}
* @}
*/

1
flight/pios/inc/pios_adc.h
View File

@ -38,6 +38,7 @@ typedef void (*ADCCallback)(float *data);
/* Public Functions */
void PIOS_ADC_Config(uint32_t oversampling);
void PIOS_ADC_PinSetup(uint32_t pin);
int32_t PIOS_ADC_PinGet(uint32_t pin);
float PIOS_ADC_PinGetVolt(uint32_t pin);
int16_t *PIOS_ADC_GetRawBuffer(void);

13
flight/pios/inc/pios_hmc5x83.h
View File

@ -109,6 +109,18 @@ extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_SPI_DRIVER;
#ifdef PIOS_INCLUDE_I2C
extern const struct pios_hmc5x83_io_driver PIOS_HMC5x83_I2C_DRIVER;
#endif
// xyz axis orientation
enum PIOS_HMC5X83_ORIENTATION {
PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
PIOS_HMC5X83_ORIENTATION_SOUTH_EAST_UP,
PIOS_HMC5X83_ORIENTATION_WEST_SOUTH_UP,
PIOS_HMC5X83_ORIENTATION_NORTH_WEST_UP,
PIOS_HMC5X83_ORIENTATION_EAST_SOUTH_DOWN,
PIOS_HMC5X83_ORIENTATION_SOUTH_WEST_DOWN,
PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
PIOS_HMC5X83_ORIENTATION_NORTH_EAST_DOWN,
};
struct pios_hmc5x83_cfg {
#ifdef PIOS_HMC5X83_HAS_GPIOS
@ -119,6 +131,7 @@ struct pios_hmc5x83_cfg {
uint8_t Gain; // Gain Configuration, select the full scale --> here below the relative define (See datasheet page 11 for more details) */
uint8_t Mode;
bool TempCompensation; // enable temperature sensor on HMC5983 for temperature gain compensation
enum PIOS_HMC5X83_ORIENTATION Orientation;
const struct pios_hmc5x83_io_driver *Driver;
};

31
flight/pios/inc/pios_instrumentation.h
View File

@ -47,7 +47,7 @@ extern int8_t pios_instrumentation_last_used_counter;
* @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
* @param newValue the updated value.
*/
inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
static inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, int32_t newValue)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
@ -69,7 +69,7 @@ inline void PIOS_Instrumentation_updateCounter(pios_counter_t counter_handle, in
* Used to determine the time duration of a code block, mark the begin of the block. @see PIOS_Instrumentation_TimeEnd
* @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
static inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
@ -83,7 +83,7 @@ inline void PIOS_Instrumentation_TimeStart(pios_counter_t counter_handle)
* Used to determine the time duration of a code block, mark the end of the block. @see PIOS_Instrumentation_TimeStart
* @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
static inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
@ -106,7 +106,7 @@ inline void PIOS_Instrumentation_TimeEnd(pios_counter_t counter_handle)
* Used to determine the mean period between each call to the function
* @param counter_handle handle of the counter @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
*/
inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
static inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
@ -127,6 +127,29 @@ inline void PIOS_Instrumentation_TrackPeriod(pios_counter_t counter_handle)
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
}
/**
* Increment a counter with a value
* @param counter_handle handle of the counter to update @see PIOS_Instrumentation_SearchCounter @see PIOS_Instrumentation_CreateCounter
* @param increment the value to increment counter with.
*/
static inline void PIOS_Instrumentation_incrementCounter(pios_counter_t counter_handle, int32_t increment)
{
PIOS_Assert(pios_instrumentation_perf_counters && counter_handle);
vPortEnterCritical();
pios_perf_counter_t *counter = (pios_perf_counter_t *)counter_handle;
counter->value += increment;
counter->max--;
if (counter->value > counter->max) {
counter->max = counter->value;
}
counter->min++;
if (counter->value < counter->min) {
counter->min = counter->value;
}
counter->lastUpdateTS = PIOS_DELAY_GetRaw();
vPortExitCritical();
}
/**
* Initialize the Instrumentation infrastructure
* @param maxCounters maximum number of allowed counters

4
flight/pios/inc/pios_instrumentation_helper.h
View File

@ -98,6 +98,8 @@
#define PERF_TIMED_SECTION_END(x) PIOS_Instrumentation_TimeEnd(x)
#define PERF_MEASURE_PERIOD(x) PIOS_Instrumentation_TrackPeriod(x)
#define PERF_TRACK_VALUE(x, y) PIOS_Instrumentation_updateCounter(x, y)
#define PERF_INCREMENT_VALUE(x) PIOS_Instrumentation_incrementCounter(x, 1)
#define PERF_DECREMENT_VALUE(x) PIOS_Instrumentation_incrementCounter(x, -1)
#else
@ -107,5 +109,7 @@
#define PERF_TIMED_SECTION_END(x)
#define PERF_MEASURE_PERIOD(x)
#define PERF_TRACK_VALUE(x, y)
#define PERF_INCREMENT_VALUE(x)
#define PERF_DECREMENT_VALUE(x)
#endif /* PIOS_INCLUDE_INSTRUMENTATION */
#endif /* PIOS_INSTRUMENTATION_HELPER_H */

43
flight/pios/inc/pios_srxl.h Normal file
View File

@ -0,0 +1,43 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SRXL Multiplex SRXL receiver functions
* @brief Code to read Multiplex SRXL receiver serial stream
* @{
*
* @file pios_srxl.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Code to read Multiplex SRXL receiver serial stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SRXL_H
#define PIOS_SRXL_H
/* Global Types */
/* Public Functions */
#endif /* PIOS_SRXL_H */
/**
* @}
* @}
*/

95
flight/pios/inc/pios_srxl_priv.h Normal file
View File

@ -0,0 +1,95 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_SRXL Multiplex SRXL receiver functions
* @brief Code to read Multiplex SRXL receiver serial stream
* @{
*
* @file pios_srxl_priv.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Code to read Multiplex SRXL receiver serial stream
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PIOS_SRXL_PRIV_H
#define PIOS_SRXL_PRIV_H
#include <pios.h>
#include <pios_stm32.h>
#include <pios_usart_priv.h>
/*
* Multiplex SRXL serial port settings:
* 115200bps inverted serial stream, 8 bits, no parity, 1 stop bits
* frame period is 14ms (FastResponse ON) or 21ms (FastResponse OFF)
*
* Frame structure:
* 1 byte - start and version
* 0xa1 (v1 12-channels)
* 0xa2 (v2 16-channels)
* 24/32 bytes - channel data (4 + 12 bit/channel, 12/16 channels, MSB first)
* 16 bits per channel. 4 first reserved/not used. 12 bits channel data in
* 4095 steps, 0x000(800µs) - 0x800(1500µs) - 0xfff(2200µs)
* 2 bytes checksum (calculated over all bytes including start and version)
*
* Checksum calculation:
* u16 CRC16(u16 crc, u8 value) {
* u8 i;
* crc = crc ^ (s16)value << 8;
* for(i = 0; i < 8; i++) {
* if(crc & 0x8000) {
* crc = crc << 1 ^ 0x1021;
* } else {
* crc = crc << 1;
* }
* }
* return crc;
* }
*/
#define SRXL_V1_HEADER 0xa1
#define SRXL_V2_HEADER 0xa2
#define SRXL_HEADER_LENGTH 1
#define SRXL_CHECKSUM_LENGTH 2
#define SRXL_V1_CHANNEL_DATA_BYTES (12 * 2)
#define SRXL_V2_CHANNEL_DATA_BYTES (16 * 2)
#define SRXL_FRAME_LENGTH (SRXL_HEADER_LENGTH + SRXL_V2_CHANNEL_DATA_BYTES + SRXL_CHECKSUM_LENGTH)
/*
* Multiplex SRXL protocol provides 16 proportional channels.
* Do not change unless driver code is updated accordingly.
*/
#if (PIOS_SRXL_NUM_INPUTS != 16)
#error "Multiplex SRXL protocol provides 16 proportional channels."
#endif
extern const struct pios_rcvr_driver pios_srxl_rcvr_driver;
extern int32_t PIOS_SRXL_Init(uint32_t *srxl_id,
const struct pios_com_driver *driver,
uint32_t lower_id);
#endif /* PIOS_SRXL_PRIV_H */
/**
* @}
* @}
*/

4
flight/pios/pios.h
View File

@ -228,6 +228,10 @@ extern "C" {
#include <pios_sbus.h>
#endif
#ifdef PIOS_INCLUDE_SRXL
#include <pios_srxl.h>
#endif
/* PIOS abstract receiver interface */
#ifdef PIOS_INCLUDE_RCVR
#include <pios_rcvr.h>

4
flight/pios/stm32f10x/pios_pwm.c
View File

@ -209,9 +209,7 @@ static void PIOS_PWM_tim_overflow_cb(__attribute__((unused)) uint32_t tim_id, ui
/* Channel out of range */
return;
}
if (!pwm_dev->CaptureState[channel]) {
return;
}
pwm_dev->us_since_update[channel] += count;
if (pwm_dev->us_since_update[channel] >= PWM_SUPERVISOR_TIMEOUT) {
pwm_dev->CaptureState[channel] = 0;

29
flight/pios/stm32f4xx/pios_adc.c
View File

@ -99,10 +99,11 @@ static void init_dma(void);
static void init_adc(void);
#endif
struct dma_config {
struct pios_adc_pin_config {
GPIO_TypeDef *port;
uint32_t pin;
uint32_t channel;
bool initialize;
};
struct adc_accumulator {
@ -111,7 +112,7 @@ struct adc_accumulator {
};
#if defined(PIOS_INCLUDE_ADC)
static const struct dma_config config[] = PIOS_DMA_PIN_CONFIG;
static const struct pios_adc_pin_config config[] = PIOS_DMA_PIN_CONFIG;
#define PIOS_ADC_NUM_PINS (sizeof(config) / sizeof(config[0]))
static struct adc_accumulator accumulator[PIOS_ADC_NUM_PINS];
@ -123,18 +124,11 @@ static uint16_t adc_raw_buffer[2][PIOS_ADC_MAX_SAMPLES][PIOS_ADC_NUM_PINS];
#if defined(PIOS_INCLUDE_ADC)
static void init_pins(void)
{
/* Setup analog pins */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
for (uint32_t i = 0; i < PIOS_ADC_NUM_PINS; ++i) {
if (config[i].port == NULL) {
if (!config[i].initialize) {
continue;
}
GPIO_InitStructure.GPIO_Pin = config[i].pin;
GPIO_Init(config[i].port, &GPIO_InitStructure);
PIOS_ADC_PinSetup(i);
}
}
@ -454,6 +448,19 @@ void PIOS_ADC_DMA_Handler(void)
#endif
}
void PIOS_ADC_PinSetup(uint32_t pin)
{
if (config[pin].port != NULL && pin < PIOS_ADC_NUM_PINS) {
/* Setup analog pin */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
GPIO_InitStructure.GPIO_Pin = config[pin].pin;
GPIO_Init(config[pin].port, &GPIO_InitStructure);
}
}
#endif /* PIOS_INCLUDE_ADC */
/**

1
flight/targets/boards/discoveryf4bare/firmware/UAVObjects.inc
View File

@ -20,6 +20,7 @@
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += statusvtolland
UAVOBJSRCFILENAMES += statusvtolautotakeoff
UAVOBJSRCFILENAMES += vtolselftuningstats
UAVOBJSRCFILENAMES += accelgyrosettings
UAVOBJSRCFILENAMES += accessorydesired

24
flight/targets/boards/discoveryf4bare/firmware/pios_board.c
View File

@ -124,12 +124,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */
@ -908,6 +909,17 @@ void PIOS_Board_Init(void)
#include <pios_ws2811.h>
PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg);
#endif // PIOS_INCLUDE_WS2811
#ifdef PIOS_INCLUDE_ADC
{
uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adc_config);
for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
PIOS_ADC_PinSetup(i);
}
}
}
#endif // PIOS_INCLUDE_ADC
}
/**

