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Code Issues Releases Activity

Merge branch 'next' into theothercliff/OP-1259_Cruise_Control_Tweaks

Browse Source 
Conflicts:
	flight/pios/stm32f10x/inc/usb_conf.h
This commit is contained in:
Corvus Corax 2014-05-01 22:58:10 +02:00
commit f7a2e31809
120 changed files with 2840 additions and 6604 deletions
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5
Makefile
View File

@ -723,7 +723,7 @@ $(OPFW_RESOURCE): $(FW_TARGETS)
# If opfw_resource or all firmware are requested, GCS should depend on the resource
ifneq ($(strip $(filter opfw_resource all all_fw all_flight,$(MAKECMDGOALS))),)
$(eval openpilotgcs: $(OPFW_RESOURCE))
$(eval openpilotgcs_qmake: $(OPFW_RESOURCE))
endif
# Packaging targets: package, clean_package
@ -878,9 +878,8 @@ help:
@$(ECHO) " [Tool Installers]"
@$(ECHO) " arm_sdk_install - Install the GNU ARM gcc toolchain"
@$(ECHO) " qt_sdk_install - Install the QT development tools"
@$(ECHO) " mingw_install - Install the MinGW toolchain (Windows only)"
@$(ECHO) " python_install - Install the Python interpreter (Windows only)"
@$(ECHO) " nsis_install - Install the NSIS Unicode (Windows only)"
@$(ECHO) " sdl_install - Install the SDL library (Windows only)"
@$(ECHO) " openssl_install - Install the OpenSSL libraries (Windows only)"
@$(ECHO) " uncrustify_install - Install the Uncrustify source code beautifier"
@$(ECHO) " doxygen_install - Install the Doxygen documentation generator"

0
artwork/3D Model/boards/Revolution/Revolution.3DS → artwork/3D Model/boards/Revolution/revolution.3ds
View File

38
flight/libraries/alarms.c
View File

@ -32,11 +32,17 @@
#include "inc/alarms.h"
// Private constants
#ifndef PIOS_ALARM_GRACETIME
// alarm cannot be turned off for at least 1000 milliseconds
// to prevent event system overload through flapping alarms
#define PIOS_ALARM_GRACETIME 1000
#endif // PIOS_ALARM_GRACETIME
// Private types
// Private variables
static xSemaphoreHandle lock;
static volatile uint16_t lastAlarmChange[SYSTEMALARMS_ALARM_NUMELEM] = { 0 }; // this deliberately overflows every 2^16 milliseconds to save memory
// Private functions
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity);
@ -63,7 +69,7 @@ int32_t AlarmsInitialize(void)
*/
int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
SystemAlarmsAlarmData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
@ -74,10 +80,14 @@ int32_t AlarmsSet(SystemAlarmsAlarmElem alarm, SystemAlarmsAlarmOptions severity
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) {
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
SystemAlarmsSet(&alarms);
SystemAlarmsAlarmGet(&alarms);
uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
if ((flightTime - lastAlarmChange[alarm] > PIOS_ALARM_GRACETIME &&
cast_struct_to_array(alarms, alarms.Actuator)[alarm] != severity)
|| cast_struct_to_array(alarms, alarms.Actuator)[alarm] < severity) {
cast_struct_to_array(alarms, alarms.Actuator)[alarm] = severity;
lastAlarmChange[alarm] = flightTime;
SystemAlarmsAlarmSet(&alarms);
}
// Release lock
@ -110,10 +120,14 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
// Read alarm and update its severity only if it was changed
SystemAlarmsGet(&alarms);
if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity) {
uint16_t flightTime = (uint16_t)xTaskGetTickCount() * (uint16_t)portTICK_RATE_MS; // this deliberately overflows every 2^16 milliseconds to save memory
if ((flightTime - lastAlarmChange[alarm] > PIOS_ALARM_GRACETIME &&
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] != severity)
|| cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] < severity) {
cast_struct_to_array(alarms.ExtendedAlarmStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = status;
cast_struct_to_array(alarms.ExtendedAlarmSubStatus, alarms.ExtendedAlarmStatus.BootFault)[alarm] = subStatus;
cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm] = severity;
lastAlarmChange[alarm] = flightTime;
SystemAlarmsSet(&alarms);
}
@ -129,7 +143,7 @@ int32_t ExtendedAlarmsSet(SystemAlarmsAlarmElem alarm,
*/
SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
{
SystemAlarmsData alarms;
SystemAlarmsAlarmData alarms;
// Check that this is a valid alarm
if (alarm >= SYSTEMALARMS_ALARM_NUMELEM) {
@ -137,8 +151,8 @@ SystemAlarmsAlarmOptions AlarmsGet(SystemAlarmsAlarmElem alarm)
}
// Read alarm
SystemAlarmsGet(&alarms);
return cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[alarm];
SystemAlarmsAlarmGet(&alarms);
return cast_struct_to_array(alarms, alarms.Actuator)[alarm];
}
/**
@ -220,17 +234,17 @@ int32_t AlarmsHasCritical()
*/
static int32_t hasSeverity(SystemAlarmsAlarmOptions severity)
{
SystemAlarmsData alarms;
SystemAlarmsAlarmData alarms;
// Lock
xSemaphoreTakeRecursive(lock, portMAX_DELAY);
// Read alarms
SystemAlarmsGet(&alarms);
SystemAlarmsAlarmGet(&alarms);
// Go through alarms and check if any are of the given severity or higher
for (uint32_t n = 0; n < SYSTEMALARMS_ALARM_NUMELEM; ++n) {
if (cast_struct_to_array(alarms.Alarm, alarms.Alarm.Actuator)[n] >= severity) {
if (cast_struct_to_array(alarms, alarms.Actuator)[n] >= severity) {
xSemaphoreGiveRecursive(lock);
return 1;
}

21
flight/modules/Airspeed/airspeed.c
View File

@ -41,9 +41,11 @@
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "baro_airspeed_ms4525do.h"
#include "baro_airspeed_etasv3.h"
#include "baro_airspeed_mpxv.h"
#include "gps_airspeed.h"
#include "airspeedalarm.h"
#include "taskinfo.h"
// Private constants
@ -59,7 +61,7 @@
static xTaskHandle taskHandle;
static bool airspeedEnabled = false;
static AirspeedSettingsData airspeedSettings;
static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = 0;
static int8_t airspeedADCPin = -1;
@ -118,6 +120,8 @@ int32_t AirspeedInitialize()
}
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
AirspeedSensorInitialize();
AirspeedSettingsInitialize();
@ -144,6 +148,7 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
// Main task loop
portTickType lastSysTime = xTaskGetTickCount();
while (1) {
@ -152,6 +157,12 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Update the airspeed object
AirspeedSensorGet(&airspeedData);
// if sensor type changed reset Airspeed alarm
if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
AirspeedAlarm(SYSTEMALARMS_ALARM_DEFAULT);
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
}
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
@ -165,12 +176,20 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Eagletree Airspeed v3
baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
break;
#endif
#if defined(PIOS_INCLUDE_MS4525DO)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
// PixHawk Airpeed based on MS4525DO
baro_airspeedGetMS4525DO(&airspeedData, &airspeedSettings);
break;
#endif
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
gps_airspeedGet(&airspeedData, &airspeedSettings);
break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
default:
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
break;
}
// Set the UAVO

65
flight/modules/Airspeed/airspeedalarm.c Normal file
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@ -0,0 +1,65 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Handle locally airspeed alarms issue changes to PIOS only when necessary
* @{
*
* @file airspeedalarm.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Airspeed module
*
* @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
*/
/**
* Output object: none
*
* Handle locally airspeed alarms issue changes to PIOS only when necessary
*
*/
#include "airspeedalarm.h"
// local variable
static SystemAlarmsAlarmOptions severitySet = SYSTEMALARMS_ALARM_UNINITIALISED;
// functions
/**
* Handle airspeed alarms and isuue an Alarm to PIOS only if necessary
*/
bool AirspeedAlarm(SystemAlarmsAlarmOptions severity)
{
if (severity == severitySet) {
return false;
}
severitySet = severity;
return AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, severity) == 0;
}
/**
* @}
* @}
*/

4
flight/modules/Airspeed/baro_airspeed_etasv3.c
View File

@ -40,6 +40,7 @@
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "airspeedalarm.h"
#if defined(PIOS_INCLUDE_ETASV3)
@ -64,11 +65,13 @@ void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettings
if (airspeedSensor->SensorValue == (uint16_t)-1) {
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
airspeedSensor->CalibratedAirspeed = 0;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
return;
}
// only calibrate if no stored calibration is available
if (!airspeedSettings->ZeroPoint) {
AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
// Calibrate sensor by averaging zero point value
if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
calibrationCount++;
@ -93,6 +96,7 @@ void baro_airspeedGetETASV3(AirspeedSensorData *airspeedSensor, AirspeedSettings
// Compute airspeed
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * sqrtf((float)abs(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint));
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
}

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

@ -40,6 +40,7 @@
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "airspeedalarm.h"
#if defined(PIOS_INCLUDE_MPXV)
@ -63,7 +64,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
// Ensure that the ADC pin is properly configured
if (airspeedADCPin < 0) {
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
return;
}
if (sensor.type == PIOS_MPXV_UNKNOWN) {
@ -76,6 +77,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
break;
default:
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
return;
}
}
@ -83,6 +85,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
airspeedSensor->SensorValue = PIOS_MPXV_Measure(&sensor);
if (!airspeedSettings->ZeroPoint) {
AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
// Calibrate sensor by averaging zero point value
if (calibrationCount < CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) { // First let sensor warm up and stabilize.
calibrationCount++;
@ -107,6 +110,7 @@ void baro_airspeedGetMPXV(AirspeedSensorData *airspeedSensor, AirspeedSettingsDa
airspeedSensor->CalibratedAirspeed = PIOS_MPXV_CalcAirspeed(&sensor, airspeedSensor->SensorValue) * (alpha) + airspeedSensor->CalibratedAirspeed * (1.0f - alpha);
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
}
#endif /* if defined(PIOS_INCLUDE_MPXV) */

140
flight/modules/Airspeed/baro_airspeed_ms4525do.c Normal file
View File

@ -0,0 +1,140 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Communicate with airspeed sensors and return values
* @{
*
* @file baro_airspeed_ms4525do.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Airspeed module, handles temperature and pressure readings from MS4525DO
*
* @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
*/
/**
* Output object: BaroAirspeed
*
* This module will periodically update the value of the BaroAirspeed object.
*
*/
#include "openpilot.h"
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "airspeedalarm.h"
#include "taskinfo.h"
#if defined(PIOS_INCLUDE_MS4525DO)
#define CALIBRATION_IDLE_MS 0 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
#define FILTER_SHIFT 5 // Barry Dorr filter parameter k
#define P0 101325.0f // standard pressure
#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7
#define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard
#define TASFACTOR 0.05891022589f // 1/sqrt(T0)
// Private types
// Private functions definitions
// Private variables
static uint16_t calibrationCount = 0;
static uint32_t filter_reg = 0; // Barry Dorr filter register
void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
uint16_t values[2];
// Read sensor
int8_t retVal = PIOS_MS4525DO_Read(values);
// check for errors
if (retVal != 0) {
airspeedSensor->SensorValue = -1;
airspeedSensor->SensorValueTemperature = -1;
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
airspeedSensor->CalibratedAirspeed = 0;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
return;
}
airspeedSensor->SensorValue = values[0];
airspeedSensor->SensorValueTemperature = values[1];
// only calibrate if no stored calibration is available
if (!airspeedSettings->ZeroPoint) {
// Calibrate sensor by averaging zero point value
if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
calibrationCount++;
filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT);
AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
return;
} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
calibrationCount++;
// update filter register
filter_reg = filter_reg - (filter_reg >> FILTER_SHIFT) + airspeedSensor->SensorValue;
if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
// Scale output for unity gain.
airspeedSettings->ZeroPoint = (uint16_t)(filter_reg >> FILTER_SHIFT);
AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
calibrationCount = 0;
}
AirspeedAlarm(SYSTEMALARMS_ALARM_WARNING);
return;
}
}
/* Compute airspeed
assume sensor is A Type and has a range of 1 psi, i.e. Pmin=-1.0 psi and Pmax=1.0 psi
Datasheet pressure: output = 0.8 * 16383 / (Pmax-Pmin) * (P - Pmin) + 0.1 * 16383
Inversion: P = (10*output - 81915)/65532 in psi
1 psi = 6894,757293168 Pa
P = (10*output - 81915)*0.1052120688 in Pa
Datasheet temperature: output = (T+50)*2047 / 200
Inversion: T = (200*out - 102350)/2047 in C
T = (200*out - 102350)/2047 + 273.15 in K
*/
const float dP = (10 * (int32_t)(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint)) * 0.1052120688f;
const float T = (float)(200 * (int32_t)airspeedSensor->SensorValueTemperature - 102350) / 2047 + 273.15f;
airspeedSensor->DifferentialPressure = dP;
airspeedSensor->Temperature = T;
// CAS = Csound * sqrt( 5 *( (dP/P0 +1)^(2/7) - 1) )
// TAS = Csound * sqrt( 5 T/T0 *( (dP/P0 +1)^(2/7) - 1) )
// where Csound = 340.276 m/s at standard condition T0=288.15 K and P0 = 101315 Pa
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * CASFACTOR * sqrtf(powf(fabsf(dP) / P0 + 1.0f, CCEXPONENT) - 1.0f);
airspeedSensor->TrueAirspeed = airspeedSensor->CalibratedAirspeed * TASFACTOR * sqrtf(T);
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
// everything is fine so set ALARM_OK
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
}
#endif /* if defined(PIOS_INCLUDE_MS4525DO) */
/**
* @}
* @}
*/

4
flight/modules/Airspeed/gps_airspeed.c
View File

@ -37,6 +37,7 @@
#include "airspeedsettings.h"
#include "gps_airspeed.h"
#include "CoordinateConversions.h"
#include "airspeedalarm.h"
#include <pios_math.h>
@ -127,6 +128,7 @@ void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *air
if (gpsVelData.North * gpsVelData.North + gpsVelData.East * gpsVelData.East + gpsVelData.Down * gpsVelData.Down < 1.0f) {
airspeedData->CalibratedAirspeed = 0;
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
return; // do not calculate if gps velocity is insufficient...
}
@ -141,11 +143,13 @@ void gps_airspeedGet(AirspeedSensorData *airspeedData, AirspeedSettingsData *air
if (!IS_REAL(airspeedData->CalibratedAirspeed)) {
airspeedData->CalibratedAirspeed = 0;
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
AirspeedAlarm(SYSTEMALARMS_ALARM_ERROR);
} else {
// need a low pass filter to filter out spikes in non coordinated maneuvers
airspeedData->CalibratedAirspeed = (1.0f - airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha) * gps->oldAirspeed + airspeedSettings->GroundSpeedBasedEstimationLowPassAlpha * airspeed;
gps->oldAirspeed = airspeedData->CalibratedAirspeed;
airspeedData->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
AirspeedAlarm(SYSTEMALARMS_ALARM_OK);
}
// Save old variables for next pass

45
flight/modules/Airspeed/inc/airspeedalarm.h Normal file
View File

@ -0,0 +1,45 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Handle locally airspeed alarms issue changes to PIOS only when necessary
* @{
*
* @file airspeedalarm.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Airspeed module, reads temperature and pressure from MS4525DO
*
* @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 AIRSPEEDALARM_H
#define AIRSPEEDALARM_H
#include <openpilot.h>
#include "alarms.h"
bool AirspeedAlarm(SystemAlarmsAlarmOptions severity);
#endif // AIRSPEEDALARM_H
/**
* @}
* @}
*/

43
flight/modules/Airspeed/inc/baro_airspeed_ms4525do.h Normal file
View File

@ -0,0 +1,43 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Calculate airspeed from measurements of differential pressure from a MS4525DO (PixHawk airspeed sensor)
* @{
*
* @file baro_airspeed_mas4525do.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Airspeed module, reads temperature and pressure from MS4525DO
*
* @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 BARO_AIRSPEED_MS4525DO_H
#define BARO_AIRSPEED_MS4525DO_H
#if defined(PIOS_INCLUDE_MS4525DO)
void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
#endif /* PIOS_INCLUDE_MS4525DO */
#endif // BARO_AIRSPEED_MS4525DO_H
/**
* @}
* @}
*/

