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OP-897: remove non-user-selectable modes from GCS dropdown lists
Now all unsupported options are disabled. They will be reenabled when ready for end users. Still developers can set them using UAVObjBrowser. As a side effect, a bit changed UAVO XML definitions. The "limits" option now uses comma to separate rules, semicolon to separate elements. Was vice versa. OP-897 #resolve #comment Pushed for review +review OPReview
This commit is contained in:
Oleg Semyonov
parent
9b11ef2111
commit
f260b2f568
@ -133,15 +133,15 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModePosition",m_config->fmsModePos6,5,1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","FlightModeNumber",m_config->fmsPosNum);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw");
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Roll,"Roll",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Roll,"Roll",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Roll,"Roll",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Pitch,"Pitch",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Pitch,"Pitch",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Pitch,"Pitch",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization1Settings",m_config->fmsSsPos1Yaw,"Yaw",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization2Settings",m_config->fmsSsPos2Yaw,"Yaw",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Stabilization3Settings",m_config->fmsSsPos3Yaw,"Yaw",1,true);
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addUAVObjectToWidgetRelation("ManualControlSettings","Arming",m_config->armControl);
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addUAVObjectToWidgetRelation("ManualControlSettings","ArmedTimeout",m_config->armTimeout,0,1000);
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@ -101,18 +101,27 @@ void UAVObjectField::constructorInitialize(const QString& name, const QString& u
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void UAVObjectField::limitsInitialize(const QString &limits)
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{
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/// format
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/// (TY)->type (EQ-equal;NE-not equal;BE-between;BI-bigger;SM-smaller)
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/// (VALX)->value
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/// %TY:VAL1:VAL2:VAL3,%TY,VAL1,VAL2,VAL3
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/// example: first element bigger than 3 and second element inside [2.3,5]
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/// "%BI:3,%BE:2.3:5"
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// Limit string format:
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// % - start char
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// XXXX - optional BOARD_TYPE and BOARD_REVISION (4 hex digits)
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// TY - rule type (EQ-equal, NE-not equal, BE-between, BI-bigger, SM-smaller)
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// VAL - values for TY separated by colon
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// , - rule separator (may have leading or trailing spaces)
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// ; - element separator (may have leading or trailing spaces)
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//
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// Examples:
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// Disable few flight modes for Revo (00903):
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// "%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner"
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// Original CC board (rev 1), first element bigger than 3 and second element inside [2.3-5.0]:
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// "%0401BI:3; %BE:2.3:5"
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// Set applicable range [0-500] for 3 elements of array for all boards:
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// "%BE:0:500; %BE:0:500; %BE:0:500"
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if(limits.isEmpty())
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return;
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QStringList stringPerElement=limits.split(",");
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QStringList stringPerElement = limits.split(";");
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quint32 index=0;
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foreach (QString str, stringPerElement) {
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QStringList ruleList=str.split(";");
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QStringList ruleList = str.split(",");
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QList<LimitStruct> limitList;
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foreach(QString rule,ruleList)
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{
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@ -20,13 +20,54 @@
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<field name="Arming" units="" type="enum" elements="1" options="Always Disarmed,Always Armed,Roll Left,Roll Right,Pitch Forward,Pitch Aft,Yaw Left,Yaw Right" defaultvalue="Always Disarmed"/>
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<!-- Note these options should be identical to those in StabilizationDesired.StabilizationMode -->
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<field name="Stabilization1Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization2Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization3Settings" units="" type="enum" elementnames="Roll,Pitch,Yaw" options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude" defaultvalue="Attitude,Attitude,Rate"/>
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<field name="Stabilization1Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw"
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options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
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defaultvalue="Attitude,Attitude,Rate"
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limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
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<field name="Stabilization2Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw"
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options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
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defaultvalue="Attitude,Attitude,Rate"
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limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
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<field name="Stabilization3Settings" units="" type="enum"
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elementnames="Roll,Pitch,Yaw"
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options="None,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,RelayRate,RelayAttitude"
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defaultvalue="Attitude,Attitude,Rate"
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limits="%NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude; %NE:RelayRate:RelayAttitude;"/>
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<!-- Note these options values should be identical to those defined in FlightMode -->
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<field name="FlightModeNumber" units="" type="uint8" elements="1" defaultvalue="3"/>
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<field name="FlightModePosition" units="" type="enum" elements="6" options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner" defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold" limits="%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune,%0401NE:AltitudeHold:VelocityControl:PositionHold:Autotune;%0402NE:AltitudeHold:VelocityControl:PositionHold:Autotune"/>
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<!-- Currently only some modes are enabled for UI using limits attribute per board. Update when more modes will be operational -->
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<field name="FlightModePosition" units="" type="enum" elements="6"
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options="Manual,Stabilized1,Stabilized2,Stabilized3,Autotune,AltitudeHold,VelocityControl,PositionHold,ReturnToBase,Land,PathPlanner"
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defaultvalue="Manual,Stabilized1,Stabilized2,Stabilized3,AltitudeHold,PositionHold"
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limits=" \
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%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
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\
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%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
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\
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%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
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\
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%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
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\
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%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner; \
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\
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%0401NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0402NE:Autotune:AltitudeHold:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner, \
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%0903NE:Autotune:VelocityControl:PositionHold:ReturnToBase:Land:PathPlanner \
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">
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</field>
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<field name="ArmedTimeout" units="ms" type="uint16" elements="1" defaultvalue="30000"/>
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<field name="FailsafeBehavior" units="" type="enum" elements="1" options="None" defaultvalue="None"/>
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@ -4,15 +4,15 @@
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<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
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<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
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<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="60" limits="%BE:0:180"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500,%BE:0:500,%BE:0:500"/>
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<field name="ManualRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="200,200,200" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="MaximumRate" units="degrees/sec" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300" limits="%BE:0:500; %BE:0:500; %BE:0:500"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01,%BE:0:0.01,, "/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10,%BE:0:10,"/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10,%BE:0:10,"/>
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<field name="RollRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="PitchRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.003,0.003,0.00002,0.3" limits="%BE:0:0.01; %BE:0:0.01; ; "/>
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<field name="YawRatePID" units="" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="0.0035,0.0035,0,0.3" limits="%BE:0:0.01; %BE:0:0.01 ; ; "/>
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<field name="RollPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="PitchPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2.5,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="YawPI" units="" type="float" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,50" limits="%BE:0:10; %BE:0:10; "/>
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<field name="VbarSensitivity" units="frac" type="float" elementnames="Roll,Pitch,Yaw" defaultvalue="0.5,0.5,0.5"/>
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<field name="VbarRollPI" units="1/(deg/s)" type="float" elementnames="Kp,Ki" defaultvalue="0.005,0.002"/>
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