8
flight/targets/boards/discoveryf4bare/pios_board.h
View File

@ -264,10 +264,10 @@ extern uint32_t pios_packet_handler;
// -------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11 }, \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12 }, \
{ NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11, false }, \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, \
{ NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */

9
flight/targets/boards/gpsplatinum/board_hw_defs.c
View File

@ -246,14 +246,15 @@ static const struct pios_exti_cfg pios_exti_mag_cfg __exti_config = {
static const struct pios_hmc5x83_cfg pios_mag_cfg = {
#ifdef PIOS_HMC5X83_HAS_GPIOS
.exti_cfg = &pios_exti_mag_cfg,
.exti_cfg = &pios_exti_mag_cfg,
#endif
.M_ODR = PIOS_HMC5x83_ODR_30,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.M_ODR = PIOS_HMC5x83_ODR_30,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_3,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_SPI_DRIVER,
.Driver = &PIOS_HMC5x83_SPI_DRIVER,
.TempCompensation = true,
.Orientation = PIOS_HMC5X83_ORIENTATION_WEST_NORTH_DOWN,
};
#endif /* PIOS_INCLUDE_HMC5883 */

11
flight/targets/boards/osd/firmware/pios_board.c
View File

@ -449,6 +449,17 @@ void PIOS_Board_Init(void)
// PIOS_TIM_InitClock(&pios_tim4_cfg);
PIOS_Video_Init(&pios_video_cfg);
#endif
#ifdef PIOS_INCLUDE_ADC
{
uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adc_config);
for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
PIOS_ADC_PinSetup(i);
}
}
}
#endif // PIOS_INCLUDE_ADC
}
uint16_t supv_timer = 0;

14
flight/targets/boards/osd/pios_board.h
View File

@ -208,13 +208,13 @@ extern uint32_t pios_com_telem_usb_id;
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_0, ADC_Channel_10 }, \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11 }, \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12 }, \
{ NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_3, ADC_Channel_13 }, \
{ GPIOA, GPIO_Pin_7, ADC_Channel_7 }, \
{ NULL, 0, ADC_Channel_Vrefint } /* Voltage reference */ \
{ GPIOC, GPIO_Pin_0, ADC_Channel_10, true }, \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11, true }, \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, true }, \
{ NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_3, ADC_Channel_13, true }, \
{ GPIOA, GPIO_Pin_7, ADC_Channel_7, true }, \
{ NULL, 0, ADC_Channel_Vrefint, true } /* Voltage reference */ \
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */

49
flight/targets/boards/revolution/board_hw_defs.c
View File

@ -899,7 +899,6 @@ static const struct pios_sbus_cfg pios_sbus_cfg = {
.gpio_clk_periph = RCC_AHB1Periph_GPIOC,
};
#ifdef PIOS_INCLUDE_COM_FLEXI
/*
* FLEXI PORT
@ -1007,6 +1006,54 @@ static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
#endif /* PIOS_INCLUDE_DSM */
#if defined(PIOS_INCLUDE_SRXL)
/*
* SRXL USART
*/
#include <pios_srxl_priv.h>
static const struct pios_usart_cfg pios_usart_srxl_flexi_cfg = {
.regs = USART3,
.remap = GPIO_AF_USART3,
.init = {
.USART_BaudRate = 115200,
.USART_WordLength = USART_WordLength_8b,
.USART_Parity = USART_Parity_No,
.USART_StopBits = USART_StopBits_1,
.USART_HardwareFlowControl = USART_HardwareFlowControl_None,
.USART_Mode = USART_Mode_Rx,
},
.irq = {
.init = {
.NVIC_IRQChannel = USART3_IRQn,
.NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
.NVIC_IRQChannelSubPriority = 0,
.NVIC_IRQChannelCmd = ENABLE,
},
},
.rx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_11,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_AF,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
.tx = {
.gpio = GPIOB,
.init = {
.GPIO_Pin = GPIO_Pin_10,
.GPIO_Speed = GPIO_Speed_2MHz,
.GPIO_Mode = GPIO_Mode_OUT,
.GPIO_OType = GPIO_OType_PP,
.GPIO_PuPd = GPIO_PuPd_UP
},
},
};
#endif /* PIOS_INCLUDE_SRXL */
/*
* HK OSD
*/

1
flight/targets/boards/revolution/firmware/UAVObjects.inc
View File

@ -20,6 +20,7 @@
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += statusgrounddrive
UAVOBJSRCFILENAMES += statusvtolautotakeoff
UAVOBJSRCFILENAMES += pidstatus
UAVOBJSRCFILENAMES += statusvtolland
UAVOBJSRCFILENAMES += vtolselftuningstats

1
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -103,6 +103,7 @@
/* #define PIOS_INCLUDE_PPM_FLEXI */
#define PIOS_INCLUDE_DSM
#define PIOS_INCLUDE_SBUS
#define PIOS_INCLUDE_SRXL
#define PIOS_INCLUDE_GCSRCVR
#define PIOS_INCLUDE_OPLINKRCVR

47
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -132,12 +132,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */
@ -498,6 +499,27 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RM_FLEXIPORT_OSDHK:
PIOS_Board_configure_com(&pios_usart_hkosd_flexi_cfg, PIOS_COM_HKOSD_RX_BUF_LEN, PIOS_COM_HKOSD_TX_BUF_LEN, &pios_usart_com_driver, &pios_com_hkosd_id);
break;
case HWSETTINGS_RM_FLEXIPORT_SRXL:
#if defined(PIOS_INCLUDE_SRXL)
{
uint32_t pios_usart_srxl_id;
if (PIOS_USART_Init(&pios_usart_srxl_id, &pios_usart_srxl_flexi_cfg)) {
PIOS_Assert(0);
}
uint32_t pios_srxl_id;
if (PIOS_SRXL_Init(&pios_srxl_id, &pios_usart_com_driver, pios_usart_srxl_id)) {
PIOS_Assert(0);
}
uint32_t pios_srxl_rcvr_id;
if (PIOS_RCVR_Init(&pios_srxl_rcvr_id, &pios_srxl_rcvr_driver, pios_srxl_id)) {
PIOS_Assert(0);
}
pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SRXL] = pios_srxl_rcvr_id;
}
#endif
break;
} /* hwsettings_rm_flexiport */
/* Moved this here to allow binding on flexiport */
@ -867,7 +889,6 @@ void PIOS_Board_Init(void)
break;
}
#if defined(PIOS_INCLUDE_GCSRCVR)
GCSReceiverInitialize();
uint32_t pios_gcsrcvr_id;
@ -943,8 +964,18 @@ void PIOS_Board_Init(void)
if (ws2811_pin_settings != HWSETTINGS_WS2811LED_OUT_DISABLED && ws2811_pin_settings < NELEMENTS(pios_ws2811_pin_cfg)) {
PIOS_WS2811_Init(&pios_ws2811_cfg, &pios_ws2811_pin_cfg[ws2811_pin_settings]);
}
#endif // PIOS_INCLUDE_WS2811
#ifdef PIOS_INCLUDE_ADC
{
uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adc_config);
for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
PIOS_ADC_PinSetup(i);
}
}
}
#endif // PIOS_INCLUDE_ADC
}
/**

26
flight/targets/boards/revolution/pios_board.h
View File

@ -257,6 +257,12 @@ extern uint32_t pios_packet_handler;
#define PIOS_SBUS_MAX_DEVS 1
#define PIOS_SBUS_NUM_INPUTS (16 + 2)
// -------------------------
// Receiver Multiplex SRXL input
// -------------------------
#define PIOS_SRXL_MAX_DEVS 1
#define PIOS_SRXL_NUM_INPUTS 16
// -------------------------
// Receiver DSM input
// -------------------------
@ -281,23 +287,27 @@ extern uint32_t pios_packet_handler;
// PIOS_ADC_PinGet(4) = VREF
// PIOS_ADC_PinGet(5) = Temperature sensor
// -------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11 }, \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12 }, \
{ NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */ \
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11, false }, /* batt/sonar pin 3 */ \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, false }, /* batt/sonar pin 4 */ \
{ GPIOA, GPIO_Pin_3, ADC_Channel_3, false }, /* Servo pin 3 */ \
{ GPIOA, GPIO_Pin_2, ADC_Channel_2, false }, /* Servo pin 4 */ \
{ GPIOA, GPIO_Pin_1, ADC_Channel_1, false }, /* Servo pin 5 */ \
{ GPIOA, GPIO_Pin_0, ADC_Channel_9, false }, /* Servo pin 6 */ \
{ NULL, 0, ADC_Channel_Vrefint, false }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor, false }, /* Temperature sensor */ \
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */
/* which is annoying because this then determines the rate at which we generate buffer turnover events */
/* the objective here is to get enough buffer space to support 100Hz averaging rate */
#define PIOS_ADC_NUM_CHANNELS 4
#define PIOS_ADC_NUM_CHANNELS 8
#define PIOS_ADC_MAX_OVERSAMPLING 2
#define PIOS_ADC_USE_ADC2 0
#define PIOS_ADC_USE_TEMP_SENSOR
#define PIOS_ADC_TEMPERATURE_PIN 3
#define PIOS_ADC_TEMPERATURE_PIN 7
// -------------------------
// USB

3
flight/targets/boards/revoproto/firmware/UAVObjects.inc
View File

@ -20,8 +20,9 @@
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += statusgrounddrive
UAVOBJSRCFILENAMES += pidstatus
UAVOBJSRCFILENAMES += statusvtolland
UAVOBJSRCFILENAMES += statusvtolautotakeoff
UAVOBJSRCFILENAMES += pidstatus
UAVOBJSRCFILENAMES += vtolselftuningstats
UAVOBJSRCFILENAMES += accelgyrosettings
UAVOBJSRCFILENAMES += accessorydesired

24
flight/targets/boards/revoproto/firmware/pios_board.c
View File

@ -122,12 +122,13 @@ static const struct pios_exti_cfg pios_exti_hmc5x83_cfg __exti_config = {
};
static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.exti_cfg = &pios_exti_hmc5x83_cfg,
.M_ODR = PIOS_HMC5x83_ODR_75,
.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
.Gain = PIOS_HMC5x83_GAIN_1_9,
.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
.Driver = &PIOS_HMC5x83_I2C_DRIVER,
.Orientation = PIOS_HMC5X83_ORIENTATION_EAST_NORTH_UP,
};
#endif /* PIOS_INCLUDE_HMC5X83 */
@ -925,6 +926,17 @@ void PIOS_Board_Init(void)
default:
PIOS_DEBUG_Assert(0);
}
#ifdef PIOS_INCLUDE_ADC
{
uint8_t adc_config[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingArrayGet(adc_config);
for (uint32_t i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adc_config[i] != HWSETTINGS_ADCROUTING_DISABLED) {
PIOS_ADC_PinSetup(i);
}
}
}
#endif // PIOS_INCLUDE_ADC
}
/**

10
flight/targets/boards/revoproto/pios_board.h
View File

@ -242,11 +242,11 @@ extern uint32_t pios_com_hkosd_id;
// -------------------------
#define PIOS_DMA_PIN_CONFIG \
{ \
{ GPIOC, GPIO_Pin_0, ADC_Channel_10 }, \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11 }, \
{ NULL, 0, ADC_Channel_Vrefint }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12 } \
{ GPIOC, GPIO_Pin_0, ADC_Channel_10, true }, \
{ GPIOC, GPIO_Pin_1, ADC_Channel_11, true }, \
{ NULL, 0, ADC_Channel_Vrefint, true }, /* Voltage reference */ \
{ NULL, 0, ADC_Channel_TempSensor, true }, /* Temperature sensor */ \
{ GPIOC, GPIO_Pin_2, ADC_Channel_12, true } \
}
/* we have to do all this to satisfy the PIOS_ADC_MAX_SAMPLES define in pios_adc.h */