25
flight/modules/Attitude/revolution/attitude.c
View File

@ -278,7 +278,7 @@ static void AttitudeTask(__attribute__((unused)) void *parameters)
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
ret_val = updateAttitudeComplementary(first_run);
break;
case REVOSETTINGS_FUSIONALGORITHM_INS13OUTDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS13GPSOUTDOOR:
ret_val = updateAttitudeINSGPS(first_run, true);
break;
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
@ -650,7 +650,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
if (airspeedSensor.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
// we have airspeed available
airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down);
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
AirspeedStateSet(&airspeed);
}
}
@ -1072,13 +1072,23 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
vel[2] = gpsVelData.Down;
}
// Copy the position into the UAVO
PositionStateData positionState;
PositionStateGet(&positionState);
positionState.North = Nav.Pos[0];
positionState.East = Nav.Pos[1];
positionState.Down = Nav.Pos[2];
PositionStateSet(&positionState);
// airspeed correction needs current positionState
if (airspeed_updated) {
// we have airspeed available
AirspeedStateData airspeed;
AirspeedStateGet(&airspeed);
airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - Nav.Pos[2]);
airspeed.TrueAirspeed = (airspeedData.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedData.TrueAirspeed;
AirspeedStateSet(&airspeed);
if (!gps_vel_updated && !gps_updated) {
@ -1107,14 +1117,7 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
INSCorrection(&magData.x, NED, vel, (baroData.Altitude + baroOffset), sensors);
}
// Copy the position and velocity into the UAVO
PositionStateData positionState;
PositionStateGet(&positionState);
positionState.North = Nav.Pos[0];
positionState.East = Nav.Pos[1];
positionState.Down = Nav.Pos[2];
PositionStateSet(&positionState);
// Copy the velocity into the UAVO
VelocityStateData velocityState;
VelocityStateGet(&velocityState);
velocityState.North = Nav.Vel[0];

88
flight/modules/Battery/battery.c
View File

@ -47,6 +47,7 @@
#include "openpilot.h"
#include "flightstatus.h"
#include "flightbatterystate.h"
#include "flightbatterysettings.h"
#include "hwsettings.h"
@ -69,6 +70,7 @@ static int8_t currentADCPin = -1; // ADC pin for current
// Private functions
static void onTimer(UAVObjEvent *ev);
static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData);
/**
* Initialise the module, called on startup
@ -113,6 +115,8 @@ int32_t BatteryInitialize(void)
FlightBatteryStateInitialize();
FlightBatterySettingsInitialize();
// FlightBatterySettingsConnectCallback(FlightBatterySettingsUpdatedCb);
static UAVObjEvent ev;
memset(&ev, 0, sizeof(UAVObjEvent));
@ -125,10 +129,11 @@ int32_t BatteryInitialize(void)
MODULE_INITCALL(BatteryInitialize, 0);
static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
{
static FlightBatteryStateData flightBatteryData;
static FlightBatterySettingsData batterySettings;
static FlightBatteryStateData flightBatteryData;
FlightBatterySettingsGet(&batterySettings);
FlightBatteryStateGet(&flightBatteryData);
const float dT = SAMPLE_PERIOD_MS / 1000.0f;
float energyRemaining;
@ -140,7 +145,11 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
flightBatteryData.Voltage = 0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
if (currentADCPin >= 0) {
// voltage available: get the number of cells if possible, desired and not armed
GetNbCells(&batterySettings, &flightBatteryData);
// ad a plausibility check: zero voltage => zero current
if (currentADCPin >= 0 && flightBatteryData.Voltage > 0.f) {
flightBatteryData.Current = (PIOS_ADC_PinGetVolt(currentADCPin) - batterySettings.SensorCalibrations.CurrentZero) * batterySettings.SensorCalibrations.CurrentFactor; // in Amps
if (flightBatteryData.Current > flightBatteryData.PeakCurrent) {
flightBatteryData.PeakCurrent = flightBatteryData.Current; // in Amps
@ -149,7 +158,11 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
flightBatteryData.Current = -0; // Dummy placeholder value. This is in case we get another source of battery current which is not from the ADC
}
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
// For safety reasons consider only positive currents in energy comsumption, i.e. no charging up.
// necesary when sensor are not perfectly calibrated
if (flightBatteryData.Current > 0) {
flightBatteryData.ConsumedEnergy += (flightBatteryData.Current * dT * 1000.0f / 3600.0f); // in mAh
}
// Apply a 2 second rise time low-pass filter to average the current
float alpha = 1.0f - dT / (dT + 2.0f);
@ -184,9 +197,9 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
// FIXME: should make the battery voltage detection dependent on battery type.
/*Not so sure. Some users will want to run their batteries harder than others, so it should be the user's choice. [KDS]*/
if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * batterySettings.NbCells) {
if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Alarm * flightBatteryData.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_CRITICAL);
} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * batterySettings.NbCells) {
} else if (flightBatteryData.Voltage < batterySettings.CellVoltageThresholds.Warning * flightBatteryData.NbCells) {
AlarmsSet(SYSTEMALARMS_ALARM_BATTERY, SYSTEMALARMS_ALARM_WARNING);
} else {
AlarmsClear(SYSTEMALARMS_ALARM_BATTERY);
@ -196,6 +209,71 @@ static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
FlightBatteryStateSet(&flightBatteryData);
}
static int8_t GetNbCells(const FlightBatterySettingsData *batterySettings, FlightBatteryStateData *flightBatteryData)
{
// get flight status to check for armed
uint8_t armed = 0;
FlightStatusArmedGet(&armed);
// check only if not armed
if (armed == FLIGHTSTATUS_ARMED_ARMED) {
return -2;
}
// prescribed number of cells?
if (batterySettings->NbCells != 0) {
flightBatteryData->NbCells = batterySettings->NbCells;
flightBatteryData->NbCellsAutodetected = 0;
return -3;
}
// plausibility check
if (flightBatteryData->Voltage <= 0.5f) {
// cannot detect number of cells
flightBatteryData->NbCellsAutodetected = 0;
return -1;
}
float voltageMin = 0.f, voltageMax = 0.f;
// Cell type specific values
// TODO: could be implemented as constant arrays indexed by cellType
// or could be part of the UAVObject definition
switch (batterySettings->Type) {
case FLIGHTBATTERYSETTINGS_TYPE_LIPO:
case FLIGHTBATTERYSETTINGS_TYPE_LICO:
voltageMin = 3.6f;
voltageMax = 4.2f;
break;
case FLIGHTBATTERYSETTINGS_TYPE_A123:
voltageMin = 2.01f;
voltageMax = 3.59f;
break;
case FLIGHTBATTERYSETTINGS_TYPE_LIFESO4:
default:
flightBatteryData->NbCellsAutodetected = 0;
return -1;
}
// uniquely measurable under any condition iff n * voltageMax < (n+1) * voltageMin
// or n < voltageMin / (voltageMax-voltageMin)
// weaken condition by setting n <= voltageMin / (voltageMax-voltageMin) and
// checking for v <= voltageMin * voltageMax / (voltageMax-voltageMin)
if (flightBatteryData->Voltage > voltageMin * voltageMax / (voltageMax - voltageMin)) {
flightBatteryData->NbCellsAutodetected = 0;
return -1;
}
flightBatteryData->NbCells = (int8_t)(flightBatteryData->Voltage / voltageMin);
flightBatteryData->NbCellsAutodetected = 1;
return flightBatteryData->NbCells;
}
/**
* @}
*/

6
flight/modules/FixedWingPathFollower/fixedwingpathfollower.c
View File

@ -503,7 +503,7 @@ static uint8_t updateFixedDesiredAttitude()
// Error condition: plane cannot hold altitude at current speed.
fixedwingpathfollowerStatus.Errors.Lowpower = 0;
if (powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Max && // thrust at maximum
if (fixedwingpathfollowerSettings.ThrustLimit.Neutral + powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Max && // thrust at maximum
velocityState.Down > 0 && // we ARE going down
descentspeedDesired < 0 && // we WANT to go up
airspeedError > 0 && // we are too slow already
@ -513,7 +513,7 @@ static uint8_t updateFixedDesiredAttitude()
}
// Error condition: plane keeps climbing despite minimum thrust (opposite of above)
fixedwingpathfollowerStatus.Errors.Highpower = 0;
if (powerCommand >= fixedwingpathfollowerSettings.ThrustLimit.Min && // thrust at minimum
if (fixedwingpathfollowerSettings.ThrustLimit.Neutral + powerCommand <= fixedwingpathfollowerSettings.ThrustLimit.Min && // thrust at minimum
velocityState.Down < 0 && // we ARE going up
descentspeedDesired > 0 && // we WANT to go down
airspeedError < 0 && // we are too fast already
@ -555,7 +555,7 @@ static uint8_t updateFixedDesiredAttitude()
// Error condition: high speed dive
fixedwingpathfollowerStatus.Errors.Pitchcontrol = 0;
if (pitchCommand >= fixedwingpathfollowerSettings.PitchLimit.Max && // pitch demand is full up
if (fixedwingpathfollowerSettings.PitchLimit.Neutral + pitchCommand >= fixedwingpathfollowerSettings.PitchLimit.Max && // pitch demand is full up
velocityState.Down > 0 && // we ARE going down
descentspeedDesired < 0 && // we WANT to go up
airspeedError < 0 && // we are too fast already

29
flight/modules/GPS/UBX.c
View File

@ -254,22 +254,25 @@ void parse_ubx_nav_velned(struct UBX_NAV_VELNED *velned, GPSPositionSensorData *
#if !defined(PIOS_GPS_MINIMAL)
void parse_ubx_nav_timeutc(struct UBX_NAV_TIMEUTC *timeutc)
{
if (!(timeutc->valid & TIMEUTC_VALIDUTC)) {
// Test if time is valid
if ((timeutc->valid & TIMEUTC_VALIDTOW) && (timeutc->valid & TIMEUTC_VALIDWKN)) {
// Time is valid, set GpsTime
GPSTimeData GpsTime;
GpsTime.Year = timeutc->year;
GpsTime.Month = timeutc->month;
GpsTime.Day = timeutc->day;
GpsTime.Hour = timeutc->hour;
GpsTime.Minute = timeutc->min;
GpsTime.Second = timeutc->sec;
GPSTimeSet(&GpsTime);
} else {
// Time is not valid, nothing to do
return;
}
GPSTimeData GpsTime;
GpsTime.Year = timeutc->year;
GpsTime.Month = timeutc->month;
GpsTime.Day = timeutc->day;
GpsTime.Hour = timeutc->hour;
GpsTime.Minute = timeutc->min;
GpsTime.Second = timeutc->sec;
GPSTimeSet(&GpsTime);
}
#endif
#endif /* if !defined(PIOS_GPS_MINIMAL) */
#if !defined(PIOS_GPS_MINIMAL)
void parse_ubx_nav_svinfo(struct UBX_NAV_SVINFO *svinfo)

37
flight/modules/ManualControl/manualcontrol.c
View File

@ -57,7 +57,7 @@
// defined handlers
static controlHandler handler_MANUAL = {
static const controlHandler handler_MANUAL = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
@ -65,7 +65,7 @@ static controlHandler handler_MANUAL = {
},
.handler = &manualHandler,
};
static controlHandler handler_STABILIZED = {
static const controlHandler handler_STABILIZED = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
@ -74,16 +74,8 @@ static controlHandler handler_STABILIZED = {
.handler = &stabilizedHandler,
};
// TODO: move the altitude handling into stabi
static controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static controlHandler handler_AUTOTUNE = {
static const controlHandler handler_AUTOTUNE = {
.controlChain = {
.Stabilization = false,
.PathFollower = false,
@ -92,7 +84,18 @@ static controlHandler handler_AUTOTUNE = {
.handler = NULL,
};
static controlHandler handler_PATHFOLLOWER = {
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
// TODO: move the altitude handling into stabi
static const controlHandler handler_ALTITUDE = {
.controlChain = {
.Stabilization = true,
.PathFollower = false,
.PathPlanner = false,
},
.handler = &altitudeHandler,
};
static const controlHandler handler_PATHFOLLOWER = {
.controlChain = {
.Stabilization = true,
.PathFollower = true,
@ -101,7 +104,7 @@ static controlHandler handler_PATHFOLLOWER = {
.handler = &pathFollowerHandler,
};
static controlHandler handler_PATHPLANNER = {
static const controlHandler handler_PATHPLANNER = {
.controlChain = {
.Stabilization = true,
.PathFollower = true,
@ -110,7 +113,7 @@ static controlHandler handler_PATHPLANNER = {
.handler = &pathPlannerHandler,
};
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
// Private variables
static DelayedCallbackInfo *callbackHandle;
@ -192,7 +195,7 @@ static void manualControlTask(void)
}
// Depending on the mode update the Stabilization or Actuator objects
controlHandler *handler = &handler_MANUAL;
const controlHandler *handler = &handler_MANUAL;
switch (newMode) {
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
handler = &handler_MANUAL;
@ -202,6 +205,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
handler = &handler_STABILIZED;
break;
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
case FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL:
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
@ -216,6 +220,7 @@ static void manualControlTask(void)
case FLIGHTSTATUS_FLIGHTMODE_ALTITUDEVARIO:
handler = &handler_ALTITUDE;
break;
#endif
case FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE:
handler = &handler_AUTOTUNE;
break;

55
flight/modules/RadioComBridge/RadioComBridge.c
View File

@ -290,34 +290,33 @@ static void updateRadioComBridgeStats()
RadioComBridgeStatsData radioComBridgeStats;
// Get telemetry stats
UAVTalkGetStats(data->telemUAVTalkCon, &telemetryUAVTalkStats);
UAVTalkResetStats(data->telemUAVTalkCon);
UAVTalkGetStats(data->telemUAVTalkCon, &telemetryUAVTalkStats, true);
// Get radio stats
UAVTalkGetStats(data->radioUAVTalkCon, &radioUAVTalkStats);
UAVTalkResetStats(data->radioUAVTalkCon);
UAVTalkGetStats(data->radioUAVTalkCon, &radioUAVTalkStats, true);
// Get stats object data
RadioComBridgeStatsGet(&radioComBridgeStats);
radioComBridgeStats.TelemetryTxRetries = data->telemetryTxRetries;
radioComBridgeStats.RadioTxRetries = data->radioTxRetries;
// Update stats object
radioComBridgeStats.TelemetryTxBytes += telemetryUAVTalkStats.txBytes;
radioComBridgeStats.TelemetryTxFailures += telemetryUAVTalkStats.txErrors;
radioComBridgeStats.TelemetryTxRetries += data->telemetryTxRetries;
radioComBridgeStats.TelemetryRxBytes += telemetryUAVTalkStats.rxBytes;
radioComBridgeStats.TelemetryRxFailures += telemetryUAVTalkStats.rxErrors;
radioComBridgeStats.TelemetryRxSyncErrors += telemetryUAVTalkStats.rxSyncErrors;
radioComBridgeStats.TelemetryRxCrcErrors += telemetryUAVTalkStats.rxCrcErrors;
radioComBridgeStats.RadioTxBytes += radioUAVTalkStats.txBytes;
radioComBridgeStats.RadioTxFailures += radioUAVTalkStats.txErrors;
radioComBridgeStats.RadioTxRetries += data->radioTxRetries;
radioComBridgeStats.RadioTxBytes += radioUAVTalkStats.txBytes;
radioComBridgeStats.RadioTxFailures += radioUAVTalkStats.txErrors;
radioComBridgeStats.RadioRxBytes += radioUAVTalkStats.rxBytes;
radioComBridgeStats.RadioRxFailures += radioUAVTalkStats.rxErrors;
radioComBridgeStats.RadioRxSyncErrors += radioUAVTalkStats.rxSyncErrors;
radioComBridgeStats.RadioRxCrcErrors += radioUAVTalkStats.rxCrcErrors;
radioComBridgeStats.RadioRxBytes += radioUAVTalkStats.rxBytes;
radioComBridgeStats.RadioRxFailures += radioUAVTalkStats.rxErrors;
radioComBridgeStats.RadioRxSyncErrors += radioUAVTalkStats.rxSyncErrors;
radioComBridgeStats.RadioRxCrcErrors += radioUAVTalkStats.rxCrcErrors;
// Update stats object data
RadioComBridgeStatsSet(&radioComBridgeStats);
@ -343,11 +342,11 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
updateRadioComBridgeStats();
}
// Send update (with retries)
int32_t ret = -1;
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->telemUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS) == 0;
if (success == -1) {
while (retries <= MAX_RETRIES && ret == -1) {
ret = UAVTalkSendObject(data->telemUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS);
if (ret == -1) {
++retries;
}
}
@ -377,11 +376,11 @@ static void radioTxTask(__attribute__((unused)) void *parameters)
if (xQueueReceive(data->radioEventQueue, &ev, MAX_PORT_DELAY) == pdTRUE) {
if ((ev.event == EV_UPDATED) || (ev.event == EV_UPDATE_REQ)) {
// Send update (with retries)
int32_t ret = -1;
uint32_t retries = 0;
int32_t success = -1;
while (retries < MAX_RETRIES && success == -1) {
success = UAVTalkSendObject(data->radioUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS) == 0;
if (success == -1) {
while (retries <= MAX_RETRIES && ret == -1) {
ret = UAVTalkSendObject(data->radioUAVTalkCon, ev.obj, ev.instId, 0, RETRY_TIMEOUT_MS);
if (ret == -1) {
++retries;
}
}
@ -414,8 +413,8 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
}
} else if (PIOS_COM_TELEMETRY) {
// Send the data straight to the telemetry port.
// FIXME following call can fail (with -2 error code) if buffer is full
// it is the caller responsibility to retry in such cases...
// Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// It is the caller responsibility to retry in such cases...
int32_t ret = -2;
uint8_t count = 5;
while (count-- > 0 && ret < -1) {
@ -514,8 +513,8 @@ static void serialRxTask(__attribute__((unused)) void *parameters)
if (bytes_to_process > 0) {
// Send the data over the radio link.
// FIXME following call can fail (with -2 error code) if buffer is full
// it is the caller responsibility to retry in such cases...
// Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// It is the caller responsibility to retry in such cases...
int32_t ret = -2;
uint8_t count = 5;
while (count-- > 0 && ret < -1) {
@ -548,8 +547,8 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
}
#endif /* PIOS_INCLUDE_USB */
if (outputPort) {
// FIXME following call can fail (with -2 error code) if buffer is full
// it is the caller responsibility to retry in such cases...
// Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// It is the caller responsibility to retry in such cases...
ret = -2;
uint8_t count = 5;
while (count-- > 0 && ret < -1) {
@ -578,8 +577,8 @@ static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
// Don't send any data unless the radio port is available.
if (outputPort && PIOS_COM_Available(outputPort)) {
// FIXME following call can fail (with -2 error code) if buffer is full
// it is the caller responsibility to retry in such cases...
// Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
// It is the caller responsibility to retry in such cases...
int32_t ret = -2;
uint8_t count = 5;
while (count-- > 0 && ret < -1) {