1
flight/targets/boards/simposix/firmware/UAVObjects.inc
View File

@ -25,6 +25,7 @@
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += statusgrounddrive
UAVOBJSRCFILENAMES += statusvtolautotakeoff
UAVOBJSRCFILENAMES += pidstatus
UAVOBJSRCFILENAMES += statusvtolland
UAVOBJSRCFILENAMES += vtolselftuningstats

11
flight/targets/boards/simposix/firmware/pios_board.c
View File

@ -152,7 +152,7 @@ void PIOS_Board_Init(void)
/* Configure IO ports */
/* Configure Telemetry port */
uint8_t hwsettings_rv_telemetryport;
HwSettingsRV_TelemetryPortOptions hwsettings_rv_telemetryport;
HwSettingsRV_TelemetryPortGet(&hwsettings_rv_telemetryport);
switch (hwsettings_rv_telemetryport) {
@ -164,10 +164,12 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_TELEMETRYPORT_COMAUX:
PIOS_Board_configure_com(&pios_udp_telem_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
break;
default:
break;
} /* hwsettings_rv_telemetryport */
/* Configure GPS port */
uint8_t hwsettings_rv_gpsport;
HwSettingsRV_GPSPortOptions hwsettings_rv_gpsport;
HwSettingsRV_GPSPortGet(&hwsettings_rv_gpsport);
switch (hwsettings_rv_gpsport) {
case HWSETTINGS_RV_GPSPORT_DISABLED:
@ -184,10 +186,12 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_GPSPORT_COMAUX:
PIOS_Board_configure_com(&pios_udp_gps_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
break;
default:
break;
} /* hwsettings_rv_gpsport */
/* Configure AUXPort */
uint8_t hwsettings_rv_auxport;
HwSettingsRV_AuxPortOptions hwsettings_rv_auxport;
HwSettingsRV_AuxPortGet(&hwsettings_rv_auxport);
switch (hwsettings_rv_auxport) {
@ -201,6 +205,7 @@ void PIOS_Board_Init(void)
case HWSETTINGS_RV_AUXPORT_COMAUX:
PIOS_Board_configure_com(&pios_udp_aux_cfg, PIOS_COM_AUX_RX_BUF_LEN, PIOS_COM_AUX_TX_BUF_LEN, &pios_udp_com_driver, &pios_com_aux_id);
break;
default:
break;
} /* hwsettings_rv_auxport */
}

4
flight/uavobjects/inc/uavobject.h.template
View File

@ -52,6 +52,8 @@ int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
$(DATAFIELDINFO)
$(DATASTRUCTURES)
/*
* Packed Object data (unaligned).
@ -86,8 +88,6 @@ static inline int32_t $(NAME)GetMetadata(UAVObjMetadata *dataOut) { return UAVOb
static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata *dataIn) { return UAVObjSetMetadata($(NAME)Handle(), dataIn); }
static inline int8_t $(NAME)ReadOnly() { return UAVObjReadOnly($(NAME)Handle()); }
$(DATAFIELDINFO)
/* Set/Get functions */
$(SETGETFIELDSEXTERN)

19
flight/uavtalk/uavtalk.c
View File

@ -376,49 +376,48 @@ UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connectionHandle
}
uint8_t processedBytes = (*position);
uint8_t count = 0;
// stop processing as soon as a complete packet is received, error is encountered or buffer is processed entirely
while ((count = length - (*position)) > 0
while ((length > (*position))
&& iproc->state != UAVTALK_STATE_COMPLETE
&& iproc->state != UAVTALK_STATE_ERROR) {
// Receive state machine
if (iproc->state == UAVTALK_STATE_SYNC &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_SYNC &&
!UAVTalkProcess_SYNC(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_TYPE &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_TYPE &&
!UAVTalkProcess_TYPE(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_SIZE &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_SIZE &&
!UAVTalkProcess_SIZE(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_OBJID &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_OBJID &&
!UAVTalkProcess_OBJID(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_INSTID &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_INSTID &&
!UAVTalkProcess_INSTID(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_TIMESTAMP &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_TIMESTAMP &&
!UAVTalkProcess_TIMESTAMP(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_DATA &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_DATA &&
!UAVTalkProcess_DATA(connection, iproc, rxbuffer, length, position)) {
break;
}
if (iproc->state == UAVTALK_STATE_CS &&
if ((length > (*position)) && iproc->state == UAVTALK_STATE_CS &&
!UAVTalkProcess_CS(connection, iproc, rxbuffer, length, position)) {
break;
}

2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/H-King320mmCarbonARF-Multirotor-QuadrocopterX-3fe218baaba.optmpl
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ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/H-KingCarbon250ARF-Multirotor-QuadrocopterX-b91ae8ac277.optmpl
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2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/HKingDYS250CarbonFib-Multirotor-QuadrocopterX-969354c51c1.optmpl Normal file
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2186
ground/openpilotgcs/share/openpilotgcs/cloudconfig/multirotor/HKingDYS320CarbonFib-Multirotor-QuadrocopterX-0b41edda68f.optmpl Normal file
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10
ground/openpilotgcs/share/openpilotgcs/pfd/default/Info.qml
View File

@ -245,8 +245,7 @@ Item {
visible: SystemAlarms.Alarm_PathPlan == 1
Text {
text: ["FLY END POINT","FLY VECTOR","FLY CIRCLE RIGHT","FLY CIRCLE LEFT","DRIVE END POINT","DRIVE VECTOR","DRIVE CIRCLE LEFT",
"DRIVE CIRCLE RIGHT","FIXED ATTITUDE","SET ACCESSORY","LAND","DISARM ALARM"][PathDesired.Mode]
text: ["GOTO ENDPOINT","FOLLOW VECTOR","CIRCLE RIGHT","CIRCLE LEFT","FIXED ATTITUDE","SET ACCESSORY","DISARM ALARM","LAND","BRAKE","VELOCITY","AUTO TAKEOFF"][PathDesired.Mode]
anchors.centerIn: parent
color: "cyan"
@ -355,6 +354,13 @@ Item {
Rectangle {
anchors.fill: parent
MouseArea {
id: reset_consumed_energy_mouseArea;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor;
onClicked: qmlWidget.resetConsumedEnergy();
}
// Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
(FlightBatteryState.EstimatedFlightTime <= 60 ? "red": info.batColors[SystemAlarms.Alarm_Battery]))

14
ground/openpilotgcs/share/openpilotgcs/pfd/default/Panels.qml
View File

@ -480,6 +480,13 @@ Item {
Rectangle {
anchors.fill: parent
MouseArea {
id: reset_panel_consumed_energy_mouseArea;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor;
onClicked: qmlWidget.resetConsumedEnergy();
}
// Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
(FlightBatteryState.EstimatedFlightTime <= 60 ? "red": panels.batColors[SystemAlarms.Alarm_Battery]))
@ -526,6 +533,13 @@ Item {
anchors.fill: parent
//color: panels.batColors[SystemAlarms.Alarm_Battery]
MouseArea {
id: reset_panel_consumed_energy_mouseArea2;
anchors.fill: parent;
cursorShape: Qt.PointingHandCursor;
onClicked: qmlWidget.resetConsumedEnergy();
}
// Alarm based on FlightBatteryState.EstimatedFlightTime < 120s orange, < 60s red
color: (FlightBatteryState.EstimatedFlightTime <= 120 && FlightBatteryState.EstimatedFlightTime > 60 ? "orange" :
(FlightBatteryState.EstimatedFlightTime <= 60 ? "red": panels.batColors[SystemAlarms.Alarm_Battery]))

66
ground/openpilotgcs/share/openpilotgcs/translations/openpilotgcs_fr.ts
View File

@ -125,7 +125,7 @@
<message>
<location/>
<source>Contribute usage statistics:</source>
<translation type="unfinished">Contribuer aux statistiques d&apos;utilisation :</translation>
<translation>Contribuer aux statistiques d&apos;utilisation :</translation>
</message>
<message>
<location/>
@ -10712,7 +10712,7 @@ Voulez-vous toujours continuer ?</translation>
<context>
<name>ConfigInputWidget</name>
<message>
<location filename="../../../src/plugins/config/configinputwidget.cpp" line="+393"/>
<location filename="../../../src/plugins/config/configinputwidget.cpp" line="+396"/>
<source>http://wiki.openpilot.org/x/04Cf</source>
<translation></translation>
</message>
@ -10837,6 +10837,31 @@ Vous pouvez appuyer à tout moment sur &apos;Précédent&apos; pour revenir à l
<translatorcomment>Dérive / gouvernail ?</translatorcomment>
<translation>Pour un Quadricoptère : Profondeur correspond à la Rotation Avant, Ailerons à Roulis et Dérive correspond à Lacet.</translation>
</message>
<message>
<location line="+209"/>
<source>&lt;p&gt;Please enable throttle hold mode.&lt;/p&gt;&lt;p&gt;Move the Collective Pitch stick.&lt;/p&gt;</source>
<translation>&lt;p&gt;Veuillez activer les gaz en position maintenue.&lt;/p&gt;&lt;p&gt;Bougez le manche du Collectif de tangage.&lt;/p&gt;</translation>
</message>
<message>
<location line="+3"/>
<source>&lt;p&gt;Please toggle the Flight Mode switch.&lt;/p&gt;&lt;p&gt;For switches you may have to repeat this rapidly.&lt;/p&gt;&lt;p&gt;Alternatively, you can click Next to skip this channel, but you will get only &lt;b&gt;ONE&lt;/b&gt; Flight Mode.&lt;/p&gt;</source>
<translation>&lt;p&gt;Veuillez activer l&apos;interrupteur de Mode de Vol.&lt;/p&gt;&lt;p&gt;Pour les interrupteurs vous pourriez avoir à répéter l&apos;opération rapidement.&lt;/p&gt;&lt;p&gt;Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal mais vous aurez seulement &lt;b&gt;UN&lt;/b&gt; Mode de Vol.&lt;/p&gt;</translation>
</message>
<message>
<location line="+5"/>
<source>&lt;p&gt;Please disable throttle hold mode.&lt;/p&gt;&lt;p&gt;Move the Throttle stick.&lt;/p&gt;</source>
<translation>&lt;p&gt;Veuillez désactiver les gaz en position maintenue.&lt;/p&gt;&lt;p&gt;Bougez le manche des Gaz.&lt;/p&gt;</translation>
</message>
<message>
<location line="+3"/>
<source>&lt;p&gt;Please move each control one at a time according to the instructions and picture below.&lt;/p&gt;&lt;p&gt;Move the %1 stick.&lt;/p&gt;</source>
<translation>&lt;p&gt;Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l&apos;image ci-dessous.&lt;/p&gt;&lt;p&gt;Bougez le manche %1.&lt;/p&gt;</translation>
</message>
<message>
<location line="+5"/>
<source>&lt;p&gt;Alternatively, click Next to skip this channel.&lt;/p&gt;</source>
<translation>&lt;p&gt;Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal.&lt;/p&gt;</translation>
</message>
<message>
<source>Please center all controls and trims and press Next when ready.
@ -10867,7 +10892,7 @@ IMPORTANT: These new settings have not been saved to the board yet. After pressi
IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la carte. Après avoir appuyé sur Suivant vous serez dirigé vers l&apos;onglet Paramètres d&apos;Armement où vous pourrez choisir votre séquence d&apos;armement et enregistrer la configuration.</translation>
</message>
<message>
<location line="+23"/>
<location line="-202"/>
<source>Please center all controls and trims and press Next when ready.
For a ground vehicle, this center position will be used as neutral value of each channel.</source>
@ -10876,52 +10901,47 @@ For a ground vehicle, this center position will be used as neutral value of each
Pour un véhicule terrestre, ces positions centrales seront utilisées comme neutre de chaque canal.</translation>
</message>
<message>
<location line="+178"/>
<source>Please enable throttle hold mode.
Move the Collective Pitch stick.</source>
<translatorcomment>hélico ? à traduire [Platypus] Ca convient ? [soh] A confirmer par un héliqueux.</translatorcomment>
<translation type="unfinished">Veuillez activer les gaz en position maintenue.
<translation type="obsolete">Veuillez activer les gaz en position maintenue.
Bougez le manche du Collectif de tangage.</translation>
</message>
<message>
<location line="+2"/>
<source>Please toggle the Flight Mode switch.
For switches you may have to repeat this rapidly.</source>
<translation>Veuillez activer l&apos;interrupteur de Mode de Vol.
<translation type="vanished">Veuillez activer l&apos;interrupteur de Mode de Vol.
Pour les interrupteurs vous pourriez avoir à répéter l&apos;opération rapidement.</translation>
</message>
<message>
<location line="+2"/>
<source>Please disable throttle hold mode.
Move the Throttle stick.</source>
<translatorcomment>hélico ? à traduire</translatorcomment>
<translation type="unfinished">Veuillez désactiver les gaz en position maintenue.
<translation type="obsolete">Veuillez désactiver les gaz en position maintenue.
Bougez le manche des Gaz.</translation>
</message>
<message>
<location line="+2"/>
<source>Please move each control one at a time according to the instructions and picture below.
Move the %1 stick.</source>
<translation>Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l&apos;image ci-dessous.
<translation type="vanished">Veuillez bouger chaque organe de contrôle, un seul à la fois, en fonction des instructions et de l&apos;image ci-dessous.
Bougez le manche %1.</translation>
</message>
<message>
<location line="+6"/>
<location line="+208"/>
<source>Next / Skip</source>
<translation>Suivant / Sauter</translation>
</message>
<message>
<location line="+1"/>
<source> Alternatively, click Next to skip this channel.</source>
<translation> Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal.</translation>
<translation type="vanished"> Vous avez la possibilité d&apos;appuyer sur Suivant pour ignorer ce canal.</translation>
</message>
<message>
<location line="+748"/>
@ -16187,69 +16207,87 @@ IMPORTANT : Ces nouveaux paramètres ne sont pas encore enregistrés sur la cart
<name>ConfigCcpmWidget</name>
<message>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget.cpp" line="+1080"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+1110"/>
<source>&lt;h1&gt;Swashplate Leveling Routine&lt;/h1&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+1"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+1"/>
<source>&lt;b&gt;You are about to start the Swashplate levelling routine.&lt;/b&gt;&lt;p&gt;This process will start by downloading the current configuration from the GCS to the OP hardware and will adjust your configuration at various stages.&lt;p&gt;The final state of your system should match the current configuration in the GCS config gadget.&lt;/p&gt;&lt;p&gt;Please ensure all ccpm settings in the GCS are correct before continuing.&lt;/p&gt;&lt;p&gt;If this process is interrupted, then the state of your OP board may not match the GCS configuration.&lt;/p&gt;&lt;p&gt;&lt;i&gt;After completing this process, please check all settings before attempting to fly.&lt;/i&gt;&lt;/p&gt;&lt;p&gt;&lt;font color=red&gt;&lt;b&gt;Please disconnect your motor to ensure it will not spin up.&lt;/b&gt;&lt;/font&gt;&lt;p&gt;&lt;hr&gt;&lt;i&gt;Do you wish to proceed?&lt;/i&gt;&lt;/p&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+128"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+128"/>
<source>&lt;h2&gt;Neutral levelling&lt;/h2&gt;&lt;p&gt;Using adjustment of:&lt;ul&gt;&lt;li&gt;Servo horns,&lt;/li&gt;&lt;li&gt;Link lengths,&lt;/li&gt;&lt;li&gt;Neutral triming spinboxes to the right&lt;/li&gt;&lt;/ul&gt;&lt;br&gt;Ensure that the swashplate is in the center of desired travel range and is level.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+14"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+14"/>
<source>&lt;h2&gt;Max levelling&lt;/h2&gt;&lt;p&gt;Using adjustment of:&lt;ul&gt;&lt;li&gt;Max triming spinboxes to the right ONLY&lt;/li&gt;&lt;/ul&gt;&lt;br&gt;Ensure that the swashplate is at the top of desired travel range and is level.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+13"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+13"/>
<source>&lt;h2&gt;Min levelling&lt;/h2&gt;&lt;p&gt;Using adjustment of:&lt;ul&gt;&lt;li&gt;Min triming spinboxes to the right ONLY&lt;/li&gt;&lt;/ul&gt;&lt;br&gt;Ensure that the swashplate is at the bottom of desired travel range and is level.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+19"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+19"/>
<source>&lt;h2&gt;Levelling verification&lt;/h2&gt;&lt;p&gt;Adjust the slider to the right over it&apos;s full range and observe the swashplate motion. It should remain level over the entire range of travel.&lt;/p&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+7"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+7"/>
<source>&lt;h2&gt;Levelling complete&lt;/h2&gt;&lt;p&gt;Press the Finish button to save these settings to the SD card&lt;/p&gt;&lt;p&gt;Press the cancel button to return to the pre-levelling settings&lt;/p&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+68"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+68"/>
<source>&lt;h2&gt;Levelling Cancelled&lt;/h2&gt;&lt;p&gt;Previous settings have been restored.</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+43"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+43"/>
<source>&lt;h2&gt;Levelling Completed&lt;/h2&gt;&lt;p&gt;New settings have been saved to the SD card</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+12"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+12"/>
<source>&lt;font color=red&gt;&lt;h1&gt;Warning!!!&lt;/h2&gt;&lt;/font&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+6"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+6"/>
<source>&lt;h2&gt;This code has many configurations.&lt;/h2&gt;&lt;p&gt;Please double check all settings before attempting flight!</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+11"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+11"/>
<source>&lt;h2&gt;The CCPM mixer code needs more testing!&lt;/h2&gt;&lt;p&gt;&lt;font color=red&gt;Use it at your own risk!&lt;/font&gt;&lt;p&gt;Do you wish to continue?</source>
<translation type="unfinished"></translation>
</message>
<message>
<location line="+16"/>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+16"/>
<source>&lt;h2&gt;The CCPM swashplate levelling code is NOT complete!&lt;/h2&gt;&lt;p&gt;&lt;font color=red&gt;DO NOT use it for flight!&lt;/font&gt;</source>
<translation type="unfinished"></translation>
</message>
<message>
<location filename="../../../src/plugins/config/cfg_vehicletypes/configccpmwidget_dev.cpp" line="+174"/>
<source>Channel already used</source>
<translation type="unfinished">Canal déjà utilisé</translation>
</message>
</context>
<context>
<name>VehicleTemplateSelectorWidget</name>

11
ground/openpilotgcs/src/libs/juavobjects/templates/uavobject.java.template
View File

@ -115,6 +115,17 @@ $(INITFIELDS)
}
}
/**
* Returns a new instance of this UAVDataObject with default field
* values. This is intended to be used by 'reset to default' functionality.
*
* @return new instance of this class with default values.
*/
@Override
public UAVDataObject getDefaultInstance(){
return new $(NAME)();
}
/**
* Static function to retrieve an instance of the object.
*/

3
ground/openpilotgcs/src/plugins/config/inputchannelform.cpp
View File

@ -158,6 +158,9 @@ void InputChannelForm::groupUpdated()
case ManualControlSettings::CHANNELGROUPS_SBUS:
count = 18;
break;
case ManualControlSettings::CHANNELGROUPS_SRXL:
count = 16;
break;
case ManualControlSettings::CHANNELGROUPS_GCS:
count = GCSReceiver::CHANNEL_NUMELEM;
break;

1
ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
View File

@ -90,6 +90,7 @@ modelMapProxy::overlayType modelMapProxy::overlayTranslate(int type)
case MapDataDelegate::MODE_FOLLOWVECTOR:
case MapDataDelegate::MODE_VELOCITY:
case MapDataDelegate::MODE_LAND:
case MapDataDelegate::MODE_AUTOTAKEOFF:
case MapDataDelegate::MODE_BRAKE:
return OVERLAY_LINE;

1
ground/openpilotgcs/src/plugins/opmap/widgetdelegates.cpp
View File

@ -114,6 +114,7 @@ void MapDataDelegate::loadComboBox(QComboBox *combo, flightDataModel::pathPlanDa
combo->addItem("Set Accessory", MODE_SETACCESSORY);
combo->addItem("Disarm Alarm", MODE_DISARMALARM);
combo->addItem("Land", MODE_LAND);
combo->addItem("AutoTakeoff", MODE_AUTOTAKEOFF);
combo->addItem("Brake", MODE_BRAKE);
combo->addItem("Velocity", MODE_VELOCITY);

6
ground/openpilotgcs/src/plugins/opmap/widgetdelegates.h
View File

@ -31,19 +31,19 @@
#include <QComboBox>
#include "flightdatamodel.h"
class MapDataDelegate : public QItemDelegate {
Q_OBJECT
public:
typedef enum { MODE_GOTOENDPOINT = 0, MODE_FOLLOWVECTOR = 1, MODE_CIRCLERIGHT = 2, MODE_CIRCLELEFT = 3,
MODE_FIXEDATTITUDE = 8, MODE_SETACCESSORY = 9, MODE_DISARMALARM = 10, MODE_LAND = 11,
MODE_BRAKE = 12, MODE_VELOCITY = 13 } ModeOptions;
MODE_FIXEDATTITUDE = 4, MODE_SETACCESSORY = 5, MODE_DISARMALARM = 6, MODE_LAND = 7,
MODE_BRAKE = 8, MODE_VELOCITY = 9, MODE_AUTOTAKEOFF = 10 } ModeOptions;
typedef enum { ENDCONDITION_NONE = 0, ENDCONDITION_TIMEOUT = 1, ENDCONDITION_DISTANCETOTARGET = 2,
ENDCONDITION_LEGREMAINING = 3, ENDCONDITION_BELOWERROR = 4, ENDCONDITION_ABOVEALTITUDE = 5,
ENDCONDITION_ABOVESPEED = 6, ENDCONDITION_POINTINGTOWARDSNEXT = 7, ENDCONDITION_PYTHONSCRIPT = 8,
ENDCONDITION_IMMEDIATE = 9 } EndConditionOptions;
typedef enum { COMMAND_ONCONDITIONNEXTWAYPOINT = 0, COMMAND_ONNOTCONDITIONNEXTWAYPOINT = 1,
COMMAND_ONCONDITIONJUMPWAYPOINT = 2, COMMAND_ONNOTCONDITIONJUMPWAYPOINT = 3,
COMMAND_IFCONDITIONJUMPWAYPOINTELSENEXTWAYPOINT = 4 } CommandOptions;

11
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.cpp
View File

@ -18,6 +18,7 @@
#include "extensionsystem/pluginmanager.h"
#include "uavobjectmanager.h"
#include "uavobject.h"
#include "flightbatterysettings.h"
#include "utils/svgimageprovider.h"
#ifdef USE_OSG
#include "osgearth.h"
@ -81,6 +82,8 @@ PfdQmlGadgetWidget::PfdQmlGadgetWidget(QWindow *parent) :
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectManager *objManager = pm->getObject<UAVObjectManager>();
m_uavoManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(m_uavoManager);
foreach(const QString &objectName, objectsToExport) {
UAVObject *object = objManager->getObject(objectName);
@ -124,6 +127,14 @@ void PfdQmlGadgetWidget::setQmlFile(QString fn)
}
}
void PfdQmlGadgetWidget::resetConsumedEnergy()
{
FlightBatterySettings *mBatterySettings = FlightBatterySettings::GetInstance(m_uavoManager);
mBatterySettings->setResetConsumedEnergy(true);
mBatterySettings->setData(mBatterySettings->getData());
}
void PfdQmlGadgetWidget::setEarthFile(QString arg)
{
if (m_earthFile != arg) {