6
flight/modules/Sensors/sensors.c
View File

@ -454,11 +454,11 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *objEv)
mag_scale[2] = cal.mag_scale.Z;
accel_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) &&
agcal.accel_temp_coeff.X > 1e-9f && agcal.accel_temp_coeff.Y > 1e-9f && agcal.accel_temp_coeff.Z > 1e-9f;
(fabsf(agcal.accel_temp_coeff.X) > 1e-9f || fabsf(agcal.accel_temp_coeff.Y) > 1e-9f || fabsf(agcal.accel_temp_coeff.Z) > 1e-9f);
gyro_temp_calibrated = (agcal.temp_calibrated_extent.max - agcal.temp_calibrated_extent.min > .1f) &&
agcal.gyro_temp_coeff.X > 1e-9f && agcal.gyro_temp_coeff.Y > 1e-9f &&
agcal.gyro_temp_coeff.Z > 1e-9f && agcal.gyro_temp_coeff.Z2 > 1e-9f;
(fabsf(agcal.gyro_temp_coeff.X) > 1e-9f || fabsf(agcal.gyro_temp_coeff.Y) > 1e-9f ||
fabsf(agcal.gyro_temp_coeff.Z) > 1e-9f || fabsf(agcal.gyro_temp_coeff.Z2) > 1e-9f);
AttitudeSettingsData attitudeSettings;

6
flight/modules/Stabilization/stabilization.c
View File

@ -424,7 +424,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// and the Att rate equals the Rate rate
// that's where Rate x (1-StickAngle) [Attitude pulling down max X Ratt proportion]
// == Rate x StickAngle [Rate pulling up according to stick angle]
// * StickAngle [X Ratt proportion]
// * StickAngle [X Ratt proportion]
// so 1-x == x*x or x*x+x-1=0 where xE(0,1)
// (-1+-sqrt(1+4))/2 = (-1+sqrt(5))/2
// and quadratic formula says that is 0.618033989f
@ -448,7 +448,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
magnitude *= STICK_VALUE_AT_MODE_TRANSITION / rattitude_mode_transition_stick_position;
} else {
magnitude = (magnitude - rattitude_mode_transition_stick_position)
* (1.0f-STICK_VALUE_AT_MODE_TRANSITION)
* (1.0f - STICK_VALUE_AT_MODE_TRANSITION)
/ (1.0f - rattitude_mode_transition_stick_position)
+ STICK_VALUE_AT_MODE_TRANSITION;
}
@ -1056,7 +1056,7 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
cur_flight_mode = -1;
// Rattitude stick angle where the attitude to rate transition happens
if (settings.RattitudeModeTransition < (uint8_t) 10) {
if (settings.RattitudeModeTransition < (uint8_t)10) {
rattitude_mode_transition_stick_position = 10.0f / 100.0f;
} else {
rattitude_mode_transition_stick_position = (float)settings.RattitudeModeTransition / 100.0f;

2
flight/modules/StateEstimation/filterair.c
View File

@ -78,7 +78,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
this->altitude = state->baro[0];
}
// calculate true airspeed estimation
if (IS_SET(state->updated, SENSORUPDATES_airspeed)) {
if (IS_SET(state->updated, SENSORUPDATES_airspeed) && (state->airspeed[1] < 0.f)) {
state->airspeed[1] = state->airspeed[0] * IAS2TAS(this->altitude);
}

81
flight/modules/StateEstimation/filteraltitude.c
View File

@ -38,16 +38,23 @@
// Private constants
#define STACK_REQUIRED 128
// duration of accel bias initialization phase
#define INITIALIZATION_DURATION_MS 5000
#define DT_ALPHA 1e-2f
#define DT_MIN 1e-6f
#define DT_MAX 1.0f
#define DT_AVERAGE 1e-3f
#define STACK_REQUIRED 128
#define DT_ALPHA 1e-2f
#define DT_MIN 1e-6f
#define DT_MAX 1.0f
#define DT_AVERAGE 1e-3f
static volatile bool reloadSettings;
// Private types
struct data {
float state[4]; // state = altitude,velocity,accel_offset,accel
float altitudeState; // state = altitude,velocity,accel_offset,accel
float velocityState;
float accelBiasState;
float accelState;
float pos[3]; // position updates from other filters
float vel[3]; // position updates from other filters
@ -56,6 +63,7 @@ struct data {
float accelLast;
float baroLast;
bool first_run;
portTickType initTimer;
AltitudeFilterSettingsData settings;
};
@ -65,6 +73,7 @@ struct data {
static int32_t init(stateFilter *self);
static int32_t filter(stateFilter *self, stateEstimation *state);
static void settingsUpdatedCb(UAVObjEvent *ev);
int32_t filterAltitudeInitialize(stateFilter *handle)
@ -74,6 +83,8 @@ int32_t filterAltitudeInitialize(stateFilter *handle)
handle->localdata = pvPortMalloc(sizeof(struct data));
AttitudeStateInitialize();
AltitudeFilterSettingsInitialize();
AltitudeFilterSettingsConnectCallback(&settingsUpdatedCb);
reloadSettings = true;
return STACK_REQUIRED;
}
@ -81,10 +92,10 @@ static int32_t init(stateFilter *self)
{
struct data *this = (struct data *)self->localdata;
this->state[0] = 0.0f;
this->state[1] = 0.0f;
this->state[2] = 0.0f;
this->state[3] = 0.0f;
this->altitudeState = 0.0f;
this->velocityState = 0.0f;
this->accelBiasState = 0.0f;
this->accelState = 0.0f;
this->pos[0] = 0.0f;
this->pos[1] = 0.0f;
this->pos[2] = 0.0f;
@ -96,7 +107,6 @@ static int32_t init(stateFilter *self)
this->baroLast = 0.0f;
this->accelLast = 0.0f;
this->first_run = 1;
AltitudeFilterSettingsGet(&this->settings);
return 0;
}
@ -104,10 +114,16 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
{
struct data *this = (struct data *)self->localdata;
if (reloadSettings) {
reloadSettings = false;
AltitudeFilterSettingsGet(&this->settings);
}
if (this->first_run) {
// Initialize to current altitude reading at initial location
if (IS_SET(state->updated, SENSORUPDATES_baro)) {
this->first_run = 0;
this->initTimer = xTaskGetTickCount();
}
} else {
// save existing position and velocity updates so GPS will still work
@ -115,13 +131,13 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
this->pos[0] = state->pos[0];
this->pos[1] = state->pos[1];
this->pos[2] = state->pos[2];
state->pos[2] = -this->state[0];
state->pos[2] = -this->altitudeState;
}
if (IS_SET(state->updated, SENSORUPDATES_vel)) {
this->vel[0] = state->vel[0];
this->vel[1] = state->vel[1];
this->vel[2] = state->vel[2];
state->vel[2] = -this->state[1];
state->vel[2] = -this->velocityState;
}
if (IS_SET(state->updated, SENSORUPDATES_accel)) {
// rotate accels into global coordinate frame
@ -132,51 +148,54 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
float current = -(Rbe[0][2] * state->accel[0] + Rbe[1][2] * state->accel[1] + Rbe[2][2] * state->accel[2] + 9.81f);
// low pass filter accelerometers
this->state[3] = (1.0f - this->settings.AccelLowPassKp) * this->state[3] + this->settings.AccelLowPassKp * current;
// correct accel offset (low pass zeroing)
this->state[2] = (1.0f - this->settings.AccelDriftKi) * this->state[2] + this->settings.AccelDriftKi * this->state[3];
this->accelState = (1.0f - this->settings.AccelLowPassKp) * this->accelState + this->settings.AccelLowPassKp * current;
if (((xTaskGetTickCount() - this->initTimer) / portTICK_RATE_MS) < INITIALIZATION_DURATION_MS) {
// allow the offset to reach quickly the target value in case of small AccelDriftKi
this->accelBiasState = (1.0f - this->settings.InitializationAccelDriftKi) * this->accelBiasState + this->settings.InitializationAccelDriftKi * this->accelState;
} else {
// correct accel offset (low pass zeroing)
this->accelBiasState = (1.0f - this->settings.AccelDriftKi) * this->accelBiasState + this->settings.AccelDriftKi * this->accelState;
}
// correct velocity and position state (integration)
// low pass for average dT, compensate timing jitter from scheduler
//
float dT = PIOS_DELTATIME_GetAverageSeconds(&this->dt1config);
float speedLast = this->state[1];
float speedLast = this->velocityState;
this->state[1] += 0.5f * (this->accelLast + (this->state[3] - this->state[2])) * dT;
this->accelLast = this->state[3] - this->state[2];
this->velocityState += 0.5f * (this->accelLast + (this->accelState - this->accelBiasState)) * dT;
this->accelLast = this->accelState - this->accelBiasState;
this->state[0] += 0.5f * (speedLast + this->state[1]) * dT;
this->altitudeState += 0.5f * (speedLast + this->velocityState) * dT;
state->pos[0] = this->pos[0];
state->pos[1] = this->pos[1];
state->pos[2] = -this->state[0];
state->pos[2] = -this->altitudeState;
state->updated |= SENSORUPDATES_pos;
state->vel[0] = this->vel[0];
state->vel[1] = this->vel[1];
state->vel[2] = -this->state[1];
state->vel[2] = -this->velocityState;
state->updated |= SENSORUPDATES_vel;
}
if (IS_SET(state->updated, SENSORUPDATES_baro)) {
// correct the altitude state (simple low pass)
this->state[0] = (1.0f - this->settings.BaroKp) * this->state[0] + this->settings.BaroKp * state->baro[0];
this->altitudeState = (1.0f - this->settings.BaroKp) * this->altitudeState + this->settings.BaroKp * state->baro[0];
// correct the velocity state (low pass differentiation)
// low pass for average dT, compensate timing jitter from scheduler
float dT = PIOS_DELTATIME_GetAverageSeconds(&this->dt2config);
this->state[1] = (1.0f - (this->settings.BaroKp * this->settings.BaroKp)) * this->state[1] + (this->settings.BaroKp * this->settings.BaroKp) * (state->baro[0] - this->baroLast) / dT;
this->velocityState = (1.0f - (this->settings.BaroKp * this->settings.BaroKp)) * this->velocityState + (this->settings.BaroKp * this->settings.BaroKp) * (state->baro[0] - this->baroLast) / dT;
this->baroLast = state->baro[0];
state->pos[0] = this->pos[0];
state->pos[1] = this->pos[1];
state->pos[2] = -this->state[0];
state->pos[2] = -this->altitudeState;
state->updated |= SENSORUPDATES_pos;
state->vel[0] = this->vel[0];
state->vel[1] = this->vel[1];
state->vel[2] = -this->state[1];
state->vel[2] = -this->velocityState;
state->updated |= SENSORUPDATES_vel;
}
}
@ -184,6 +203,12 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
return 0;
}
void settingsUpdatedCb(UAVObjEvent *ev)
{
if (ev->obj == AltitudeFilterSettingsHandle()) {
reloadSettings = true;
}
}
/**
* @}

60
flight/modules/StateEstimation/filterbaro.c
View File

@ -36,7 +36,7 @@
// Private constants
#define STACK_REQUIRED 64
#define STACK_REQUIRED 128
#define INIT_CYCLES 100
// Private types
@ -44,30 +44,59 @@ struct data {
float baroOffset;
float baroGPSOffsetCorrectionAlpha;
float baroAlt;
float gpsAlt;
int16_t first_run;
bool useGPS;
};
// Private variables
// Private functions
static int32_t init(stateFilter *self);
static int32_t initwithgps(stateFilter *self);
static int32_t initwithoutgps(stateFilter *self);
static int32_t maininit(stateFilter *self);
static int32_t filter(stateFilter *self, stateEstimation *state);
int32_t filterBaroInitialize(stateFilter *handle)
{
handle->init = &init;
handle->init = &initwithgps;
handle->filter = &filter;
handle->localdata = pvPortMalloc(sizeof(struct data));
return STACK_REQUIRED;
}
static int32_t init(stateFilter *self)
int32_t filterBaroiInitialize(stateFilter *handle)
{
handle->init = &initwithoutgps;
handle->filter = &filter;
handle->localdata = pvPortMalloc(sizeof(struct data));
return STACK_REQUIRED;
}
static int32_t initwithgps(stateFilter *self)
{
struct data *this = (struct data *)self->localdata;
this->useGPS = 1;
return maininit(self);
}
static int32_t initwithoutgps(stateFilter *self)
{
struct data *this = (struct data *)self->localdata;
this->useGPS = 0;
return maininit(self);
}
static int32_t maininit(stateFilter *self)
{
struct data *this = (struct data *)self->localdata;
this->baroOffset = 0.0f;
this->gpsAlt = 0.0f;
this->first_run = INIT_CYCLES;
RevoSettingsInitialize();
@ -81,17 +110,29 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
struct data *this = (struct data *)self->localdata;
if (this->first_run) {
// Make sure initial location is initialized properly before continuing
if (this->useGPS && IS_SET(state->updated, SENSORUPDATES_pos)) {
if (this->first_run == INIT_CYCLES) {
this->gpsAlt = state->pos[2];
this->first_run--;
}
}
// Initialize to current altitude reading at initial location
if (IS_SET(state->updated, SENSORUPDATES_baro)) {
this->baroOffset = ((float)(INIT_CYCLES)-this->first_run) / (float)(INIT_CYCLES)*this->baroOffset + (this->first_run / (float)(INIT_CYCLES)) * state->baro[0];
this->baroAlt = 0;
this->first_run--;
if (this->first_run < INIT_CYCLES || !this->useGPS) {
this->baroOffset = (((float)(INIT_CYCLES)-this->first_run) / (float)(INIT_CYCLES)) * this->baroOffset + (this->first_run / (float)(INIT_CYCLES)) * (state->baro[0] + this->gpsAlt);
this->baroAlt = state->baro[0];
this->first_run--;
}
UNSET_MASK(state->updated, SENSORUPDATES_baro);
}
// make sure we raise an error until properly initialized - would not be good if people arm and
// use altitudehold without initialized barometer filter
return 2;
} else {
// Track barometric altitude offset with a low pass filter
// based on GPS altitude if available
if (IS_SET(state->updated, SENSORUPDATES_pos)) {
if (this->useGPS && IS_SET(state->updated, SENSORUPDATES_pos)) {
this->baroOffset = this->baroOffset * this->baroGPSOffsetCorrectionAlpha +
(1.0f - this->baroGPSOffsetCorrectionAlpha) * (this->baroAlt + state->pos[2]);
}
@ -100,9 +141,8 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
this->baroAlt = state->baro[0];
state->baro[0] -= this->baroOffset;
}
return 0;
}
return 0;
}

1
flight/modules/StateEstimation/inc/stateestimation.h
View File

@ -64,6 +64,7 @@ typedef struct stateFilterStruct {
int32_t filterMagInitialize(stateFilter *handle);
int32_t filterBaroiInitialize(stateFilter *handle);
int32_t filterBaroInitialize(stateFilter *handle);
int32_t filterAltitudeInitialize(stateFilter *handle);
int32_t filterAirInitialize(stateFilter *handle);