4
ground/openpilotgcs/src/plugins/pfdqml/pfdqmlgadgetwidget.h
View File

@ -18,6 +18,7 @@
#define PFDQMLGADGETWIDGET_H_
#include "pfdqmlgadgetconfiguration.h"
#include "uavobjectmanager.h"
#include <QQuickView>
class PfdQmlGadgetWidget : public QQuickView {
@ -84,6 +85,8 @@ public:
return m_altitude;
}
Q_INVOKABLE void resetConsumedEnergy();
public slots:
void setEarthFile(QString arg);
void setTerrainEnabled(bool arg);
@ -119,6 +122,7 @@ protected:
void mouseReleaseEvent(QMouseEvent *event);
private:
UAVObjectManager *m_uavoManager;
QString m_qmlFileName;
QString m_earthFile;
bool m_openGLEnabled;

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -28,6 +28,7 @@ OTHER_FILES += UAVObjects.pluginspec
# Add in all of the synthetic/generated uavobject files
HEADERS += \
$$UAVOBJECT_SYNTHETICS/statusgrounddrive.h \
$$UAVOBJECT_SYNTHETICS/statusvtolautotakeoff.h \
$$UAVOBJECT_SYNTHETICS/pidstatus.h \
$$UAVOBJECT_SYNTHETICS/statusvtolland.h \
$$UAVOBJECT_SYNTHETICS/vtolselftuningstats.h \
@ -138,6 +139,7 @@ HEADERS += \
SOURCES += \
$$UAVOBJECT_SYNTHETICS/statusgrounddrive.cpp \
$$UAVOBJECT_SYNTHETICS/statusvtolautotakeoff.cpp \
$$UAVOBJECT_SYNTHETICS/pidstatus.cpp \
$$UAVOBJECT_SYNTHETICS/statusvtolland.cpp \
$$UAVOBJECT_SYNTHETICS/vtolselftuningstats.cpp \

2
ground/openpilotgcs/src/python.pri
View File

@ -1,7 +1,7 @@
# We use python to extract git version info and generate some other files,
# but it may be installed locally. The expected python version should be
# kept in sync with make/tools.mk.
PYTHON_DIR = qt-5.4.0/Tools/mingw491_32/opt/bin
PYTHON_DIR = qt-5.4.1/Tools/mingw491_32/opt/bin
# Search the python using environment override first
OPENPILOT_TOOLS_DIR = $$(OPENPILOT_TOOLS_DIR)

56
ground/uavobjgenerator/generators/flight/uavobjectgeneratorflight.cpp
View File

@ -68,8 +68,8 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templat
// Write the flight object inialization files
flightInitTemplate.replace(QString("$(OBJINC)"), objInc);
flightInitTemplate.replace(QString("$(OBJINIT)"), flightObjInit);
bool res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/uavobjectsinit.c",
flightInitTemplate);
bool res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/uavobjectsinit.c",
flightInitTemplate);
if (!res) {
cout << "Error: Could not write flight object init file" << endl;
return false;
@ -77,8 +77,8 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templat
// Write the flight object initialization header
flightInitIncludeTemplate.replace(QString("$(SIZECALCULATION)"), QString().setNum(sizeCalc));
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/uavobjectsinit.h",
flightInitIncludeTemplate);
res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/uavobjectsinit.h",
flightInitIncludeTemplate);
if (!res) {
cout << "Error: Could not write flight object init header file" << endl;
return false;
@ -87,8 +87,8 @@ bool UAVObjectGeneratorFlight::generate(UAVObjectParser *parser, QString templat
// Write the flight object Makefile
flightMakeTemplate.replace(QString("$(UAVOBJFILENAMES)"), objFileNames);
flightMakeTemplate.replace(QString("$(UAVOBJNAMES)"), objNames);
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/Makefile.inc",
flightMakeTemplate);
res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/Makefile.inc",
flightMakeTemplate);
if (!res) {
cout << "Error: Could not write flight Makefile" << endl;
return false;
@ -115,13 +115,25 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
replaceCommonTags(outInclude, info);
replaceCommonTags(outCode, info);
// Use the appropriate typedef for enums where we find them. Set up
// that StringList here for use below.
//
QStringList typeList;
for (int n = 0; n < info->fields.length(); ++n) {
if (info->fields[n]->type == FIELDTYPE_ENUM) {
typeList << QString("%1%2Options").arg(info->name).arg(info->fields[n]->name);
} else {
typeList << fieldTypeStrC[info->fields[n]->type];
}
}
// Replace the $(DATAFIELDS) tag
QString type;
QString fields;
QString dataStructures;
for (int n = 0; n < info->fields.length(); ++n) {
// Determine type
type = fieldTypeStrC[info->fields[n]->type];
type = typeList[n];
// Append field
// Check if it a named set and creates structures accordingly
if (info->fields[n]->numElements > 1) {
@ -158,7 +170,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
// Only for enum types
if (info->fields[n]->type == FIELDTYPE_ENUM) {
enums.append(QString("\n// Enumeration options for field %1\n").arg(info->fields[n]->name));
enums.append("typedef enum {\n");
enums.append("typedef enum __attribute__ ((__packed__)) {\n");
// Go through each option
QStringList options = info->fields[n]->options;
for (int m = 0; m < options.length(); ++m) {
@ -262,26 +274,26 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
if (info->fields[n]->numElements == 1) {
/* Set */
setgetfields.append(QString("void %2%3Set(%1 *New%3)\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjSetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3Get(%1 *New%3)\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name));
setgetfields.append(QString("{\n"));
setgetfields.append(QString(" UAVObjGetDataField(%1Handle(), (void *)New%2, offsetof(%1Data, %2), sizeof(%3));\n")
.arg(info->name)
.arg(info->fields[n]->name)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
} else {
// When no struct accessor is available for a field array accessor is the default.
@ -300,7 +312,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
/* GET */
@ -313,7 +325,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
// Append array suffix to array accessors
@ -323,7 +335,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
// array based field accessor
/* SET */
setgetfields.append(QString("void %2%3%4Set( %1 *New%3 )\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
@ -332,12 +344,12 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
/* GET */
setgetfields.append(QString("void %2%3%4Get( %1 *New%3 )\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
@ -346,7 +358,7 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
.arg(info->name)
.arg(info->fields[n]->name)
.arg(info->fields[n]->numElements)
.arg(fieldTypeStrC[info->fields[n]->type]));
.arg(typeList[n]));
setgetfields.append(QString("}\n"));
}
}
@ -378,14 +390,14 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
}
/* SET */
setgetfieldsextern.append(QString("extern void %2%3%4Set(%1 *New%3);\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
/* GET */
setgetfieldsextern.append(QString("extern void %2%3%4Get(%1 *New%3);\n")
.arg(fieldTypeStrC[info->fields[n]->type])
.arg(typeList[n])
.arg(info->name)
.arg(info->fields[n]->name)
.arg(suffix));
@ -394,13 +406,13 @@ bool UAVObjectGeneratorFlight::process_object(ObjectInfo *info)
outInclude.replace(QString("$(SETGETFIELDSEXTERN)"), setgetfieldsextern);
// Write the flight code
bool res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode);
bool res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/" + info->namelc + ".c", outCode);
if (!res) {
cout << "Error: Could not write flight code files" << endl;
return false;
}
res = writeFileIfDiffrent(flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
res = writeFileIfDifferent(flightOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write flight include files" << endl;
return false;

6
ground/uavobjgenerator/generators/gcs/uavobjectgeneratorgcs.cpp
View File

@ -62,7 +62,7 @@ bool UAVObjectGeneratorGCS::generate(UAVObjectParser *parser, QString templatepa
// Write the gcs object inialization files
gcsInitTemplate.replace(QString("$(OBJINC)"), objInc);
gcsInitTemplate.replace(QString("$(OBJINIT)"), gcsObjInit);
bool res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/uavobjectsinit.cpp", gcsInitTemplate);
if (!res) {
cout << "Error: Could not write output files" << endl;
return false;
@ -371,12 +371,12 @@ bool UAVObjectGeneratorGCS::process_object(ObjectInfo *info)
outCode.replace(QString("$(INITFIELDS)"), initfields);
// Write the GCS code
bool res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode);
bool res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".cpp", outCode);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
return false;
}
res = writeFileIfDiffrent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
res = writeFileIfDifferent(gcsOutputPath.absolutePath() + "/" + info->namelc + ".h", outInclude);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
return false;

2
ground/uavobjgenerator/generators/generator_io.cpp
View File

@ -75,7 +75,7 @@ bool writeFile(QString name, QString & str)
/**
* Write contents of string to file if the content changes
*/
bool writeFileIfDiffrent(QString name, QString & str)
bool writeFileIfDifferent(QString name, QString & str)
{
if (str == readFile(name, false)) {
return true;

2
ground/uavobjgenerator/generators/generator_io.h
View File

@ -37,6 +37,6 @@
QString readFile(QString name);
QString readFile(QString name);
bool writeFile(QString name, QString & str);
bool writeFileIfDiffrent(QString name, QString & str);
bool writeFileIfDifferent(QString name, QString & str);
#endif

4
ground/uavobjgenerator/generators/java/uavobjectgeneratorjava.cpp
View File

@ -62,7 +62,7 @@ bool UAVObjectGeneratorJava::generate(UAVObjectParser *parser, QString templatep
// Write the gcs object inialization files
javaInitTemplate.replace(QString("$(OBJINC)"), objInc);
javaInitTemplate.replace(QString("$(OBJINIT)"), javaObjInit);
bool res = writeFileIfDiffrent(javaOutputPath.absolutePath() + "/UAVObjectsInitialize.java", javaInitTemplate);
bool res = writeFileIfDifferent(javaOutputPath.absolutePath() + "/UAVObjectsInitialize.java", javaInitTemplate);
if (!res) {
cout << "Error: Could not write output files" << endl;
return false;
@ -238,7 +238,7 @@ bool UAVObjectGeneratorJava::process_object(ObjectInfo *info)
outCode.replace(QString("$(INITFIELDS)"), initfields);
// Write the java code
bool res = writeFileIfDiffrent(javaOutputPath.absolutePath() + "/" + info->name + ".java", outCode);
bool res = writeFileIfDifferent(javaOutputPath.absolutePath() + "/" + info->name + ".java", outCode);
if (!res) {
cout << "Error: Could not write gcs output files" << endl;
return false;

2
ground/uavobjgenerator/generators/python/uavobjectgeneratorpython.cpp
View File

@ -110,7 +110,7 @@ bool UAVObjectGeneratorPython::process_object(ObjectInfo *info)
outCode.replace(QString("$(DATAFIELDINIT)"), fields);
// Write the Python code
bool res = writeFileIfDiffrent(pythonOutputPath.absolutePath() + "/" + info->namelc + ".py", outCode);
bool res = writeFileIfDifferent(pythonOutputPath.absolutePath() + "/" + info->namelc + ".py", outCode);
if (!res) {
cout << "Error: Could not write Python output files" << endl;
return false;

6
ground/uavobjgenerator/generators/wireshark/uavobjectgeneratorwireshark.cpp
View File

@ -93,8 +93,8 @@ bool UAVObjectGeneratorWireshark::generate(UAVObjectParser *parser, QString temp
/* Write the uavobject dissector's Makefile.common */
wiresharkMakeTemplate.replace(QString("$(UAVOBJFILENAMES)"), objFileNames);
bool res = writeFileIfDiffrent(uavobjectsOutputPath.absolutePath() + "/Makefile.common",
wiresharkMakeTemplate);
bool res = writeFileIfDifferent(uavobjectsOutputPath.absolutePath() + "/Makefile.common",
wiresharkMakeTemplate);
if (!res) {
cout << "Error: Could not write wireshark Makefile" << endl;
return false;
@ -279,7 +279,7 @@ bool UAVObjectGeneratorWireshark::process_object(ObjectInfo *info, QDir outputpa
outCode.replace(QString("$(HEADERFIELDS)"), headerfields);
// Write the flight code
bool res = writeFileIfDiffrent(outputpath.absolutePath() + "/packet-op-uavobjects-" + info->namelc + ".c", outCode);
bool res = writeFileIfDifferent(outputpath.absolutePath() + "/packet-op-uavobjects-" + info->namelc + ".c", outCode);
if (!res) {
cout << "Error: Could not write wireshark code files" << endl;
return false;

5
ground/uavobjgenerator/uavobjectparser.cpp
View File

@ -25,6 +25,8 @@
*/
#include "uavobjectparser.h"
#include <QDomDocument>
#include <QDomElement>
#include <QDebug>
/**
* Constructor
@ -213,9 +215,6 @@ QString UAVObjectParser::parseXML(QString & xml, QString & filename)
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Sort all fields according to size
qStableSort(info->fields.begin(), info->fields.end(), fieldTypeLessThan);
// Make sure that required elements were found
if (!fieldFound) {
return QString("Object::field element is missing");

2
ground/uavobjgenerator/uavobjectparser.h
View File

@ -30,8 +30,6 @@
#include <QString>
#include <QStringList>
#include <QList>
#include <QDomDocument>
#include <QDomElement>
#include <QDomNode>
#include <QByteArray>

BIN
hardware/Derivative/Spedix_CC3D_V2/CC3D_V2.PcbDoc Normal file
View File

Binary file not shown.

BIN
hardware/Derivative/Spedix_CC3D_V2/CC3D_V2.SchDoc Normal file
View File

Binary file not shown.

1104
hardware/Derivative/Spedix_CC3D_V2/CopterControl 3D_V2.PrjPcb Normal file
View File