111
flight/modules/StateEstimation/stateestimation.c
View File

@ -40,6 +40,7 @@
#include <airspeedsensor.h>
#include <gpspositionsensor.h>
#include <gpsvelocitysensor.h>
#include <homelocation.h>
#include <gyrostate.h>
#include <accelstate.h>
@ -55,10 +56,14 @@
#include "CoordinateConversions.h"
// Private constants
#define STACK_SIZE_BYTES 256
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
#define TASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define TIMEOUT_MS 10
#define STACK_SIZE_BYTES 256
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
#define TASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
#define TIMEOUT_MS 10
// Private filter init const
#define FILTER_INIT_FORCE -1
#define FILTER_INIT_IF_POSSIBLE -2
// local macros, ONLY to be used in the middle of StateEstimationCb in section RUNSTATE_LOAD after the update of states updated!
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(sensorname, shortname, a1, a2, a3) \
@ -74,6 +79,7 @@
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
@ -86,6 +92,19 @@
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, a2, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
sensorname##Get(&s); \
if (IS_REAL(s.a1) && IS_REAL(s.a2) && EXTRACHECK) { \
states.shortname[0] = s.a1; \
states.shortname[1] = s.a2; \
} \
else { \
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
// local macros, ONLY to be used in the middle of StateEstimationCb in section RUNSTATE_SAVE before the check of alarms!
#define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_3_DIMENSIONS(statename, shortname, a1, a2, a3) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
@ -96,6 +115,7 @@
s.a3 = states.shortname[2]; \
statename##Set(&s); \
}
#define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_2_DIMENSIONS(statename, shortname, a1, a2) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
statename##Data s; \
@ -105,8 +125,8 @@
statename##Set(&s); \
}
// Private types
// Private types
struct filterPipelineStruct;
typedef const struct filterPipelineStruct {
@ -119,12 +139,13 @@ static DelayedCallbackInfo *stateEstimationCallback;
static volatile RevoSettingsData revoSettings;
static volatile sensorUpdates updatedSensors;
static int32_t fusionAlgorithm = -1;
static filterPipeline *filterChain = NULL;
static volatile int32_t fusionAlgorithm = -1;
static const filterPipeline *filterChain = NULL;
// different filters available to state estimation
static stateFilter magFilter;
static stateFilter baroFilter;
static stateFilter baroiFilter;
static stateFilter altitudeFilter;
static stateFilter airFilter;
static stateFilter stationaryFilter;
@ -135,20 +156,33 @@ static stateFilter ekf13iFilter;
static stateFilter ekf13Filter;
// preconfigured filter chains selectable via revoSettings.FusionAlgorithm
static filterPipeline *cfQueue = &(filterPipeline) {
static const filterPipeline *cfQueue = &(filterPipeline) {
.filter = &magFilter,
.next = &(filterPipeline) {
.filter = &airFilter,
.next = &(filterPipeline) {
.filter = &llaFilter,
.filter = &baroiFilter,
.next = &(filterPipeline) {
.filter = &baroFilter,
.filter = &altitudeFilter,
.next = &(filterPipeline) {
.filter = &altitudeFilter,
.next = &(filterPipeline) {
.filter = &cfFilter,
.next = NULL,
}
.filter = &cfFilter,
.next = NULL,
}
}
}
}
};
static const filterPipeline *cfmiQueue = &(filterPipeline) {
.filter = &magFilter,
.next = &(filterPipeline) {
.filter = &airFilter,
.next = &(filterPipeline) {
.filter = &baroiFilter,
.next = &(filterPipeline) {
.filter = &altitudeFilter,
.next = &(filterPipeline) {
.filter = &cfmFilter,
.next = NULL,
}
}
}
@ -178,15 +212,12 @@ static const filterPipeline *ekf13iQueue = &(filterPipeline) {
.next = &(filterPipeline) {
.filter = &airFilter,
.next = &(filterPipeline) {
.filter = &llaFilter,
.filter = &baroiFilter,
.next = &(filterPipeline) {
.filter = &baroFilter,
.filter = &stationaryFilter,
.next = &(filterPipeline) {
.filter = &stationaryFilter,
.next = &(filterPipeline) {
.filter = &ekf13iFilter,
.next = NULL,
}
.filter = &ekf13iFilter,
.next = NULL,
}
}
}
@ -213,6 +244,7 @@ static const filterPipeline *ekf13Queue = &(filterPipeline) {
static void settingsUpdatedCb(UAVObjEvent *objEv);
static void sensorUpdatedCb(UAVObjEvent *objEv);
static void homeLocationUpdatedCb(UAVObjEvent *objEv);
static void StateEstimationCb(void);
static inline int32_t maxint32_t(int32_t a, int32_t b)
@ -238,6 +270,8 @@ int32_t StateEstimationInitialize(void)
GPSVelocitySensorInitialize();
GPSPositionSensorInitialize();
HomeLocationInitialize();
GyroStateInitialize();
AccelStateInitialize();
MagStateInitialize();
@ -247,6 +281,8 @@ int32_t StateEstimationInitialize(void)
RevoSettingsConnectCallback(&settingsUpdatedCb);
HomeLocationConnectCallback(&homeLocationUpdatedCb);
GyroSensorConnectCallback(&sensorUpdatedCb);
AccelSensorConnectCallback(&sensorUpdatedCb);
MagSensorConnectCallback(&sensorUpdatedCb);
@ -258,6 +294,7 @@ int32_t StateEstimationInitialize(void)
uint32_t stack_required = STACK_SIZE_BYTES;
// Initialize Filters
stack_required = maxint32_t(stack_required, filterMagInitialize(&magFilter));
stack_required = maxint32_t(stack_required, filterBaroiInitialize(&baroiFilter));
stack_required = maxint32_t(stack_required, filterBaroInitialize(&baroFilter));
stack_required = maxint32_t(stack_required, filterAltitudeInitialize(&altitudeFilter));
stack_required = maxint32_t(stack_required, filterAirInitialize(&airFilter));
@ -299,7 +336,7 @@ static void StateEstimationCb(void)
static int8_t alarm = 0;
static int8_t lastAlarm = -1;
static uint16_t alarmcounter = 0;
static filterPipeline *current;
static const filterPipeline *current;
static stateEstimation states;
static uint32_t last_time;
static uint16_t bootDelay = 64;
@ -329,26 +366,29 @@ static void StateEstimationCb(void)
if (fusionAlgorithm != revoSettings.FusionAlgorithm) {
FlightStatusData fs;
FlightStatusGet(&fs);
if (fs.Armed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == -1) {
if (fs.Armed == FLIGHTSTATUS_ARMED_DISARMED || fusionAlgorithm == FILTER_INIT_FORCE) {
const filterPipeline *newFilterChain;
switch (revoSettings.FusionAlgorithm) {
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARY:
newFilterChain = cfQueue;
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
newFilterChain = cfmiQueue;
break;
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
newFilterChain = cfmQueue;
break;
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
newFilterChain = ekf13iQueue;
break;
case REVOSETTINGS_FUSIONALGORITHM_INS13OUTDOOR:
case REVOSETTINGS_FUSIONALGORITHM_INS13GPSOUTDOOR:
newFilterChain = ekf13Queue;
break;
default:
newFilterChain = NULL;
}
// initialize filters in chain
current = (filterPipeline *)newFilterChain;
current = newFilterChain;
bool error = 0;
while (current != NULL) {
int32_t result = current->filter->init((stateFilter *)current->filter);
@ -363,7 +403,7 @@ static void StateEstimationCb(void)
return;
} else {
// set new fusion algortithm
filterChain = (filterPipeline *)newFilterChain;
filterChain = newFilterChain;
fusionAlgorithm = revoSettings.FusionAlgorithm;
}
}
@ -379,14 +419,14 @@ static void StateEstimationCb(void)
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(MagSensor, mag, x, y, z);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, TrueAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
// GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself
// at this point sensor state is stored in "states" with some rudimentary filtering applied
// apply all filters in the current filter chain
current = (filterPipeline *)filterChain;
current = filterChain;
// we are not done, re-dispatch self execution
runState = RUNSTATE_FILTER;
@ -477,6 +517,17 @@ static void settingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
RevoSettingsGet((RevoSettingsData *)&revoSettings);
}
/**
* Callback for eventdispatcher when HomeLocation has been updated
*/
static void homeLocationUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
// Ask for a filter init (necessary for LLA filter)
// Only possible if disarmed
fusionAlgorithm = FILTER_INIT_IF_POSSIBLE;
}
/**
* Callback for eventdispatcher when any sensor UAVObject has been updated
* updates the list of "recently updated UAVObjects" and dispatches the state estimator callback

106
flight/modules/Telemetry/telemetry.c
View File

@ -40,20 +40,37 @@
#include "taskinfo.h"
// Private constants
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
#define STACK_SIZE_BYTES PIOS_TELEM_STACK_SIZE
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000
#define MAX_QUEUE_SIZE TELEM_QUEUE_SIZE
// Three different stack size parameter are accepted for Telemetry(RX PIOS_TELEM_RX_STACK_SIZE)
// Tx(PIOS_TELEM_TX_STACK_SIZE) and Radio RX(PIOS_TELEM_RADIO_RX_STACK_SIZE)
#ifdef PIOS_TELEM_RX_STACK_SIZE
#define STACK_SIZE_RX_BYTES PIOS_TELEM_RX_STACK_SIZE
#define STACK_SIZE_TX_BYTES PIOS_TELEM_TX_STACK_SIZE
#else
#define STACK_SIZE_RX_BYTES PIOS_TELEM_STACK_SIZE
#define STACK_SIZE_TX_BYTES PIOS_TELEM_STACK_SIZE
#endif
#ifdef PIOS_TELEM_RADIO_RX_STACK_SIZE
#define STACK_SIZE_RADIO_RX_BYTES PIOS_TELEM_RADIO_RX_STACK_SIZE
#else
#define STACK_SIZE_RADIO_RX_BYTES STACK_SIZE_RX_BYTES
#endif
#define TASK_PRIORITY_RX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_TX (tskIDLE_PRIORITY + 2)
#define TASK_PRIORITY_RADRX (tskIDLE_PRIORITY + 2)
#define REQ_TIMEOUT_MS 250
#define MAX_RETRIES 2
#define STATS_UPDATE_PERIOD_MS 4000
#define CONNECTION_TIMEOUT_MS 8000
// Private types
// Private variables
static uint32_t telemetryPort;
#ifdef PIOS_INCLUDE_RFM22B
static uint32_t radioPort;
#endif
static xQueueHandle queue;
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
@ -80,6 +97,7 @@ static void telemetryTxTask(void *parameters);
static void telemetryRxTask(void *parameters);
#ifdef PIOS_INCLUDE_RFM22B
static void radioRxTask(void *parameters);
static int32_t transmitRadioData(uint8_t *data, int32_t length);
#endif
static int32_t transmitData(uint8_t *data, int32_t length);
static void registerObject(UAVObjHandle obj);
@ -106,13 +124,13 @@ int32_t TelemetryStart(void)
GCSTelemetryStatsConnectQueue(priorityQueue);
// Start telemetry tasks
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
xTaskCreate(telemetryTxTask, (signed char *)"TelTx", STACK_SIZE_TX_BYTES / 4, NULL, TASK_PRIORITY_TX, &telemetryTxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYTX, telemetryTxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
xTaskCreate(telemetryRxTask, (signed char *)"TelRx", STACK_SIZE_RX_BYTES / 4, NULL, TASK_PRIORITY_RX, &telemetryRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_TELEMETRYRX, telemetryRxTaskHandle);
#ifdef PIOS_INCLUDE_RFM22B
xTaskCreate(radioRxTask, (signed char *)"RadioRx", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
xTaskCreate(radioRxTask, (signed char *)"RadioRx", STACK_SIZE_RADIO_RX_BYTES / 4, NULL, TASK_PRIORITY_RADRX, &radioRxTaskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_RADIORX, radioRxTaskHandle);
#endif
@ -140,13 +158,16 @@ int32_t TelemetryInitialize(void)
// Update telemetry settings
telemetryPort = PIOS_COM_TELEM_RF;
#ifdef PIOS_INCLUDE_RFM22B
radioPort = PIOS_COM_RF;
#endif
HwSettingsInitialize();
updateSettings();
// Initialise UAVTalk
uavTalkCon = UAVTalkInitialize(&transmitData);
#ifdef PIOS_INCLUDE_RFM22B
radioUavTalkCon = UAVTalkInitialize(&transmitData);
radioUavTalkCon = UAVTalkInitialize(&transmitRadioData);
#endif
// Create periodic event that will be used to update the telemetry stats
@ -375,17 +396,27 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
* Tries to empty the high priority queue before handling any standard priority item
*/
#if defined(PIOS_TELEM_PRIORITY_QUEUE)
// Loop forever
while (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
// empty priority queue, non-blocking
while (xQueueReceive(priorityQueue, &ev, 0) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
#endif
// Wait for queue message
// check regular queue and process update - non-blocking
if (xQueueReceive(queue, &ev, 0) == pdTRUE) {
// Process event
processObjEvent(&ev);
// if both queues are empty, wait on priority queue for updates (1 tick) then repeat cycle
} else if (xQueueReceive(priorityQueue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
#else
// wait on queue for updates (1 tick) then repeat cycle
if (xQueueReceive(queue, &ev, 1) == pdTRUE) {
// Process event
processObjEvent(&ev);
}
#endif /* if defined(PIOS_TELEM_PRIORITY_QUEUE) */
}
}
@ -424,12 +455,12 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
{
// Task loop
while (1) {
if (telemetryPort) {
if (radioPort) {
// Block until data are available
uint8_t serial_data[1];
uint16_t bytes_to_process;
bytes_to_process = PIOS_COM_ReceiveBuffer(telemetryPort, serial_data, sizeof(serial_data), 500);
bytes_to_process = PIOS_COM_ReceiveBuffer(radioPort, serial_data, sizeof(serial_data), 500);
if (bytes_to_process > 0) {
for (uint8_t i = 0; i < bytes_to_process; i++) {
UAVTalkProcessInputStream(radioUavTalkCon, serial_data[i]);
@ -440,6 +471,21 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
}
}
}
/**
* Transmit data buffer to the radioport.
* \param[in] data Data buffer to send
* \param[in] length Length of buffer
* \return -1 on failure
* \return number of bytes transmitted on success
*/
static int32_t transmitRadioData(uint8_t *data, int32_t length)
{
if (radioPort) {
return PIOS_COM_SendBuffer(radioPort, data, length);
}
return -1;
}
#endif /* PIOS_INCLUDE_RFM22B */
/**
@ -544,12 +590,10 @@ static void updateTelemetryStats()
uint32_t timeNow;
// Get stats
UAVTalkGetStats(uavTalkCon, &utalkStats);
UAVTalkGetStats(uavTalkCon, &utalkStats, true);
#ifdef PIOS_INCLUDE_RFM22B
UAVTalkAddStats(radioUavTalkCon, &utalkStats);
UAVTalkResetStats(radioUavTalkCon);
UAVTalkAddStats(radioUavTalkCon, &utalkStats, true);
#endif
UAVTalkResetStats(uavTalkCon);
// Get object data
FlightTelemetryStatsGet(&flightStats);
@ -678,17 +722,25 @@ static void updateSettings()
* Determine input/output com port as highest priority available
* @param[in] input Returns the approproate input com port if true, else the appropriate output com port
*/
#ifdef PIOS_INCLUDE_RFM22B
static uint32_t getComPort(bool input)
{
#ifndef PIOS_INCLUDE_RFM22B
input = false;
#else
static uint32_t getComPort(__attribute__((unused)) bool input)
#endif
{
#if defined(PIOS_INCLUDE_USB)
// if USB is connected, USB takes precedence for telemetry
if (PIOS_COM_Available(PIOS_COM_TELEM_USB)) {
return PIOS_COM_TELEM_USB;
} else
#endif /* PIOS_INCLUDE_USB */
if (!input && PIOS_COM_Available(telemetryPort)) {
#ifdef PIOS_INCLUDE_RFM22B
// PIOS_COM_RF input is handled by a separate RX thread and therefore must be ignored
if (input && telemetryPort == PIOS_COM_RF) {
return 0;
} else
#endif /* PIOS_INCLUDE_RFM22B */
if (PIOS_COM_Available(telemetryPort)) {
return telemetryPort;
} else {
return 0;

2
flight/modules/TxPID/txpid.c
View File

@ -327,7 +327,7 @@ static void updatePIDs(UAVObjEvent *ev)
break;
case 2:
StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank);
StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *)&bank);
break;
default:

46
flight/modules/VtolPathFollower/vtolpathfollower.c
View File

@ -470,48 +470,14 @@ void updateEndpointVelocity()
float eastCommand;
float downCommand;
float northPos = 0, eastPos = 0, downPos = 0;
switch (vtolpathfollowerSettings.PositionSource) {
case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_EKF:
northPos = positionState.North;
eastPos = positionState.East;
downPos = positionState.Down;
break;
case VTOLPATHFOLLOWERSETTINGS_POSITIONSOURCE_GPSPOS:
{
// this used to work with the NEDposition UAVObject
// however this UAVObject has been removed
GPSPositionSensorData gpsPosition;
GPSPositionSensorGet(&gpsPosition);
HomeLocationData homeLocation;
HomeLocationGet(&homeLocation);
float lat = DEG2RAD(homeLocation.Latitude / 10.0e6f);
float alt = homeLocation.Altitude;
float T[3] = { alt + 6.378137E6f,
cosf(lat) * (alt + 6.378137E6f),
-1.0f };
float NED[3] = { T[0] * (DEG2RAD((gpsPosition.Latitude - homeLocation.Latitude) / 10.0e6f)),
T[1] * (DEG2RAD((gpsPosition.Longitude - homeLocation.Longitude) / 10.0e6f)),
T[2] * ((gpsPosition.Altitude + gpsPosition.GeoidSeparation - homeLocation.Altitude)) };
northPos = NED[0];
eastPos = NED[1];
downPos = NED[2];
}
break;
default:
PIOS_Assert(0);
break;
}
// Compute desired north command
northError = pathDesired.End.North - northPos;
northError = pathDesired.End.North - positionState.North;
northPosIntegral = bound(northPosIntegral + northError * dT * vtolpathfollowerSettings.HorizontalPosPI.Ki,
-vtolpathfollowerSettings.HorizontalPosPI.ILimit,
vtolpathfollowerSettings.HorizontalPosPI.ILimit);
northCommand = (northError * vtolpathfollowerSettings.HorizontalPosPI.Kp + northPosIntegral);
eastError = pathDesired.End.East - eastPos;
eastError = pathDesired.End.East - positionState.East;
eastPosIntegral = bound(eastPosIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalPosPI.Ki,
-vtolpathfollowerSettings.HorizontalPosPI.ILimit,
vtolpathfollowerSettings.HorizontalPosPI.ILimit);
@ -527,7 +493,7 @@ void updateEndpointVelocity()
velocityDesired.North = northCommand * scale;
velocityDesired.East = eastCommand * scale;
downError = pathDesired.End.Down - downPos;
downError = pathDesired.End.Down - positionState.Down;
downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI.Ki,
-vtolpathfollowerSettings.VerticalPosPI.ILimit,
vtolpathfollowerSettings.VerticalPosPI.ILimit);
@ -595,12 +561,12 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
float northVel = 0, eastVel = 0, downVel = 0;
switch (vtolpathfollowerSettings.VelocitySource) {
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_EKF:
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_STATE_ESTIMATION:
northVel = velocityState.North;
eastVel = velocityState.East;
downVel = velocityState.Down;
break;
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_NEDVEL:
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_GPS_VELNED:
{
GPSVelocitySensorData gpsVelocity;
GPSVelocitySensorGet(&gpsVelocity);
@ -609,7 +575,7 @@ static void updateVtolDesiredAttitude(bool yaw_attitude)
downVel = gpsVelocity.Down;
}
break;
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_GPSPOS:
case VTOLPATHFOLLOWERSETTINGS_VELOCITYSOURCE_GPS_GROUNDSPEED:
{
GPSPositionSensorData gpsPosition;
GPSPositionSensorGet(&gpsPosition);

2
flight/pios/common/pios_callbackscheduler.c
View File

@ -33,7 +33,7 @@
// Private constants
#define STACK_SAFETYCOUNT 16
#define STACK_SIZE (384 + STACK_SAFETYSIZE)
#define STACK_SIZE (190 + STACK_SAFETYSIZE)
#define STACK_SAFETYSIZE 8
#define MAX_SLEEP 1000

84
flight/pios/common/pios_ms4525do.c Normal file
View File

@ -0,0 +1,84 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MS4525DO MS4525DO Functions
* @brief Hardware functions to deal with the PixHawk Airspeed Sensor based on MS4525DO
* @{
*
* @file pios_ms4525do.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PixHawk MS4525DO Airspeed Sensor Driver
* @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_MS4525DO
/* Local Defs and Variables */
static int8_t PIOS_MS4525DO_ReadI2C(uint8_t *buffer, uint8_t len)
{
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = MS4525DO_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MS4525DO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
// values has to ba an arrray with two elements
// values stay untouched on error
int8_t PIOS_MS4525DO_Read(uint16_t *values)
{
uint8_t data[4];
int8_t retVal = PIOS_MS4525DO_ReadI2C(data, sizeof(data));
uint8_t status = data[0] & 0xC0;
if (status == 0x80) {
/* stale data */
return -5;
} else if (status == 0xC0) {
/* device probably broken */
return -6;
}
/* differential pressure */
values[0] = (data[0] << 8);
values[0] += data[1];
/* temperature */
values[1] = (data[2] << 8);
values[1] += data[3];
values[1] = (values[1] >> 5);
return retVal;
}
#endif /* PIOS_INCLUDE_MS4525DO */

21
flight/pios/common/pios_rfm22b.c
View File

@ -139,7 +139,11 @@ static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE
}; // 64 bytes
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1) / 2 + 2] = { PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2 };
static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1) / 2 + 2] = {
PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2
};
static const uint8_t OUT_FF[64] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
@ -150,8 +154,21 @@ static const uint8_t OUT_FF[64] = {
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF
};
// The randomized channel list.
static const uint8_t channel_list[] = { 68, 34, 2, 184, 166, 94, 204, 18, 47, 118, 239, 176, 5, 213, 218, 186, 104, 160, 199, 209, 231, 197, 92, 191, 88, 129, 40, 19, 93, 200, 156, 14, 247, 182, 193, 194, 208, 210, 248, 76, 244, 48, 179, 105, 25, 74, 155, 203, 39, 97, 195, 81, 83, 180, 134, 172, 235, 132, 198, 119, 207, 154, 0, 61, 140, 171, 245, 26, 95, 3, 22, 62, 169, 55, 127, 144, 45, 33, 170, 91, 158, 167, 63, 201, 41, 21, 190, 51, 103, 49, 189, 205, 240, 89, 181, 149, 6, 157, 249, 230, 115, 72, 163, 17, 29, 99, 28, 117, 219, 73, 78, 53, 69, 216, 161, 124, 110, 242, 214, 145, 13, 11, 220, 113, 138, 58, 54, 162, 237, 37, 152, 187, 232, 77, 126, 85, 38, 238, 173, 23, 188, 100, 131, 226, 31, 9, 114, 106, 221, 42, 233, 139, 4, 241, 96, 211, 8, 98, 121, 147, 24, 217, 27, 87, 122, 125, 135, 148, 178, 71, 206, 57, 141, 35, 30, 246, 159, 16, 32, 15, 229, 20, 12, 223, 150, 101, 79, 56, 102, 111, 174, 236, 137, 143, 52, 225, 64, 224, 112, 168, 243, 130, 108, 202, 123, 146, 228, 75, 46, 153, 7, 192, 175, 151, 222, 59, 82, 90, 1, 65, 109, 44, 165, 84, 43, 36, 128, 196, 67, 80, 136, 86, 70, 234, 66, 185, 10, 164, 177, 116, 50, 107, 183, 215, 212, 60, 227, 133, 120, 142 };
static const uint8_t channel_list[] = {
68, 34, 2, 184, 166, 94, 204, 18, 47, 118, 239, 176, 5, 213, 218, 186, 104, 160, 199, 209, 231, 197, 92,
191, 88, 129, 40, 19, 93, 200, 156, 14, 247, 182, 193, 194, 208, 210, 248, 76, 244, 48, 179, 105, 25, 74,
155, 203, 39, 97, 195, 81, 83, 180, 134, 172, 235, 132, 198, 119, 207, 154, 0, 61, 140, 171, 245, 26, 95,
3, 22, 62, 169, 55, 127, 144, 45, 33, 170, 91, 158, 167, 63, 201, 41, 21, 190, 51, 103, 49, 189, 205,
240, 89, 181, 149, 6, 157, 249, 230, 115, 72, 163, 17, 29, 99, 28, 117, 219, 73, 78, 53, 69, 216, 161,
124, 110, 242, 214, 145, 13, 11, 220, 113, 138, 58, 54, 162, 237, 37, 152, 187, 232, 77, 126, 85, 38, 238,
173, 23, 188, 100, 131, 226, 31, 9, 114, 106, 221, 42, 233, 139, 4, 241, 96, 211, 8, 98, 121, 147, 24,
217, 27, 87, 122, 125, 135, 148, 178, 71, 206, 57, 141, 35, 30, 246, 159, 16, 32, 15, 229, 20, 12, 223,
150, 101, 79, 56, 102, 111, 174, 236, 137, 143, 52, 225, 64, 224, 112, 168, 243, 130, 108, 202, 123, 146, 228,
75, 46, 153, 7, 192, 175, 151, 222, 59, 82, 90, 1, 65, 109, 44, 165, 84, 43, 36, 128, 196, 67, 80,
136, 86, 70, 234, 66, 185, 10, 164, 177, 116, 50, 107, 183, 215, 212, 60, 227, 133, 120, 14
};
/* Local function forwared declarations */
static void pios_rfm22_task(void *parameters);

8
flight/pios/inc/pios_i2c_priv.h
View File

@ -92,8 +92,12 @@ struct pios_i2c_adapter {
uint8_t busy;
#endif
bool bus_error;
bool nack;
/* variables for transfer timeouts */
uint32_t transfer_delay_uS; // approx time to transfer one byte, calculated later basen on setting use here time based on 100 kbits/s
uint32_t transfer_timeout_ticks; // take something tha makes sense for small transaction, calculated later based upon transmission desired
bool bus_error;
bool nack;
volatile enum i2c_adapter_state curr_state;
const struct pios_i2c_txn *first_txn;

45
flight/pios/inc/pios_ms4525do.h Normal file
View File

@ -0,0 +1,45 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MS4525DO MS4525DO Functions
* @brief Hardware functions to deal with the PixHawk Airspeed Sensor based on MS4525DO
* @{
*
* @file pios_ms4525do.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PixHawk MS4525DO Airspeed Sensor Driver
* @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_MS4525DO_H
#define PIOS_MS4525DO_H
// Interface Type I chip
#define MS4525DO_I2C_ADDR 0x28
// Interface Type J chip
/* #define MS4525DO_I2C_ADDR 0x36 */
// Interface Type K chip
/* #define MS4525DO_I2C_ADDR 0x46 */
extern int8_t PIOS_MS4525DO_Request(void);
extern int8_t PIOS_MS4525DO_Read(uint16_t *values);
#endif /* PIOS_MS4525DO_H */

6
flight/pios/pios.h
View File

@ -229,6 +229,12 @@
#include <pios_etasv3.h>
#endif
#ifdef PIOS_INCLUDE_MS4525DO
/* PixHawk Airspeed Sensor based on MS4525DO */
#include <pios_ms4525do.h>
#endif
#ifdef PIOS_INCLUDE_HCSR04
/* HC-SR04 Ultrasonic Sensor */
#include <pios_hcsr04.h>

0
flight/pios/inc/pios_usb_hid_istr.h → flight/pios/stm32f10x/inc/pios_usb_hid_istr.h
View File

0
flight/pios/inc/pios_usb_hid_pwr.h → flight/pios/stm32f10x/inc/pios_usb_hid_pwr.h
View File

0
flight/pios/inc/pios_usb_rctx.h → flight/pios/stm32f10x/inc/pios_usb_rctx.h
View File

0
flight/pios/inc/pios_usb_rctx_priv.h → flight/pios/stm32f10x/inc/pios_usb_rctx_priv.h
View File

13
flight/pios/inc/usb_conf.h → flight/pios/stm32f10x/inc/usb_conf.h
View File

@ -29,27 +29,24 @@
/* -------------- Buffer Description Table -----------------*/
/*-------------------------------------------------------------*/
/* buffer table base address */
/* buffer table base address */
#define BTABLE_ADDRESS (0x00)
/* EP0 */
/* EP0 (Control) */
/* rx/tx buffer base address */
#define ENDP0_RXADDR (0x20)
#define ENDP0_TXADDR (0x40)
/* EP1 */
/* EP1 (HID) */
/* rx/tx buffer base address */
#define ENDP1_TXADDR (0x60)
// fix the F1 USB issue
//#define ENDP1_RXADDR (0x80)
#define ENDP1_RXADDR (0xa0)
#define ENDP1_RXADDR (0xA0)
/* EP2 */
/* EP2 (CDC Call Control) */
/* rx/tx buffer base address */
#define ENDP2_TXADDR (0x100)
#define ENDP2_RXADDR (0x140)
/* EP3 */
/* EP3 (CDC Data) */
/* rx/tx buffer base address */
#define ENDP3_TXADDR (0x180)
#define ENDP3_RXADDR (0x1C0)

48
flight/pios/stm32f10x/pios_i2c.c
View File

@ -404,8 +404,17 @@ static void go_starting(struct pios_i2c_adapter *i2c_adapter)
PIOS_DEBUG_Assert(i2c_adapter->active_txn >= i2c_adapter->first_txn);
PIOS_DEBUG_Assert(i2c_adapter->active_txn <= i2c_adapter->last_txn);
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
// check for an empty read/write
if (i2c_adapter->active_txn->buf != NULL && i2c_adapter->active_txn->len != 0) {
// Data available
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
} else {
// No Data available => Empty read/write
i2c_adapter->last_byte = NULL;
i2c_adapter->active_byte = i2c_adapter->last_byte + 1;
}
I2C_GenerateSTART(i2c_adapter->cfg->regs, ENABLE);
if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {
@ -924,9 +933,9 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
PIOS_Assert(valid)
if (!PIOS_I2C_validate(i2c_adapter)) {
return -1;
}
PIOS_DEBUG_Assert(txn_list);
PIOS_DEBUG_Assert(num_txns);
@ -968,6 +977,14 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
semaphore_success &= (xSemaphoreTake(i2c_adapter->sem_ready, timeout) == pdTRUE);
#endif
// Estimate bytes of transmission. Per txns: 1 adress byte + length
i2c_adapter->transfer_timeout_ticks = num_txns;
for (uint32_t i = 0; i < num_txns; i++) {
i2c_adapter->transfer_timeout_ticks += txn_list[i].len;
}
// timeout if it takes eight times the expected time
i2c_adapter->transfer_timeout_ticks <<= 3;
i2c_adapter->bus_error = false;
i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_START);
@ -983,7 +1000,15 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
/* Spin waiting for the transfer to finish */
while (!i2c_adapter_fsm_terminated(i2c_adapter)) {
;
/* sleep 9 clock ticks (1 byte), because FSM can't be faster than one byte
FIXME: clock streching could make problems, but citing NPX: alsmost no slave device implements clock stretching
three times the expected time should cover clock delay */
PIOS_DELAY_WaituS(i2c_adapter->transfer_delay_uS);
i2c_adapter->transfer_timeout_ticks--;
if (i2c_adapter->transfer_timeout_ticks == 0) {
break;
}
}
if (i2c_adapter_wait_for_stopped(i2c_adapter)) {
@ -1010,9 +1035,9 @@ void PIOS_I2C_EV_IRQ_Handler(uint32_t i2c_id)
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
PIOS_Assert(valid)
if (!PIOS_I2C_validate(i2c_adapter)) {
return;
}
uint32_t event = I2C_GetLastEvent(i2c_adapter->cfg->regs);
@ -1136,9 +1161,10 @@ void PIOS_I2C_ER_IRQ_Handler(uint32_t i2c_id)
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
if (!PIOS_I2C_validate(i2c_adapter)) {
return;
}
PIOS_Assert(valid)
#if defined(PIOS_I2C_DIAGNOSTICS)
uint32_t event = I2C_GetLastEvent(i2c_adapter->cfg->regs);

2
flight/pios/stm32f4xx/inc/usb_conf.h
View File

@ -32,8 +32,6 @@
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx.h"
#include "usb_conf.h"
/** @addtogroup USB_OTG_DRIVER
* @{
*/