@ -0,0 +1,1104 @@
[Design]
Version=1.0
HierarchyMode=0
ChannelRoomNamingStyle=0
OutputPath=Project Outputs for CopterControl 3D
LogFolderPath=
ChannelDesignatorFormatString=$Component_$RoomName
ChannelRoomLevelSeperator=_
OpenOutputs=1
ArchiveProject=0
TimestampOutput=0
SeparateFolders=0
PinSwapBy_Netlabel=1
PinSwapBy_Pin=1
AllowPortNetNames=0
AllowSheetEntryNetNames=1
AppendSheetNumberToLocalNets=0
NetlistSinglePinNets=0
DefaultConfiguration=
UserID=0xFFFFFFFF
DefaultPcbProtel=1
DefaultPcbPcad=0
ReorderDocumentsOnCompile=1
NameNetsHierarchically=0
PowerPortNamesTakePriority=0
PushECOToAnnotationFile=1
DItemRevisionGUID=
[Document1]
DocumentPath=..\CopterControl 3D1\CopterControl 3D1.PcbLib
AnnotationEnabled=1
AnnotateStartValue=1
AnnotationIndexControlEnabled=0
AnnotateSuffix=
AnnotateScope=All
AnnotateOrder=-1
DoLibraryUpdate=1
DoDatabaseUpdate=1
ClassGenCCAutoEnabled=1
ClassGenCCAutoRoomEnabled=1
ClassGenNCAutoScope=None
DItemRevisionGUID=
[Document2]
DocumentPath=CC3D_V2.PcbDoc
AnnotationEnabled=1
AnnotateStartValue=1
AnnotationIndexControlEnabled=0
AnnotateSuffix=
AnnotateScope=All
AnnotateOrder=-1
DoLibraryUpdate=1
DoDatabaseUpdate=1
ClassGenCCAutoEnabled=1
ClassGenCCAutoRoomEnabled=1
ClassGenNCAutoScope=None
DItemRevisionGUID=
[Document3]
DocumentPath=CC3D_V2.SchDoc
AnnotationEnabled=1
AnnotateStartValue=1
AnnotationIndexControlEnabled=0
AnnotateSuffix=
AnnotateScope=All
AnnotateOrder=0
DoLibraryUpdate=1
DoDatabaseUpdate=1
ClassGenCCAutoEnabled=1
ClassGenCCAutoRoomEnabled=0
ClassGenNCAutoScope=None
DItemRevisionGUID=
[Document4]
DocumentPath=..\Assembly.OutJob
AnnotationEnabled=1
AnnotateStartValue=1
AnnotationIndexControlEnabled=0
AnnotateSuffix=
AnnotateScope=All
AnnotateOrder=-1
DoLibraryUpdate=1
DoDatabaseUpdate=1
ClassGenCCAutoEnabled=1
ClassGenCCAutoRoomEnabled=1
ClassGenNCAutoScope=None
DItemRevisionGUID=
[Document5]
DocumentPath=..\CopterControl 3D.IntLib
AnnotationEnabled=1
AnnotateStartValue=1
AnnotationIndexControlEnabled=0
AnnotateSuffix=
AnnotateScope=All
AnnotateOrder=-1
DoLibraryUpdate=1
DoDatabaseUpdate=1
ClassGenCCAutoEnabled=1
ClassGenCCAutoRoomEnabled=1
ClassGenNCAutoScope=None
DItemRevisionGUID=
[GeneratedDocument1]
DocumentPath=..\Project Outputs for CopterControl 3D\Design Rule Check - CC3D_V1.html
DItemRevisionGUID=
[SearchPath1]
Path=..\..\..\..\Program Files (x86)\Altium Designer Summer 09\Library\*.*
IncludeSubFolders=1
[Generic_SmartPDF]
AutoOpenFile=0
AutoOpenOutJob=-1
[Generic_SmartPDFSettings]
ProjectMode=0
ZoomPrecision=50
AddNetsInformation=-1
AddNetPins=-1
AddNetNetLabels=-1
AddNetPorts=-1
ExportBOM=0
TemplateFilename=
TemplateStoreRelative=-1
PCB_PrintColor=0
SCH_PrintColor=0
SCH_ShowNoErc=0
SCH_ShowParameter=0
SCH_ShowProbes=0
SCH_ShowBlankets=0
OutputFileName=CopterControl.SchDoc=C:\Users\David\Documents\SVN\WIP\trunk\hardware\production\CopterControl\CopterControl Schematic.pdf
SCH_ExpandLogicalToPhysical=0
SCH_VariantName=[No Variations]
SCH_ExpandComponentDesignators=-1
SCH_ExpandNetlabels=0
SCH_ExpandPorts=0
SCH_ExpandSheetNumber=0
SCH_ExpandDocumentNumber=0
SCH_HasExpandLogicalToPhysicalSheets=-1
SaveSettingsToOutJob=0
SCH_NoERCSymbolsToShow="Thin Cross","Thick Cross","Small Cross",Checkbox,Triangle
SCH_ShowNote=-1
SCH_ShowNoteCollapsed=-1
[OutputGroup1]
Name=Netlist Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=CadnetixNetlist
OutputName1=Cadnetix Netlist
OutputDocumentPath1=
OutputVariantName1=
OutputDefault1=0
OutputType2=CalayNetlist
OutputName2=Calay Netlist
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
OutputType3=EDIF
OutputName3=EDIF for PCB
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
OutputType4=EESofNetlist
OutputName4=EESof Netlist
OutputDocumentPath4=
OutputVariantName4=
OutputDefault4=0
OutputType5=IntergraphNetlist
OutputName5=Intergraph Netlist
OutputDocumentPath5=
OutputVariantName5=
OutputDefault5=0
OutputType6=MentorBoardStationNetlist
OutputName6=Mentor BoardStation Netlist
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
OutputType7=MultiWire
OutputName7=MultiWire
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
OutputType8=OrCadPCB2Netlist
OutputName8=Orcad/PCB2 Netlist
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
OutputType9=PADSNetlist
OutputName9=PADS ASCII Netlist
OutputDocumentPath9=
OutputVariantName9=
OutputDefault9=0
OutputType10=Pcad
OutputName10=Pcad for PCB
OutputDocumentPath10=
OutputVariantName10=
OutputDefault10=0
OutputType11=PCADNetlist
OutputName11=PCAD Netlist
OutputDocumentPath11=
OutputVariantName11=
OutputDefault11=0
OutputType12=PCADnltNetlist
OutputName12=PCADnlt Netlist
OutputDocumentPath12=
OutputVariantName12=
OutputDefault12=0
OutputType13=Protel2Netlist
OutputName13=Protel2 Netlist
OutputDocumentPath13=
OutputVariantName13=
OutputDefault13=0
OutputType14=ProtelNetlist
OutputName14=Protel
OutputDocumentPath14=
OutputVariantName14=
OutputDefault14=0
OutputType15=RacalNetlist
OutputName15=Racal Netlist
OutputDocumentPath15=
OutputVariantName15=
OutputDefault15=0
OutputType16=RINFNetlist
OutputName16=RINF Netlist
OutputDocumentPath16=
OutputVariantName16=
OutputDefault16=0
OutputType17=SciCardsNetlist
OutputName17=SciCards Netlist
OutputDocumentPath17=
OutputVariantName17=
OutputDefault17=0
OutputType18=SIMetrixNetlist
OutputName18=SIMetrix
OutputDocumentPath18=
OutputVariantName18=
OutputDefault18=0
OutputType19=SIMPLISNetlist
OutputName19=SIMPLIS
OutputDocumentPath19=
OutputVariantName19=
OutputDefault19=0
OutputType20=TangoNetlist
OutputName20=Tango Netlist
OutputDocumentPath20=
OutputVariantName20=
OutputDefault20=0
OutputType21=TelesisNetlist
OutputName21=Telesis Netlist
OutputDocumentPath21=
OutputVariantName21=
OutputDefault21=0
OutputType22=Verilog
OutputName22=Verilog File
OutputDocumentPath22=
OutputVariantName22=
OutputDefault22=0
OutputType23=VHDL
OutputName23=VHDL File
OutputDocumentPath23=
OutputVariantName23=
OutputDefault23=0
OutputType24=WireListNetlist
OutputName24=WireList Netlist
OutputDocumentPath24=
OutputVariantName24=
OutputDefault24=0
OutputType25=XSpiceNetlist
OutputName25=XSpice Netlist
OutputDocumentPath25=
OutputVariantName25=
OutputDefault25=0
[OutputGroup2]
Name=Simulator Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=AdvSimNetlist
OutputName1=Mixed Sim
OutputDocumentPath1=
OutputVariantName1=
OutputDefault1=0
OutputType2=SIMetrix_Sim
OutputName2=SIMetrix
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
OutputType3=SIMPLIS_Sim
OutputName3=SIMPLIS
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
[OutputGroup3]
Name=Documentation Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=Composite
OutputName1=Composite Drawing
OutputDocumentPath1=C:\Users\David\Documents\SVN\OP-WIP\trunk\hardware\production\CopterControl\CopterControl.PcbDoc
OutputVariantName1=
OutputDefault1=0
PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=0
Configuration1_Name1=OutputConfigurationParameter1
Configuration1_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
Configuration1_Name2=OutputConfigurationParameter2
Configuration1_Item2=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=0|Mirror=False|Name=Multilayer Composite Print|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
Configuration1_Name3=OutputConfigurationParameter3
Configuration1_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopOverlay|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name4=OutputConfigurationParameter4
Configuration1_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomOverlay|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name5=OutputConfigurationParameter5
Configuration1_Item5=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=TopLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name6=OutputConfigurationParameter6
Configuration1_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MidLayer1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name7=OutputConfigurationParameter7
Configuration1_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=BottomLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name8=OutputConfigurationParameter8
Configuration1_Item8=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name9=OutputConfigurationParameter9
Configuration1_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name10=OutputConfigurationParameter10
Configuration1_Item10=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name11=OutputConfigurationParameter11
Configuration1_Item11=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name12=OutputConfigurationParameter12
Configuration1_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name13=OutputConfigurationParameter13
Configuration1_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration1_Name14=OutputConfigurationParameter14
Configuration1_Item14=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=MultiLayer|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
OutputType2=Logic Analyser Print
OutputName2=Logic Analyser Prints
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType3=OpenBus Print
OutputName3=OpenBus Prints
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType4=PCB 3D Print
OutputName4=PCB 3D Prints
OutputDocumentPath4=
OutputVariantName4=[No Variations]
OutputDefault4=0
PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType5=PCB Print
OutputName5=PCB Prints
OutputDocumentPath5=
OutputVariantName5=
OutputDefault5=0
PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType6=Schematic Print
OutputName6=Schematic Prints
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType7=SimView Print
OutputName7=SimView Prints
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType8=Wave Print
OutputName8=Wave Prints
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType9=WaveSim Print
OutputName9=WaveSim Prints
OutputDocumentPath9=
OutputVariantName9=
OutputDefault9=0
PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
[OutputGroup4]
Name=Assembly Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=Assembly
OutputName1=Assembly Drawings
OutputDocumentPath1=
OutputVariantName1=[No Variations]
OutputDefault1=0
PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType2=Pick Place
OutputName2=Generates pick and place files
OutputDocumentPath2=
OutputVariantName2=[No Variations]
OutputDefault2=0
OutputType3=Test Points For Assembly
OutputName3=Test Point Report
OutputDocumentPath3=
OutputVariantName3=[No Variations]
OutputDefault3=0
[OutputGroup5]
Name=Fabrication Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=ODB
OutputName1=ODB++ Files
OutputDocumentPath1=
OutputVariantName1=[No Variations]
OutputDefault1=0
OutputType2=NC Drill
OutputName2=NC Drill Files
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
Configuration2_Name1=OutputConfigurationParameter1
Configuration2_Item1=BoardEdgeRoutToolDia=2000000|GenerateBoardEdgeRout=False|GenerateDrilledSlotsG85=False|GenerateEIADrillFile=False|GenerateSeparatePlatedNonPlatedFiles=False|NumberOfDecimals=5|NumberOfUnits=2|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Record=DrillView|Units=Imperial|ZeroesMode=SuppressTrailingZeroes
OutputType3=Test Points
OutputName3=Test Point Report
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
OutputType4=Plane
OutputName4=Power-Plane Prints
OutputDocumentPath4=
OutputVariantName4=
OutputDefault4=0
PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType5=Mask
OutputName5=Solder/Paste Mask Prints
OutputDocumentPath5=
OutputVariantName5=
OutputDefault5=0
PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType6=Drill
OutputName6=Drill Drawing/Guides
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=4.20|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
Configuration6_Name1=OutputConfigurationParameter1
Configuration6_Item1=PrintArea=DesignExtent|PrintAreaLowerLeftCornerX=0|PrintAreaLowerLeftCornerY=0|PrintAreaUpperRightCornerX=0|PrintAreaUpperRightCornerY=0|Record=PcbPrintView
Configuration6_Name2=OutputConfigurationParameter2
Configuration6_Item2=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=0|Mirror=False|Name=Drill Drawing For (Bottom Layer,Top Layer)|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
Configuration6_Name3=OutputConfigurationParameter3
Configuration6_Item3=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=BottomLayer|DLayer2=TopLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=DrillDrawing|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name4=OutputConfigurationParameter4
Configuration6_Item4=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name5=OutputConfigurationParameter5
Configuration6_Item5=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name6=OutputConfigurationParameter6
Configuration6_Item6=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name7=OutputConfigurationParameter7
Configuration6_Item7=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name8=OutputConfigurationParameter8
Configuration6_Item8=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name9=OutputConfigurationParameter9
Configuration6_Item9=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=0|Record=PcbPrintLayer
Configuration6_Name10=OutputConfigurationParameter10
Configuration6_Item10=IncludeBottomLayerComponents=True|IncludeMultiLayerComponents=True|IncludeTopLayerComponents=True|Index=1|Mirror=False|Name=Drill Guide For (Bottom Layer,Top Layer)|PadNumberFontSize=14|Record=PcbPrintOut|ShowHoles=False|ShowPadNets=False|ShowPadNumbers=False|SubstituteFonts=False
Configuration6_Name11=OutputConfigurationParameter11
Configuration6_Item11=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=BottomLayer|DLayer2=TopLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=DrillGuide|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
Configuration6_Name12=OutputConfigurationParameter12
Configuration6_Item12=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical1|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
Configuration6_Name13=OutputConfigurationParameter13
Configuration6_Item13=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical5|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
Configuration6_Name14=OutputConfigurationParameter14
Configuration6_Item14=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical6|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
Configuration6_Name15=OutputConfigurationParameter15
Configuration6_Item15=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical7|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
Configuration6_Name16=OutputConfigurationParameter16
Configuration6_Item16=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical13|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
Configuration6_Name17=OutputConfigurationParameter17
Configuration6_Item17=CArc=Full|CFill=Full|Comment=Full|Coordinate=Full|CPad=Full|CRegion=Full|CText=Full|CTrack=Full|CVia=Full|DDSymbolKind=0|DDSymbolSize=500000|DDSymbolSortKind=0|Designator=Full|Dimension=Full|DLayer1=TopLayer|DLayer2=BottomLayer|FArc=Full|FFill=Full|FPad=Full|FRegion=Full|FText=Full|FTrack=Full|FVia=Full|Layer=Mechanical15|Polygon=Full|PrintOutIndex=1|Record=PcbPrintLayer
OutputType7=CompositeDrill
OutputName7=Composite Drill Drawing
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType8=Final
OutputName8=Final Artwork Prints
OutputDocumentPath8=
OutputVariantName8=[No Variations]
OutputDefault8=0
PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType9=Gerber
OutputName9=Gerber Files
OutputDocumentPath9=
OutputVariantName9=[No Variations]
OutputDefault9=0
Configuration9_Name1=OutputConfigurationParameter1
Configuration9_Item1=AddToAllPlots.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|CentrePlots=False|DrillDrawingSymbol=GraphicsSymbol|DrillDrawingSymbolSize=500000|EmbeddedApertures=True|FilmBorderSize=10000000|FilmXSize=200000000|FilmYSize=160000000|FlashAllFills=False|FlashPadShapes=True|G54OnApertureChange=False|GenerateDRCRulesFile=True|GenerateReliefShapes=True|GerberUnit=Imperial|IncludeUnconnectedMidLayerPads=False|LeadingAndTrailingZeroesMode=SuppressLeadingZeroes|MaxApertureSize=2500000|MinusApertureTolerance=50|Mirror.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean|MirrorDrillDrawingPlots=False|MirrorDrillGuidePlots=False|NumberOfDecimals=5|OptimizeChangeLocationCommands=True|OriginPosition=Relative|Panelize=False|Plot.Set=SerializeLayerHash.Version~2,ClassName~TLayerToBoolean,16973830~1,16973832~1,16973834~1,16777217~1,16842751~1,16973835~1,16973833~1,16973831~1,16908289~1,16908293~1,16973837~1,16973848~1,16973849~1|PlotPositivePlaneLayers=False|PlotUsedDrillDrawingLayerPairs=True|PlotUsedDrillGuideLayerPairs=True|PlusApertureTolerance=50|Record=GerberView|SoftwareArcs=False|Sorted=False
[OutputGroup6]
Name=Report Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=BOM_PartType
OutputName1=Bill of Materials
OutputDocumentPath1=
OutputVariantName1=[No Variations]
OutputDefault1=0
PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
Configuration1_Name1=Filter
Configuration1_Item1=545046300E5446696C74657257726170706572000D46696C7465722E416374697665090F46696C7465722E43726974657269610A04000000000000000000
Configuration1_Name2=General
Configuration1_Item2=OpenExported=True|AddToProject=False|ForceFit=False|NotFitted=False|Database=False|IncludePCBData=False|ShowExportOptions=True|TemplateFilename=..\Altium\BOM Digikey.xlt|BatchMode=5|FormWidth=1401|FormHeight=641|SupplierProdQty=1000|SupplierAutoQty=True|SupplierUseCachedPricing=True|SupplierCurrency=<none>
Configuration1_Name3=GroupOrder
Configuration1_Item3=Supplier Part Number 1=True
Configuration1_Name4=OutputConfigurationParameter1
Configuration1_Item4=Record=BOMPrintView|ShowNoERC=True|ShowParamSet=True|ShowProbe=True|ShowBlanket=True|ExpandDesignator=True|ExpandNetLabel=False|ExpandPort=False|ExpandSheetNum=False|ExpandDocNum=False
Configuration1_Name5=PCBDocument
Configuration1_Item5=
Configuration1_Name6=SortOrder
Configuration1_Item6=Description=Up
Configuration1_Name7=VisibleOrder
Configuration1_Item7=Description=113|Comment=77|Footprint=59|Value=40|Designator=56|Quantity=37|Supplier Part Number 1=174|Supplier Order Qty 1=30|Supplier Stock 1=38|Supplier Unit Price 1=29|Supplier Subtotal 1=30|Supplier 1=23|Manufacturer 1=32|Manufacturer Part Number 1=20
OutputType2=ComponentCrossReference
OutputName2=Component Cross Reference Report
OutputDocumentPath2=
OutputVariantName2=[No Variations]
OutputDefault2=0
OutputType3=ReportHierarchy
OutputName3=Report Project Hierarchy
OutputDocumentPath3=
OutputVariantName3=[No Variations]
OutputDefault3=0
OutputType4=Script
OutputName4=Script Output
OutputDocumentPath4=
OutputVariantName4=[No Variations]
OutputDefault4=0
OutputType5=SimpleBOM
OutputName5=Simple BOM
OutputDocumentPath5=
OutputVariantName5=[No Variations]
OutputDefault5=0
OutputType6=SinglePinNetReporter
OutputName6=Report Single Pin Nets
OutputDocumentPath6=
OutputVariantName6=[No Variations]
OutputDefault6=0
OutputType7=Design Rules Check
OutputName7=Design Rules Check
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType8=Electrical Rules Check
OutputName8=Electrical Rules Check
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
[OutputGroup7]
Name=Other Outputs
Description=
TargetPrinter=FX Docuprint M158 f-00000
PrinterOptions=Record=PrinterOptions|Copies=1|Duplex=1|TrueTypeOptions=3|Collate=1|PrintWhat=1
OutputType1=Text Print
OutputName1=Text Print
OutputDocumentPath1=
OutputVariantName1=
OutputDefault1=0
PageOptions1=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType2=Text Print
OutputName2=Text Print
OutputDocumentPath2=
OutputVariantName2=
OutputDefault2=0
PageOptions2=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType3=Text Print
OutputName3=Text Print
OutputDocumentPath3=
OutputVariantName3=
OutputDefault3=0
PageOptions3=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType4=Text Print
OutputName4=Text Print
OutputDocumentPath4=
OutputVariantName4=
OutputDefault4=0
PageOptions4=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType5=Text Print
OutputName5=Text Print
OutputDocumentPath5=
OutputVariantName5=
OutputDefault5=0
PageOptions5=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType6=Text Print
OutputName6=Text Print
OutputDocumentPath6=
OutputVariantName6=
OutputDefault6=0
PageOptions6=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType7=Text Print
OutputName7=Text Print
OutputDocumentPath7=
OutputVariantName7=
OutputDefault7=0
PageOptions7=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType8=Text Print
OutputName8=Text Print
OutputDocumentPath8=
OutputVariantName8=
OutputDefault8=0
PageOptions8=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType9=Text Print
OutputName9=Text Print
OutputDocumentPath9=
OutputVariantName9=
OutputDefault9=0
PageOptions9=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType10=Text Print
OutputName10=Text Print
OutputDocumentPath10=
OutputVariantName10=
OutputDefault10=0
PageOptions10=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType11=Text Print
OutputName11=Text Print
OutputDocumentPath11=
OutputVariantName11=
OutputDefault11=0
PageOptions11=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType12=Text Print
OutputName12=Text Print
OutputDocumentPath12=
OutputVariantName12=
OutputDefault12=0
PageOptions12=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType13=Text Print
OutputName13=Text Print
OutputDocumentPath13=
OutputVariantName13=
OutputDefault13=0
PageOptions13=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType14=Text Print
OutputName14=Text Print
OutputDocumentPath14=
OutputVariantName14=
OutputDefault14=0
PageOptions14=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType15=Text Print
OutputName15=Text Print
OutputDocumentPath15=
OutputVariantName15=
OutputDefault15=0
PageOptions15=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType16=Text Print
OutputName16=Text Print
OutputDocumentPath16=
OutputVariantName16=
OutputDefault16=0
PageOptions16=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType17=Text Print
OutputName17=Text Print
OutputDocumentPath17=
OutputVariantName17=
OutputDefault17=0
PageOptions17=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType18=Text Print
OutputName18=Text Print
OutputDocumentPath18=
OutputVariantName18=
OutputDefault18=0
PageOptions18=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType19=Text Print
OutputName19=Text Print
OutputDocumentPath19=
OutputVariantName19=
OutputDefault19=0
PageOptions19=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType20=Text Print
OutputName20=Text Print
OutputDocumentPath20=
OutputVariantName20=
OutputDefault20=0
PageOptions20=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType21=Text Print
OutputName21=Text Print
OutputDocumentPath21=
OutputVariantName21=
OutputDefault21=0
PageOptions21=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType22=Text Print
OutputName22=Text Print
OutputDocumentPath22=
OutputVariantName22=
OutputDefault22=0
PageOptions22=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType23=Text Print
OutputName23=Text Print
OutputDocumentPath23=
OutputVariantName23=
OutputDefault23=0
PageOptions23=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType24=Text Print
OutputName24=Text Print
OutputDocumentPath24=
OutputVariantName24=
OutputDefault24=0
PageOptions24=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType25=Text Print
OutputName25=Text Print
OutputDocumentPath25=
OutputVariantName25=
OutputDefault25=0
PageOptions25=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType26=Text Print
OutputName26=Text Print
OutputDocumentPath26=
OutputVariantName26=
OutputDefault26=0
PageOptions26=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType27=Text Print
OutputName27=Text Print
OutputDocumentPath27=
OutputVariantName27=
OutputDefault27=0
PageOptions27=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
OutputType28=Text Print
OutputName28=Text Print
OutputDocumentPath28=
OutputVariantName28=
OutputDefault28=0
PageOptions28=Record=PageOptions|CenterHorizontal=True|CenterVertical=True|PrintScale=1.00|XCorrection=1.00|YCorrection=1.00|PrintKind=1|BorderSize=5000000|LeftOffset=0|BottomOffset=0|Orientation=2|PaperLength=1000|PaperWidth=1000|Scale=100|PaperSource=7|PrintQuality=-4|MediaType=1|DitherType=10|PaperKind=A4|PrintScaleMode=1
[Modification Levels]
Type1=1
Type2=1
Type3=1
Type4=1
Type5=1
Type6=1
Type7=1
Type8=1
Type9=1
Type10=1
Type11=1
Type12=1
Type13=1
Type14=1
Type15=1
Type16=1
Type17=1
Type18=1
Type19=1
Type20=1
Type21=1
Type22=1
Type23=1
Type24=1
Type25=1
Type26=1
Type27=1
Type28=1
Type29=1
Type30=1
Type31=1
Type32=1
Type33=1
Type34=1
Type35=1
Type36=1
Type37=1
Type38=1
Type39=1
Type40=1
Type41=1
Type42=1
Type43=1
Type44=1
Type45=1
Type46=1
Type47=1
Type48=1
Type49=1
Type50=1
Type51=1
Type52=1
Type53=1
Type54=1
Type55=1
Type56=1
Type57=1
Type58=1
Type59=1
Type60=1
Type61=1
Type62=1
Type63=1
Type64=1
Type65=1
Type66=1
Type67=1
Type68=1
[Difference Levels]
Type1=1
Type2=1
Type3=1
Type4=1
Type5=1
Type6=1
Type7=1
Type8=1
Type9=1
Type10=1
Type11=1
Type12=1
Type13=1
Type14=1
Type15=1
Type16=1
Type17=1
Type18=1
Type19=1
Type20=1
Type21=1
Type22=1
Type23=1
Type24=1
Type25=1
Type26=1
Type27=1
Type28=1
Type29=1
Type30=1
Type31=1
Type32=1
Type33=1
Type34=1
Type35=1
Type36=1
[Electrical Rules Check]
Type1=1
Type2=1
Type3=2
Type4=1
Type5=2
Type6=2
Type7=1
Type8=1
Type9=1
Type10=1
Type11=2
Type12=2
Type13=2
Type14=1
Type15=1
Type16=1
Type17=1
Type18=1
Type19=1
Type20=1
Type21=1
Type22=1
Type23=1
Type24=1
Type25=2
Type26=2
Type27=2
Type28=1
Type29=1
Type30=1
Type31=1
Type32=2
Type33=2
Type34=2
Type35=1
Type36=2
Type37=1
Type38=2
Type39=2
Type40=2
Type41=0
Type42=2
Type43=1
Type44=1
Type45=2
Type46=1
Type47=2
Type48=2
Type49=1
Type50=2
Type51=1
Type52=1
Type53=1
Type54=1
Type55=1
Type56=2
Type57=1
Type58=1
Type59=0
Type60=1
Type61=2
Type62=2
Type63=1
Type64=0
Type65=2
Type66=3
Type67=2
Type68=2
Type69=1
Type70=2
Type71=2
Type72=2
Type73=2
Type74=1
Type75=2
Type76=1
Type77=1
Type78=1
Type79=1
Type80=2
Type81=3
Type82=3
Type83=3
Type84=3
Type85=3
Type86=2
Type87=2
Type88=2
Type89=1
Type90=1
Type91=3
Type92=3
Type93=2
Type94=2
Type95=2
Type96=2
Type97=2
Type98=0
[ERC Connection Matrix]
L1=NNNNNNNNNNNWNNNWW
L2=NNWNNNNWWWNWNWNWN
L3=NWEENEEEENEWNEEWN
L4=NNENNNWEENNWNENWN
L5=NNNNNNNNNNNNNNNNN
L6=NNENNNNEENNWNENWN
L7=NNEWNNWEENNWNENWN
L8=NWEENEENEEENNEENN
L9=NWEENEEEENEWNEEWW
L10=NWNNNNNENNEWNNEWN
L11=NNENNNNEEENWNENWN
L12=WWWWNWWNWWWNWWWNN
L13=NNNNNNNNNNNWNNNWW
L14=NWEENEEEENEWNEEWW
L15=NNENNNNEEENWNENWW
L16=WWWWNWWNWWWNWWWNW
L17=WNNNNNNNWNNNWWWWN
[Annotate]
SortOrder=3
MatchParameter1=Comment
MatchStrictly1=1
MatchParameter2=Library Reference
MatchStrictly2=1
PhysicalNamingFormat=$Component_$RoomName
GlobalIndexSortOrder=3
[PrjClassGen]
CompClassManualEnabled=0
CompClassManualRoomEnabled=0
NetClassAutoBusEnabled=1
NetClassAutoCompEnabled=0
NetClassAutoNamedHarnessEnabled=0
NetClassManualEnabled=1
[LibraryUpdateOptions]
SelectedOnly=0
PartTypes=0
ComponentLibIdentifierKind0=Library Name And Type
ComponentLibraryIdentifier0=CopterControl.SchLib
ComponentDesignItemID0=CC-STM32F103CBT6
ComponentSymbolReference0=CC-STM32F103CBT6
ComponentUpdate0=1
ComponentIsDeviceSheet0=0
FullReplace=1
UpdateDesignatorLock=1
UpdatePartIDLock=1
DoGraphics=1
DoParameters=1
DoModels=1
AddParameters=0
RemoveParameters=0
AddModels=1
RemoveModels=1
UpdateCurrentModels=1
ParameterName0=Comment
ParameterUpdate0=1
ParameterName1=Component Kind
ParameterUpdate1=1
ParameterName2=ComponentLink1Description
ParameterUpdate2=1
ParameterName3=ComponentLink1URL
ParameterUpdate3=1
ParameterName4=ComponentLink2Description
ParameterUpdate4=1
ParameterName5=ComponentLink2URL
ParameterUpdate5=1
ParameterName6=DatasheetVersion
ParameterUpdate6=1
ParameterName7=Description
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ParameterName8=Library Reference
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** Introduction **
These are all the hardware files for the OpenPilot CopterControl 3D, as re-manufactured by Spedix. The files
represent complete schematic designs, and includes all Altium version 9 files. The work is based on the orignal
CC3D design files located at: https://reviews.openpilot.org/browse/OpenPilot/hardware/Production/CopterControl%203D
** License **
These files are licensed under Creative Commons BY-SA 3.0 license. This license also that credit is given, in
this case the OpenPilot logo should be retained at the same size as on the included files on any board produced
or hardware derived from this design (which is a derivative of the original work).
For more details, please see: http://creativecommons.org/licenses/by-sa/3.0/au/deed.en
OpenPilot is a non-commercial project and releasing the original files to share with the wider community,
please respect this and play fair. If there are any questions or items that need clarifying please contact
one of the OpenPilot forum administrators.
Spedix has mofified the original design to include new connectors on the board for both Spectrum and S.Bus RX
packages. This board can easily be identified by the added connectors as well as the Gold ENIG Openpilot logo.
This board was orignally shipped alongside the Spedix S250 ARF & BNF kits as sold by BuddyRC.
http://www.rcgroups.com/forums/showthread.php?t=2341341
http://www.spedix-rc.com/index.php/multirotor/250-series.html
http://www.buddyrc.com/spedix-s250-arf-kit-cc3d-version.html
http://www.buddyrc.com/spedix-s250-bnf-cc3d-version.html
Additionally the board was sold standalone via BuddyRC. Other vendors may be reselling this board, however there
is not a known list of potential resellers at this time.
http://www.buddyrc.com/cc3d-flight-control-board.html
Please note that the Gyro has been rotated on the board to make access to the USB port easier for end users with
Mini frames. Pay attention to the arrow when mounting the board. This change eliminates the need for virtual
rotation of the board within the software.
Also note that the first batches of this board shipped with an invalid bootloader. The verison number shows up
as "-128". This bootloader seems to have timing issues which prevent it from being used with newer variants of
the OpenPilot GCS. You will have to manually update the bootloader per the following instructions:
https://wiki.openpilot.org/display/WIKI/Bootloader+Update
** Caveats **
It has been pointed out by Failsafe(Jim) that the board appears to lack ESD protections.
** Credits **
David Ankers: concept, design and board creation.
James Cotton: Firmware development, 3C algorythm, testing and advice.
Cathy Moss: Design review, for being generally awesome and having patience for David's questions.
Kevin Finisterre: Facilitating the exchange of CCBYSA materials from Spedix via BuddyRC, & creating the README.
Dale Deng: Owner of BuddyRC, personally donating for all imported Spedix boards. Helping to obtain Spedix donations.
Spedix: Modification of original design to incorperate S.Bus & Spectrum adaptor as well as rotation of Gyro.

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