106
flight/pios/stm32f4xx/pios_i2c.c
View File

@ -94,26 +94,19 @@ static void go_bus_error(struct pios_i2c_adapter *i2c_adapter);
static void go_stopping(struct pios_i2c_adapter *i2c_adapter);
static void go_stopped(struct pios_i2c_adapter *i2c_adapter);
static void go_starting(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_one(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_first(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_post_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_one(struct pios_i2c_adapter *i2c_adapter);
static void go_r_last_txn_pre_one(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_first(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_r_last_txn_pre_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_post_last(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_w_more_txn_last(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_w_last_txn_last(struct pios_i2c_adapter *i2c_adapter);
static void go_nack(struct pios_i2c_adapter *i2c_adapter);
@ -414,8 +407,16 @@ static void go_starting(struct pios_i2c_adapter *i2c_adapter)
PIOS_DEBUG_Assert(i2c_adapter->active_txn >= i2c_adapter->first_txn);
PIOS_DEBUG_Assert(i2c_adapter->active_txn <= i2c_adapter->last_txn);
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
// check for an empty read/write
if (i2c_adapter->active_txn->buf != NULL && i2c_adapter->active_txn->len != 0) {
// Data available
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
} else {
// No Data available => Empty read/write
i2c_adapter->last_byte = NULL;
i2c_adapter->active_byte = i2c_adapter->last_byte + 1;
}
I2C_GenerateSTART(i2c_adapter->cfg->regs, ENABLE);
if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {
@ -753,6 +754,11 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
/* Initialize the I2C block */
I2C_Init(i2c_adapter->cfg->regs, (I2C_InitTypeDef *)&(i2c_adapter->cfg->init));
// for delays during transfer timeouts
// one tick correspond to transmission of 1 byte i.e. 9 clock ticks
i2c_adapter->transfer_delay_uS = 9000000 / (((I2C_InitTypeDef *)&(i2c_adapter->cfg->init))->I2C_ClockSpeed);
if (i2c_adapter->cfg->regs->SR2 & I2C_FLAG_BUSY) {
/* Reset the I2C block */
I2C_SoftwareResetCmd(i2c_adapter->cfg->regs, ENABLE);
@ -760,7 +766,6 @@ static void i2c_adapter_reset_bus(struct pios_i2c_adapter *i2c_adapter)
}
}
#include <pios_i2c_priv.h>
/* Return true if the FSM is in a terminal state */
static bool i2c_adapter_fsm_terminated(struct pios_i2c_adapter *i2c_adapter)
@ -788,9 +793,18 @@ static bool i2c_adapter_callback_handler(struct pios_i2c_adapter *i2c_adapter)
xSemaphoreGive(i2c_adapter->sem_ready);
#endif /* USE_FREERTOS */
/* transfer_timeout_ticks is set by PIOS_I2C_Transfer_Callback */
/* Spin waiting for the transfer to finish */
while (!i2c_adapter_fsm_terminated(i2c_adapter)) {
;
// sleep 1 byte, as FSM can't be faster
// FIXME: clock stretching could make problems, but citing NPX: alsmost no slave device implements clock stretching
// three times the expected time should cover clock delay
PIOS_DELAY_WaituS(i2c_adapter->transfer_delay_uS);
i2c_adapter->transfer_timeout_ticks--;
if (i2c_adapter->transfer_timeout_ticks == 0) {
break;
}
}
if (i2c_adapter_wait_for_stopped(i2c_adapter)) {
@ -956,6 +970,7 @@ int32_t PIOS_I2C_Init(uint32_t *i2c_id, const struct pios_i2c_adapter_cfg *cfg)
NVIC_Init((NVIC_InitTypeDef *)&(i2c_adapter->cfg->event.init));
NVIC_Init((NVIC_InitTypeDef *)&(i2c_adapter->cfg->error.init));
/* No error */
return 0;
@ -967,9 +982,9 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
PIOS_Assert(valid)
if (!PIOS_I2C_validate(i2c_adapter)) {
return -1;
}
PIOS_DEBUG_Assert(txn_list);
PIOS_DEBUG_Assert(num_txns);
@ -1001,12 +1016,20 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
#ifdef USE_FREERTOS
/* Make sure the done/ready semaphore is consumed before we start */
semaphore_success &= (xSemaphoreTake(i2c_adapter->sem_ready, timeout) == pdTRUE);
semaphore_success &= (xSemaphoreTake(i2c_adapter->sem_ready, timeout) == pdTRUE);
#endif
// Estimate bytes of transmission. Per txns: 1 adress byte + length
i2c_adapter->transfer_timeout_ticks = num_txns;
for (uint32_t i = 0; i < num_txns; i++) {
i2c_adapter->transfer_timeout_ticks += txn_list[i].len;
}
// timeout if it takes eight times the expected time
i2c_adapter->transfer_timeout_ticks <<= 3;
i2c_adapter->callback = NULL;
i2c_adapter->bus_error = false;
i2c_adapter->nack = false;
i2c_adapter->nack = false;
i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_START);
/* Wait for the transfer to complete */
@ -1017,7 +1040,15 @@ int32_t PIOS_I2C_Transfer(uint32_t i2c_id, const struct pios_i2c_txn txn_list[],
/* Spin waiting for the transfer to finish */
while (!i2c_adapter_fsm_terminated(i2c_adapter)) {
;
/* sleep 9 clock ticks (1 byte), because FSM can't be faster than one byte
FIXME: clock stretching could make problems, but citing NPX: alsmost no slave device implements clock stretching
three times the expected time should cover clock delay */
PIOS_DELAY_WaituS(i2c_adapter->transfer_delay_uS);
i2c_adapter->transfer_timeout_ticks--;
if (i2c_adapter->transfer_timeout_ticks == 0) {
break;
}
}
if (i2c_adapter_wait_for_stopped(i2c_adapter)) {
@ -1048,9 +1079,10 @@ int32_t PIOS_I2C_Transfer_Callback(uint32_t i2c_id, const struct pios_i2c_txn tx
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
if (!PIOS_I2C_validate(i2c_adapter)) {
return -1;
}
PIOS_Assert(valid)
PIOS_Assert(callback);
PIOS_DEBUG_Assert(txn_list);
@ -1080,9 +1112,18 @@ int32_t PIOS_I2C_Transfer_Callback(uint32_t i2c_id, const struct pios_i2c_txn tx
#ifdef USE_FREERTOS
/* Make sure the done/ready semaphore is consumed before we start */
semaphore_success &= (xSemaphoreTake(i2c_adapter->sem_ready, timeout) == pdTRUE);
semaphore_success &= (xSemaphoreTake(i2c_adapter->sem_ready, timeout) == pdTRUE);
#endif
// used in the i2c_adapter_callback_handler function
// Estimate bytes of transmission. Per txns: 1 adress byte + length
i2c_adapter->transfer_timeout_ticks = num_txns;
for (uint32_t i = 0; i < num_txns; i++) {
i2c_adapter->transfer_timeout_ticks += txn_list[i].len;
}
// timeout if it takes eight times the expected time
i2c_adapter->transfer_timeout_ticks <<= 3;
i2c_adapter->callback = callback;
i2c_adapter->bus_error = false;
i2c_adapter_inject_event(i2c_adapter, I2C_EVENT_START);
@ -1094,9 +1135,9 @@ void PIOS_I2C_EV_IRQ_Handler(uint32_t i2c_id)
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
PIOS_Assert(valid)
if (!PIOS_I2C_validate(i2c_adapter)) {
return;
}
uint32_t event = I2C_GetLastEvent(i2c_adapter->cfg->regs);
@ -1204,9 +1245,9 @@ void PIOS_I2C_EV_IRQ_Handler(uint32_t i2c_id)
/* Ignore this event and wait for TRANSMITTED in case we can't keep up */
goto skip_event;
break;
case 0x30084: /* Occurs between byte tranmistted and master mode selected */
case 0x30000: /* Need to throw away this spurious event */
case 0x30403 & EVENT_MASK: /* Detected this after got a NACK, probably stop bit */
case 0x30084: /* BUSY + MSL + TXE + BFT Occurs between byte transmitted and master mode selected */
case 0x30000: /* BUSY + MSL Need to throw away this spurious event */
case 0x30403 & EVENT_MASK: /* BUSY + MSL + SB + ADDR Detected this after got a NACK, probably stop bit */
goto skip_event;
break;
default:
@ -1227,16 +1268,15 @@ void PIOS_I2C_ER_IRQ_Handler(uint32_t i2c_id)
{
struct pios_i2c_adapter *i2c_adapter = (struct pios_i2c_adapter *)i2c_id;
bool valid = PIOS_I2C_validate(i2c_adapter);
if (!PIOS_I2C_validate(i2c_adapter)) {
return;
}
PIOS_Assert(valid)
#if defined(PIOS_I2C_DIAGNOSTICS)
uint32_t event = I2C_GetLastEvent(i2c_adapter->cfg->regs);
#if defined(PIOS_I2C_DIAGNOSTICS)
i2c_erirq_history[i2c_erirq_history_pointer] = event;
i2c_erirq_history_pointer = (i2c_erirq_history_pointer + 1) % 5;
#endif
if (event & I2C_FLAG_AF) {

2
flight/pios/stm32f4xx/pios_wdg.c
View File

@ -73,7 +73,7 @@ uint16_t PIOS_WDG_Init()
delay = 0x0fff;
}
#if defined(PIOS_INCLUDE_WDG)
DBGMCU_Config(DBGMCU_IWDG_STOP, ENABLE); // make the watchdog stop counting in debug mode
DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP, ENABLE); // OP-1272 : write in APB1 register
IWDG_WriteAccessCmd(IWDG_WriteAccess_Enable);
IWDG_SetPrescaler(IWDG_Prescaler_16);
IWDG_SetReload(delay);

1
flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2

10
flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h
View File

@ -23,7 +23,7 @@
/* Notes: We use 5 task priorities */
#define configUSE_PREEMPTION 1
#define configUSE_IDLE_HOOK 1
#define configUSE_IDLE_HOOK 0
#define configUSE_TICK_HOOK 0
#define configUSE_MALLOC_FAILED_HOOK 1
#define configCPU_CLOCK_HZ ((unsigned long)72000000)
@ -31,7 +31,7 @@
#define configMAX_PRIORITIES ((unsigned portBASE_TYPE)5)
#define configMINIMAL_STACK_SIZE ((unsigned short)48)
#define configTOTAL_HEAP_SIZE ((size_t)(53 * 256))
#define configMAX_TASK_NAME_LEN (16)
#define configMAX_TASK_NAME_LEN (6)
#define configUSE_TRACE_FACILITY 0
#define configUSE_16_BIT_TICKS 0
#define configIDLE_SHOULD_YIELD 0
@ -39,7 +39,7 @@
#define configUSE_RECURSIVE_MUTEXES 1
#define configUSE_COUNTING_SEMAPHORES 0
#define configUSE_ALTERNATIVE_API 0
#define configQUEUE_REGISTRY_SIZE 10
#define configQUEUE_REGISTRY_SIZE 0
/* Co-routine definitions. */
#define configUSE_CO_ROUTINES 0
@ -52,10 +52,10 @@
#define INCLUDE_uxTaskPriorityGet 1
#define INCLUDE_vTaskDelete 1
#define INCLUDE_vTaskCleanUpResources 0
#define INCLUDE_vTaskSuspend 1
#define INCLUDE_vTaskSuspend 0
#define INCLUDE_vTaskDelayUntil 1
#define INCLUDE_vTaskDelay 1
#define INCLUDE_xTaskGetSchedulerState 1
#define INCLUDE_xTaskGetSchedulerState 0
#define INCLUDE_xTaskGetCurrentTaskHandle 1
#define INCLUDE_uxTaskGetStackHighWaterMark 1

16
flight/targets/boards/coptercontrol/firmware/inc/pios_config.h
View File

@ -144,7 +144,7 @@
/* Stabilization options */
/* #define PIOS_QUATERNION_STABILIZATION */
#define PIOS_EXCLUDE_ADVANCED_FEATURES
/* Performance counters */
#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
@ -157,15 +157,19 @@
#define CPULOAD_LIMIT_CRITICAL 95
/* Task stack sizes */
#define PIOS_ACTUATOR_STACK_SIZE 1020
#define PIOS_MANUAL_STACK_SIZE 850
#define PIOS_ACTUATOR_STACK_SIZE 820
#define PIOS_MANUAL_STACK_SIZE 635
#define PIOS_RECEIVER_STACK_SIZE 620
#define PIOS_STABILIZATION_STACK_SIZE 780
#ifdef DIAG_TASKS
#define PIOS_SYSTEM_STACK_SIZE 720
#define PIOS_SYSTEM_STACK_SIZE 740
#else
#define PIOS_SYSTEM_STACK_SIZE 660
#endif
#define PIOS_TELEM_STACK_SIZE 540
#define PIOS_EVENTDISPATCHER_STACK_SIZE 160
#define PIOS_TELEM_RX_STACK_SIZE 410
#define PIOS_TELEM_TX_STACK_SIZE 560
#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
/* This can't be too high to stop eventdispatcher thread overflowing */
#define PIOS_EVENTDISAPTCHER_QUEUE 10

1
flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64

1
flight/targets/boards/oplinkmini/bootloader/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2

1
flight/targets/boards/oplinkmini/firmware/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64

1
flight/targets/boards/osd/bootloader/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2

1
flight/targets/boards/osd/firmware/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64

1
flight/targets/boards/revolution/bootloader/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2

2
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -87,6 +87,8 @@
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_MPXV
#define PIOS_INCLUDE_ETASV3
#define PIOS_INCLUDE_MS4525DO
/* #define PIOS_INCLUDE_HCSR04 */
/* PIOS receiver drivers */

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

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64

9
flight/targets/boards/revolution/firmware/pios_board.c
View File

@ -224,6 +224,7 @@ uint32_t pios_com_debug_id;
uint32_t pios_com_gps_id = 0;
uint32_t pios_com_telem_usb_id = 0;
uint32_t pios_com_telem_rf_id = 0;
uint32_t pios_com_rf_id = 0;
uint32_t pios_com_bridge_id = 0;
uint32_t pios_com_overo_id = 0;
uint32_t pios_com_hkosd_id = 0;
@ -231,7 +232,7 @@ uint32_t pios_com_hkosd_id = 0;
uint32_t pios_com_vcp_id = 0;
#if defined(PIOS_INCLUDE_RFM22B)
uint32_t pios_rfm22b_id = 0;
uint32_t pios_rfm22b_id = 0;
#endif
uintptr_t pios_uavo_settings_fs_id;
@ -753,11 +754,15 @@ void PIOS_Board_Init(void)
uint8_t *tx_buffer = (uint8_t *)pvPortMalloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
PIOS_Assert(rx_buffer);
PIOS_Assert(tx_buffer);
if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
if (PIOS_COM_Init(&pios_com_rf_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
PIOS_Assert(0);
}
/* Set Telemetry to use OPLinkMini if no other telemetry is configured (USB always overrides anyway) */
if (!pios_com_telem_rf_id) {
pios_com_telem_rf_id = pios_com_rf_id;
}
oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
// Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.

11
flight/targets/boards/revolution/pios_board.h
View File

@ -119,12 +119,13 @@
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS 3
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_mag_pressure_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
// -------------------------
// PIOS_USART
@ -140,6 +141,7 @@ extern uint32_t pios_i2c_flexiport_adapter_id;
// -------------------------
#define PIOS_COM_MAX_DEVS 4
extern uint32_t pios_com_telem_rf_id;
extern uint32_t pios_com_rf_id;
extern uint32_t pios_com_gps_id;
extern uint32_t pios_com_telem_usb_id;
extern uint32_t pios_com_bridge_id;
@ -148,6 +150,7 @@ extern uint32_t pios_com_hkosd_id;
#define PIOS_COM_GPS (pios_com_gps_id)
#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
#define PIOS_COM_TELEM_RF (pios_com_telem_rf_id)
#define PIOS_COM_RF (pios_com_rf_id)
#define PIOS_COM_BRIDGE (pios_com_bridge_id)
#define PIOS_COM_VCP (pios_com_vcp_id)
#define PIOS_COM_OSDHK (pios_com_hkosd_id)

1
flight/targets/boards/revoproto/bootloader/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
#define PIOS_USB_BOARD_EP_NUM 2

15
flight/targets/boards/revoproto/firmware/Makefile
View File

@ -29,25 +29,26 @@ USE_DSP_LIB ?= NO
# List of mandatory modules to include
MODULES += Sensors
MODULES += Attitude/revolution
#MODULES += StateEstimation # use instead of Attitude
#MODULES += Attitude/revolution
MODULES += StateEstimation # use instead of Attitude
MODULES += Altitude/revolution
MODULES += Airspeed
MODULES += AltitudeHold
MODULES += Stabilization
MODULES += Receiver
MODULES += VtolPathFollower
MODULES += ManualControl
MODULES += Receiver
MODULES += Actuator
MODULES += GPS
MODULES += TxPID
MODULES += CameraStab
MODULES += Battery
MODULES += FirmwareIAP
MODULES += PathPlanner
MODULES += FixedWingPathFollower
#MODULES += OveroSync ## OveroSync disabled until OP292 is fixed
MODULES += Osd/osdoutout
MODULES += Logging
MODULES += Telemetry
#MODULES += VtolPathFollower ## OP-700: VtolPathFollower disabled because its currently unsafe - remove this line once Sambas code has been merged
#MODULES += Battery
#MODULES += TxPID
OPTMODULES += ComUsbBridge

19
flight/targets/boards/revoproto/firmware/UAVObjects.inc
View File

@ -1,9 +1,5 @@
#####
# Project: OpenPilot
#
# Makefile for OpenPilot UAVObject code
#
# The OpenPilot Team, http://www.openpilot.org, Copyright (C) 2011.
# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
#
# 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
@ -18,11 +14,10 @@
# 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
#####
#
# These are the UAVObjects supposed to be build as part of the OpenPilot target
# (all architectures)
UAVOBJSRCFILENAMES =
UAVOBJSRCFILENAMES += accelgyrosettings
UAVOBJSRCFILENAMES += accessorydesired
@ -35,12 +30,16 @@ UAVOBJSRCFILENAMES += gyrostate
UAVOBJSRCFILENAMES += gyrosensor
UAVOBJSRCFILENAMES += accelstate
UAVOBJSRCFILENAMES += accelsensor
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += magsensor
UAVOBJSRCFILENAMES += magstate
UAVOBJSRCFILENAMES += barosensor
UAVOBJSRCFILENAMES += airspeedsensor
UAVOBJSRCFILENAMES += airspeedsettings
UAVOBJSRCFILENAMES += airspeedstate
UAVOBJSRCFILENAMES += debuglogsettings
UAVOBJSRCFILENAMES += debuglogcontrol
UAVOBJSRCFILENAMES += debuglogstatus
UAVOBJSRCFILENAMES += debuglogentry
UAVOBJSRCFILENAMES += flightbatterysettings
UAVOBJSRCFILENAMES += firmwareiapobj
UAVOBJSRCFILENAMES += flightbatterystate
@ -67,6 +66,7 @@ UAVOBJSRCFILENAMES += mixersettings
UAVOBJSRCFILENAMES += mixerstatus
UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += oplinkreceiver
UAVOBJSRCFILENAMES += overosyncstats
UAVOBJSRCFILENAMES += overosyncsettings
UAVOBJSRCFILENAMES += pathaction
@ -102,6 +102,8 @@ UAVOBJSRCFILENAMES += receiveractivity
UAVOBJSRCFILENAMES += cameradesired
UAVOBJSRCFILENAMES += camerastabsettings
UAVOBJSRCFILENAMES += altitudeholdsettings
UAVOBJSRCFILENAMES += oplinksettings
UAVOBJSRCFILENAMES += oplinkstatus
UAVOBJSRCFILENAMES += altitudefiltersettings
UAVOBJSRCFILENAMES += altitudeholddesired
UAVOBJSRCFILENAMES += altitudeholdstatus
@ -110,6 +112,7 @@ UAVOBJSRCFILENAMES += waypointactive
UAVOBJSRCFILENAMES += poilocation
UAVOBJSRCFILENAMES += poilearnsettings
UAVOBJSRCFILENAMES += mpu6000settings
UAVOBJSRCFILENAMES += txpidsettings
UAVOBJSRC = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),$(OPUAVSYNTHDIR)/$(UAVOBJSRCFILE).c )
UAVOBJDEFINE = $(foreach UAVOBJSRCFILE,$(UAVOBJSRCFILENAMES),-DUAVOBJ_INIT_$(UAVOBJSRCFILE) )

1
flight/targets/boards/revoproto/firmware/inc/pios_usb_board_data.h
View File

@ -31,6 +31,7 @@
#ifndef PIOS_USB_BOARD_DATA_H
#define PIOS_USB_BOARD_DATA_H
// Note : changing below length will require changes to the USB buffer setup
#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
#define PIOS_USB_BOARD_HID_DATA_LENGTH 64

28
flight/uavobjects/uavobject.c.template
View File

@ -79,7 +79,6 @@ int32_t $(NAME)Initialize(void)
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId)
{
$(NAME)Data data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
@ -88,18 +87,21 @@ $(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
$(LOGGING_UPDATEMODE) << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
$(LOGGING_UPDATEMODE) << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
}
}
/**

6
flight/uavtalk/inc/uavtalk.h
View File

@ -59,10 +59,10 @@ int32_t UAVTalkSendObjectTimestamped(UAVTalkConnection connectionHandle, UAVObjH
int32_t UAVTalkSendObjectRequest(UAVTalkConnection connection, UAVObjHandle obj, uint16_t instId, int32_t timeoutMs);
UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkProcessInputStreamQuiet(UAVTalkConnection connection, uint8_t rxbyte);
UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle);
int32_t UAVTalkReceiveObject(UAVTalkConnection connectionHandle);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats);
void UAVTalkGetStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
void UAVTalkAddStats(UAVTalkConnection connection, UAVTalkStats *stats, bool reset);
void UAVTalkResetStats(UAVTalkConnection connection);
void UAVTalkGetLastTimestamp(UAVTalkConnection connection, uint16_t *timestamp);
uint32_t UAVTalkGetPacketObjId(UAVTalkConnection connection);

33
flight/uavtalk/uavtalk.c
View File

@ -133,7 +133,7 @@ UAVTalkOutputStream UAVTalkGetOutputStream(UAVTalkConnection connectionHandle)
* \param[in] connection UAVTalkConnection to be used
* @param[out] statsOut Statistics counters
*/
void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut, bool reset)
{
UAVTalkConnectionData *connection;
@ -145,6 +145,11 @@ void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
// Copy stats
memcpy(statsOut, &connection->stats, sizeof(UAVTalkStats));
if (reset) {
// Clear stats
memset(&connection->stats, 0, sizeof(UAVTalkStats));
}
// Release lock
xSemaphoreGiveRecursive(connection->lock);
}
@ -154,7 +159,7 @@ void UAVTalkGetStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
* \param[in] connection UAVTalkConnection to be used
* @param[out] statsOut Statistics counters
*/
void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut, bool reset)
{
UAVTalkConnectionData *connection;
@ -175,6 +180,11 @@ void UAVTalkAddStats(UAVTalkConnection connectionHandle, UAVTalkStats *statsOut)
statsOut->rxSyncErrors += connection->stats.rxSyncErrors;
statsOut->rxCrcErrors += connection->stats.rxCrcErrors;
if (reset) {
// Clear stats
memset(&connection->stats, 0, sizeof(UAVTalkStats));
}
// Release lock
xSemaphoreGiveRecursive(connection->lock);
}
@ -589,7 +599,7 @@ UAVTalkRxState UAVTalkProcessInputStream(UAVTalkConnection connectionHandle, uin
* \return 0 Success
* \return -1 Failure
*/
UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle)
int32_t UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkConnection outConnectionHandle)
{
UAVTalkConnectionData *inConnection;
@ -656,17 +666,17 @@ UAVTalkRxState UAVTalkRelayPacket(UAVTalkConnection inConnectionHandle, UAVTalkC
outConnection->stats.txBytes += (rc > 0) ? rc : 0;
// evaluate return value before releasing the lock
UAVTalkRxState rxState = 0;
int32_t ret = 0;
if (rc != (int32_t)(headerLength + inIproc->length + UAVTALK_CHECKSUM_LENGTH)) {
outConnection->stats.txErrors++;
rxState = -1;
ret = -1;
}
// Release lock
xSemaphoreGiveRecursive(outConnection->lock);
// Done
return rxState;
return ret;
}
/**
@ -862,7 +872,7 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
{
uint32_t numInst;
uint32_t n;
uint32_t ret = -1;
int32_t ret = -1;
// Important note : obj can be null (when type is NACK for example) so protect all obj dereferences.
@ -880,8 +890,8 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
// This allows the receiver to detect when the last object has been received (i.e. when instance 0 is received)
ret = 0;
for (n = 0; n < numInst; ++n) {
if (sendSingleObject(connection, type, objId, numInst - n - 1, obj) == -1) {
ret = -1;
ret = sendSingleObject(connection, type, objId, numInst - n - 1, obj);
if (ret == -1) {
break;
}
}
@ -904,8 +914,7 @@ static int32_t sendObject(UAVTalkConnectionData *connection, uint8_t type, uint3
* \param[in] connection UAVTalkConnection to be used
* \param[in] type Transaction type
* \param[in] objId The object ID
* \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use
() instead)
* \param[in] instId The instance ID (can NOT be UAVOBJ_ALL_INSTANCES, use () instead)
* \param[in] obj Object handle to send (null when type is NACK)
* \return 0 Success
* \return -1 Failure
@ -982,7 +991,7 @@ static int32_t sendSingleObject(UAVTalkConnectionData *connection, uint8_t type,
connection->stats.txBytes += tx_msg_len;
} else {
connection->stats.txErrors++;
// TDOD rc == -1 connection not open, -2 buffer full should retry
// TODO rc == -1 connection not open, -2 buffer full should retry
connection->stats.txBytes += (rc > 0) ? rc : 0;
return -1;
}

17
ground/openpilotgcs/copydata.pro
View File

@ -28,12 +28,12 @@ GCS_LIBRARY_PATH
libQt5MultimediaWidgets.so.5 \
libQt5Quick.so.5 \
libQt5Qml.so.5 \
libQt5V8.so.5 \
libQt5DBus.so.5 \
libQt5QuickParticles.so.5 \
libicui18n.so.51 \
libicuuc.so.51 \
libicudata.so.51
libicudata.so.51 \
libqgsttools_p.so.1
data_copy.commands += -@$(MKDIR) $$targetPath(\"$$GCS_QT_LIBRARY_PATH\") $$addNewline()
for(lib, QT_LIBS) {
@ -56,6 +56,8 @@ GCS_LIBRARY_PATH
imageformats/libqmng.so \
imageformats/libqsvg.so \
imageformats/libqtiff.so \
mediaservice/libgstaudiodecoder.so \
mediaservice/libgstmediaplayer.so \
platforms/libqxcb.so \
sqldrivers/libqsqlite.so
for(lib, QT_PLUGIN_LIBS) {
@ -114,10 +116,8 @@ GCS_LIBRARY_PATH
data_copy.target = FORCE
QMAKE_EXTRA_TARGETS += data_copy
}
# Windows release only, no debug target DLLs ending with 'd'
# It is assumed that SDL.dll can be found in the same directory as mingw32-make.exe
win32 {
win32 {
# set debug suffix if needed
CONFIG(debug, debug|release):DS = "d"
@ -142,7 +142,6 @@ GCS_LIBRARY_PATH
Qt5MultimediaWidgets$${DS}.dll \
Qt5Quick$${DS}.dll \
Qt5Qml$${DS}.dll \
Qt5V8$${DS}.dll \
icuin51.dll \
icudt51.dll \
icuuc51.dll
@ -228,12 +227,6 @@ GCS_LIBRARY_PATH
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$[QT_INSTALL_QML]/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
}
# copy MinGW DLLs
MINGW_DLLS = SDL.dll
for(dll, MINGW_DLLS) {
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(QTMINGW)/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
}
# copy OpenSSL DLLs
OPENSSL_DLLS = \
ssleay32.dll \

2849
ground/openpilotgcs/share/openpilotgcs/default_configurations/Developer.xml
View File

@ -1,2849 +0,0 @@
<gcs>
<General>
<AutoConnect>true</AutoConnect>
<AutoSelect>true</AutoSelect>
<Description>Developer</Description>
<Details>Developer mode configuration</Details>
<ExpertMode>true</ExpertMode>
<LastPreferenceCategory>OPMapGadget</LastPreferenceCategory>
<LastPreferencePage>default</LastPreferencePage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>628</SettingsWindowHeight>
<SettingsWindowWidth>697</SettingsWindowWidth>
<StyleSheet>default</StyleSheet>
<UDPMirror>false</UDPMirror>
</General>
<IPconnection>
<Current>
<arr_1>
<Port>9000</Port>
<UseTCP>0</UseTCP>
</arr_1>
<size>1</size>
</Current>
</IPconnection>
<KeyBindings>
<size>0</size>
</KeyBindings>
<MainWindow>
<Color>#666666</Color>
<FullScreen>false</FullScreen>
<Maximized>true</Maximized>
</MainWindow>
<ModePriorities>
<Mode1>91</Mode1>
<Mode2>90</Mode2>
<Mode3>89</Mode3>
<Mode4>88</Mode4>
<Mode5>87</Mode5>
<Mode6>86</Mode6>
<Welcome>100</Welcome>
</ModePriorities>
<Plugins>
<SoundNotifyPlugin>
<configInfo>
<locked>false</locked>
<version>1.0.0</version>
</configInfo>
<data>
<Current>
<arr_1>
<CurrentLanguage>default</CurrentLanguage>
<DataObject>AccelState</DataObject>
<ExpireTimeout>0</ExpireTimeout>
<Mute>false</Mute>
<ObjectField></ObjectField>
<RangeLimit>-1</RangeLimit>
<Repeat>0</Repeat>
<SayOrder>0</SayOrder>
<Sound1></Sound1>
<Sound2></Sound2>
<Sound3></Sound3>
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
<Value1></Value1>
<Value2>0</Value2>
</arr_1>
<size>1</size>
</Current>
<EnableSound>false</EnableSound>
<listNotifies>
<size>0</size>
</listNotifies>
</data>
</SoundNotifyPlugin>
</Plugins>
<SerialConnection>
<speed>57600</speed>
</SerialConnection>
<UAVGadgetConfigurations>
<ConfigGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
</default>
</ConfigGadget>
<DialGadget>
<Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeState</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Attitude>
<Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Baro__PCT__20Altimeter>
<Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Barometer>
<Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityState</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
<needle1MinValue>-12</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Climbrate>
<Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Compass>
<Deluxe__PCT__20Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeState</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Attitude>
<Deluxe__PCT__20Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Baro__PCT__20Altimeter>
<Deluxe__PCT__20Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Barometer>
<Deluxe__PCT__20Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityState</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>11.2</needle1MaxValue>
<needle1MinValue>-11.2</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Climbrate>
<Deluxe__PCT__20Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Compass>
<Deluxe__PCT__20Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPositionSensor</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Groundspeed__PCT__20kph>
<Deluxe__PCT__20Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/thermometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Temperature>
<Deluxe__PCT__20Turn__PCT__20Coordinator>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>/home/lafargue/OP/OpenPilot/trunk/artwork/Dials/deluxe/turncoordinator.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle2</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AccelState</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>-20</needle2MinValue>
<needle2Move>Horizontal</needle2Move>
<needle2ObjectField>x</needle2ObjectField>
<needle3DataObject>AccelState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>x</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Turn__PCT__20Coordinator>
<Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPositionSensor</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Groundspeed__PCT__20kph>
<HiContrast__PCT__20Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeState</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Attitude>
<HiContrast__PCT__20Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Baro__PCT__20Altimeter>
<HiContrast__PCT__20Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Barometer>
<HiContrast__PCT__20Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityState</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
<needle1MinValue>-12</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Climbrate>
<HiContrast__PCT__20Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Compass>
<HiContrast__PCT__20Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2></dialNeedleID2>
<dialNeedleID3></dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPositionSensor</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Groundspeed__PCT__20kph>
<HiContrast__PCT__20Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Temperature>
<Servo__PCT__20Channel__PCT__201>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>ManualControlCommand</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>2000</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Channel-3</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Servo__PCT__20Channel__PCT__201>
<Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialForegroundID></dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>Lucida Grande,13,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Temperature>
</DialGadget>
<GCSControlGadget>
<MS__PCT__20Sidewinder>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<button0Action>0</button0Action>
<button0Amount>0</button0Amount>
<button0Function>0</button0Function>
<button1Action>0</button1Action>
<button1Amount>0</button1Amount>
<button1Function>0</button1Function>
<button2Action>0</button2Action>
<button2Amount>0.1</button2Amount>
<button2Function>3</button2Function>
<button3Action>0</button3Action>
<button3Amount>0.1</button3Amount>
<button3Function>3</button3Function>
<button4Action>0</button4Action>
<button4Amount>0</button4Amount>
<button4Function>0</button4Function>
<button5Action>0</button5Action>
<button5Amount>0</button5Amount>
<button5Function>0</button5Function>
<button6Action>0</button6Action>
<button6Amount>0</button6Amount>
<button6Function>0</button6Function>
<button7Action>0</button7Action>
<button7Amount>0</button7Amount>
<button7Function>0</button7Function>
<channel0Reverse>false</channel0Reverse>
<channel1Reverse>false</channel1Reverse>
<channel2Reverse>true</channel2Reverse>
<channel3Reverse>false</channel3Reverse>
<channel4Reverse>false</channel4Reverse>
<channel5Reverse>false</channel5Reverse>
<channel6Reverse>false</channel6Reverse>
<channel7Reverse>false</channel7Reverse>
<controlHostUDP></controlHostUDP>
<controlPortUDP>0</controlPortUDP>
<controlsMode>2</controlsMode>
<pitchChannel>1</pitchChannel>
<rollChannel>0</rollChannel>
<throttleChannel>2</throttleChannel>
<yawChannel>3</yawChannel>
</data>
</MS__PCT__20Sidewinder>
</GCSControlGadget>
<GpsDisplayGadget>
<Flight__PCT__20GPS>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<connectionMode>Telemetry</connectionMode>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>/dev/cu.Bluetooth-Modem</defaultPort>
<defaultSpeed>11</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</Flight__PCT__20GPS>
<GPS__PCT__20Mouse>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<connectionMode>Serial</connectionMode>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>/dev/cu.Bluetooth-Modem</defaultPort>
<defaultSpeed>17</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</GPS__PCT__20Mouse>
</GpsDisplayGadget>
<HITL>
<Flightgear__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<binPath>\usr\games\fgfs</binPath>
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.1</hostAddress>
<inPort>9009</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>9010</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
<simulatorId>FG</simulatorId>
<startSim>true</startSim>
</data>
</Flightgear__PCT__20HITL>
<XPlane__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<binPath>\home\lafargue\X-Plane 9\X-Plane-i686</binPath>
<dataPath>\usr\share\games\FlightGear</dataPath>
<hostAddress>127.0.0.3</hostAddress>
<inPort>6756</inPort>
<latitude></latitude>
<longitude></longitude>
<manual>false</manual>
<outPort>49000</outPort>
<remoteHostAddress>127.0.0.1</remoteHostAddress>
<simulatorId>X-Plane</simulatorId>
<startSim>false</startSim>
</data>
</XPlane__PCT__20HITL>
</HITL>
<HITLv2>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<attActCalc>false</attActCalc>
<attActHW>false</attActHW>
<attActSim>true</attActSim>
<attState>true</attState>
<attRaw>true</attRaw>
<attRawRate>20</attRawRate>
<binPath></binPath>
<dataPath></dataPath>
<gcsReciever>true</gcsReciever>
<gpsPosRate>200</gpsPosRate>
<gpsPosition>true</gpsPosition>
<homeLocRate>0</homeLocRate>
<homeLocation>true</homeLocation>
<hostAddress>127.0.0.1</hostAddress>
<inPort>40100</inPort>
<inputCommand>true</inputCommand>
<manualControl>false</manualControl>
<manualOutput>false</manualOutput>
<outPort>40200</outPort>
<outputRate>20</outputRate>
<remoteAddress>127.0.0.1</remoteAddress>
<simulatorId>ASimRC</simulatorId>
<sonarAltRate>50</sonarAltRate>
<sonarAltitude>false</sonarAltitude>
<sonarMaxAlt>@Variant(AAAAh0CgAAA=)</sonarMaxAlt>
</data>
</default>
</HITLv2>
<LineardialGadget>
<Accel__PCT__20Horizontal__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AccelState</sourceDataObject>
<sourceObjectField>x</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20X>
<Accel__PCT__20Horizontal__PCT__20Y>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,6,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AccelState</sourceDataObject>
<sourceObjectField>y</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20Y>
<Accel__PCT__20Horizontal__PCT__20Z>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AccelState</sourceDataObject>
<sourceObjectField>z</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20Z>
<Arm__PCT__20Status>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>FlightStatus</sourceDataObject>
<sourceObjectField>Armed</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Arm__PCT__20Status>
<Flight__PCT__20Time>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>0.001</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>FlightTime</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Flight__PCT__20Time>
<Flight__PCT__20mode>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>FlightStatus</sourceDataObject>
<sourceObjectField>FlightMode</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Flight__PCT__20mode>
<GPS__PCT__20Sats>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>0</greenMax>
<greenMin>0</greenMin>
<maxValue>12</maxValue>
<minValue>0</minValue>
<redMax>0</redMax>
<redMin>0</redMin>
<sourceDataObject>GPSPositionSensor</sourceDataObject>
<sourceObjectField>Satellites</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0</yellowMax>
<yellowMin>0</yellowMin>
</data>
</GPS__PCT__20Sats>
<GPS__PCT__20Status>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>GPSPositionSensor</sourceDataObject>
<sourceObjectField>Status</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</GPS__PCT__20Status>
<Mainboard__PCT__20CPU>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>90</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>95</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>95</yellowMax>
<yellowMin>90</yellowMin>
</data>
</Mainboard__PCT__20CPU>
<Pitch__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Pitch__PCT__20Desired>
<Pitch>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Pitch>
<PitchState>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.8</greenMax>
<greenMin>0.3</greenMin>
<maxValue>90</maxValue>
<minValue>-90</minValue>
<redMax>1</redMax>
<redMin>0</redMin>
<sourceDataObject>AttitudeState</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.9</yellowMax>
<yellowMin>0.1</yellowMin>
</data>
</PitchState>
<Roll__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Roll</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Roll__PCT__20Desired>
<Roll>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Roll</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Roll>
<Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>650</greenMax>
<greenMin>0</greenMin>
<maxValue>1200</maxValue>
<minValue>0</minValue>
<redMax>1200</redMax>
<redMin>900</redMin>
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
<sourceObjectField>RxDataRate</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>900</yellowMax>
<yellowMin>650</yellowMin>
</data>
</Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
<Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>650</greenMax>
<greenMin>0</greenMin>
<maxValue>1200</maxValue>
<minValue>0</minValue>
<redMax>1200</redMax>
<redMin>900</redMin>
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
<sourceObjectField>TxDataRate</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>900</yellowMax>
<yellowMin>650</yellowMin>
</data>
</Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
<Throttle>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>0</greenMin>
<maxValue>1</maxValue>
<minValue>0</minValue>
<redMax>1</redMax>
<redMin>0.75</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Throttle</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.75</yellowMax>
<yellowMin>0.5</yellowMin>
</data>
</Throttle>
<Yaw__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Yaw</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Yaw__PCT__20Desired>
<Yaw>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Yaw</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Yaw>
</LineardialGadget>
<ModelViewGadget>
<Aeroquad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Aeroquad__PCT__20__PCT__2B>
<CC3D>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CC3D/CC3D.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CC3D>
<CopterControl>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CopterControl>
<Danker__PCT__27s__PCT__20Quad>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/dankers_quad/dankers_quad.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Danker__PCT__27s__PCT__20Quad>
<Easyquad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/easy_quad/easy_quad_X.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Easyquad__PCT__20X>
<Easystar>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/Easystar/easystar.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Easystar>
<Firecracker>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/firecracker/firecracker.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Firecracker>
<Funjet>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/funjet/funjet.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Funjet>
<Gaui__PCT__20330X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/gaui_330x/gaui_330x.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Gaui__PCT__20330X>
<Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/helis/t-rex/t-rex_450_xl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
<Hexacopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_Hexa.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Hexacopter>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
<MattL__PCT__27s__PCT__20Y6>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mattL_Y6/mattL_Y6.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</MattL__PCT__27s__PCT__20Y6>
<Quadcopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_L4-ME.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Quadcopter>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<Scorpion__PCT__20Tricopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/scorpion_tricopter/scorpion_tricopter.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Scorpion__PCT__20Tricopter>
<Test__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_+.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20__PCT__2B>
<Test__PCT__20Quad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_X.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
</ModelViewGadget>
<OPMapGadget>
<Google__PCT__20Sat>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>ServerAndCache</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleSatellite</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<overlayOpacity>1</overlayOpacity>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
</data>
</Google__PCT__20Sat>
<Memory__PCT__20Only>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>CacheOnly</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleMap</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<overlayOpacity>1</overlayOpacity>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>airplanepip.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>false</useOpenGL>
</data>
</Memory__PCT__20Only>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>ServerAndCache</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>29.97</defaultLatitude>
<defaultLongitude>95.35</defaultLongitude>
<defaultZoom>7</defaultZoom>
<mapProvider>GoogleMap</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<overlayOpacity>1</overlayOpacity>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
</data>
</default>
</OPMapGadget>
<PfdQmlGadget>
<NoTerrain>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<actualPositionUsed>false</actualPositionUsed>
<altitude>2000</altitude>
<altitudeFactor>1</altitudeFactor>
<cacheOnly>false</cacheOnly>
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
<latitude>46.6715</latitude>
<longitude>10.1589</longitude>
<openGLEnabled>true</openGLEnabled>
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
<speedFactor>1</speedFactor>
<terrainEnabled>false</terrainEnabled>
</data>
</NoTerrain>
<Terrain>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<actualPositionUsed>false</actualPositionUsed>
<altitude>2000</altitude>
<cacheOnly>false</cacheOnly>
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
<latitude>46.6715</latitude>
<longitude>10.1589</longitude>
<openGLEnabled>true</openGLEnabled>
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
<terrainEnabled>false</terrainEnabled>
</data>
</Terrain>
</PfdQmlGadget>
<QmlViewGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dialFile>Unknown</dialFile>
<useOpenGLFlag>true</useOpenGLFlag>
</data>
</default>
</QmlViewGadget>
<ScopeGadget>
<Accel>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92920863607354e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>1.78017180972965e-306</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>9.34609790258712e-307</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>2.6501977682312e-318</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92920723246466e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Accel>
<Actuators>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>20</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-4</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.02760087926321e-322</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-5</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>3.55727265005698e-322</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>2.19822614387826e-314</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4289374847</color>
<mathFunction>None</mathFunction>
<uavField>Channel-6</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4289374847</color>
<mathFunction>None</mathFunction>
<uavField>Channel-7</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>6.92916505779426e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>4.22277162500408e-312</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurveCount>4</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Actuators>
<Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4283760895</color>
<mathFunction>None</mathFunction>
<uavField>Roll</uavField>
<uavObject>AttitudeState</uavObject>
<yMaximum>6.92921152826347e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92921152826031e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4278233600</color>
<mathFunction>None</mathFunction>
<uavField>Yaw</uavField>
<uavObject>AttitudeState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Pitch</uavField>
<uavObject>AttitudeState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Attitude>
<Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4278190080</color>
<mathFunction>None</mathFunction>
<uavField>Pressure</uavField>
<uavObject>BaroSensor</uavObject>
<yMaximum>1.72723371102043e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>3.86203233966055e-312</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurveCount>1</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>
</Barometer>
<Inputs>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>40</dataSize>
<plotCurve0>
<color>4278190207</color>
<mathFunction>None</mathFunction>
<uavField>Channel-1</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-4</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>6.92916505599784e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>7.21478569792807e-313</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-5</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>8.34448532677451e-308</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.78019353780608e-306</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-6</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>6.9291650571421e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>4.22277162500408e-312</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-7</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>4.24399158193054e-314</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>4.172013484701e-309</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4283825920</color>
<mathFunction>None</mathFunction>
<uavField>Channel-2</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>2.48782786590693e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4294923520</color>
<mathFunction>None</mathFunction>
<uavField>Channel-3</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>6.92921442541857e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92921441189619e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
<color>4294967040</color>
<mathFunction>None</mathFunction>
<uavField>Channel-0</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>6.92921439506975e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>1.72723371101889e-77</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurveCount>8</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>200</refreshInterval>
</data>
</Inputs>
<Raw__PCT__20AccelState>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20AccelState>
<Raw__PCT__20gyroState>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>gyroState</uavObject>
<yMaximum>1.02360527502876e-306</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92921152846347e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>gyroState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>gyroState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20gyroState>
<Raw__PCT__20magnetometers>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>MagState</uavObject>
<yMaximum>6.92916505601691e-310</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>3.86203233966055e-312</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>MagState</uavObject>
<yMaximum>1.72723371101889e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>-1</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>MagState</uavObject>
<yMaximum>1.72723371102028e-77</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>7.21478569792807e-313</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20magnetometers>
<Stacks__PCT__20monitor>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-CallbackScheduler0</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4278190335</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-CallbackScheduler1</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294967040</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4278255615</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4294923775</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4289331327</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Sensors</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Altitude</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurve8>
<color>4283760767</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve8>
<plotCurve9>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
<plotCurve10>
<color>4283782527</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-RadioRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurveCount>11</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>
</Stacks__PCT__20monitor>
<Telemetry__PCT__20quality>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>20</dataSize>
<plotCurve0>
<color>4289374847</color>
<mathFunction>None</mathFunction>
<uavField>TxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>RxFailures</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>TxRetries</uavField>
<uavObject>GCSTelemetryStats</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Telemetry__PCT__20quality>
<Uptimes>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<LoggingPath></LoggingPath>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4294945407</color>
<mathFunction>None</mathFunction>
<uavField>FlightTime</uavField>
<uavObject>SystemStats</uavObject>
<yMaximum>1.02360527502876e-306</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>6.92921153586022e-310</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>0</color>
<mathFunction></mathFunction>
<uavField></uavField>
<uavObject></uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurveCount>2</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>800</refreshInterval>
</data>
</Uptimes>
</ScopeGadget>
<SystemHealthGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<diagram>%%DATAPATH%%diagrams/default/system-health.svg</diagram>
</data>
</default>
</SystemHealthGadget>
<UAVObjectBrowser>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<CategorizedView>false</CategorizedView>
<ScientificView>false</ScientificView>
<manuallyChangedColor>#5baa56</manuallyChangedColor>
<onlyHilightChangedValues>false</onlyHilightChangedValues>
<recentlyUpdatedColor>#ff7957</recentlyUpdatedColor>
<recentlyUpdatedTimeout>500</recentlyUpdatedTimeout>
<showMetaData>false</showMetaData>
</data>
</default>
</UAVObjectBrowser>
<Uploader>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>/dev/ttyS0</defaultPort>
<defaultSpeed>14</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</default>
</Uploader>
<configInfo>
<locked>false</locked>
<version>1.2.0</version>
</configInfo>
</UAVGadgetConfigurations>
<UAVGadgetManager>
<Mode1>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<side0>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Flight Time</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Arm Status</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Flight mode</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAYwAAAAIAAAB7)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAZgAAAAIAAADf)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>PFDGadget</classId>
<gadget>
<activeConfiguration>raw</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAQAAAAAIAAAG4)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>ModelViewGadget</classId>
<gadget>
<activeConfiguration>Test Quad X</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>SystemHealthGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABIAAAAAIAAAFV)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB7wAAAAIAAAEf)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>OPMapGadget</classId>
<gadget>
<activeConfiguration>Google Sat</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACdgAAAAIAAAMp)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode1>
<Mode2>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<classId>ConfigGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>UAVObjectBrowser</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADRgAAAAIAAAJV)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode2>
<Mode3>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<classId>UAVObjectBrowser</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<side0>
<classId>LoggingGadget</classId>
<type>uavGadget</type>
</side0>
<side1>
<classId>GpsDisplayGadget</classId>
<gadget>
<activeConfiguration>Flight GPS</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAAcAAAAAIAAAHo)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<classId>DebugGadget</classId>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB3wAAAAIAAAEp)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACJgAAAAIAAADo)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode3>
<Mode4>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Accel</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Raw gyroState</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Attitude</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>ScopeGadget</classId>
<gadget>
<activeConfiguration>Uptimes</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAClQAAAAIAAAB3)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAACjQAAAAIAAAKU)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode4>
<Mode5>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<side0>
<classId>HITL</classId>
<gadget>
<activeConfiguration>XPlane HITL</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>HITLv2</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>EmptyGadget</classId>
<type>uavGadget</type>
</side0>
<side1>
<classId>GCSControlGadget</classId>
<gadget>
<activeConfiguration>MS Sidewinder</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAAB6AAAAAIAAADC)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADDAAAAAIAAAJJ)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode5>
<Mode6>
<showToolbars>false</showToolbars>
<splitter>
<side0>
<classId>Uploader</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<side0>
<side0>
<classId>LineardialGadget</classId>
<gadget>
<activeConfiguration>Flight Time</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>SystemHealthGadget</classId>
<gadget>
<activeConfiguration>default</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABQgAAAAIAAAGM)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<side0>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Attitude</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Baro Altimeter</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side0>
<side1>
<side0>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Compass</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side0>
<side1>
<classId>DialGadget</classId>
<gadget>
<activeConfiguration>Deluxe Climbrate</activeConfiguration>
</gadget>
<type>uavGadget</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAA=)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>2</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAABLwAAAAIAAAHf)</splitterSizes>
<type>splitter</type>
</side1>
<splitterOrientation>1</splitterOrientation>
<splitterSizes>@Variant(AAAACQAAAAIAAAACAAADVQAAAAIAAAJK)</splitterSizes>
<type>splitter</type>
</splitter>
<version>UAVGadgetManagerV1</version>
</Mode6>
</UAVGadgetManager>
<Workspace>
<AllowTabBarMovement>false</AllowTabBarMovement>
<Icon1>:/core/images/ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/cog.png</Icon3>
<Icon4>:/core/images/scopes.png</Icon4>
<Icon5>:/core/images/joystick.png</Icon5>
<Icon6>:/core/images/cpu.png</Icon6>
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
<NumberOfWorkspaces>6</NumberOfWorkspaces>
<TabBarPlacementIndex>1</TabBarPlacementIndex>
<Workspace1>Flight data</Workspace1>
<Workspace10>Workspace10</Workspace10>
<Workspace2>Configuration</Workspace2>
<Workspace3>System</Workspace3>
<Workspace4>Scopes</Workspace4>
<Workspace5>HITL</Workspace5>
<Workspace6>Firmware</Workspace6>
<Workspace7>Workspace7</Workspace7>
<Workspace8>Workspace8</Workspace8>
<Workspace9>Workspace9</Workspace9>
</Workspace>
</gcs>

10
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS.xml
View File

@ -1146,7 +1146,7 @@
<dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
@ -1169,7 +1169,7 @@
<dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>0.001</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
@ -1192,7 +1192,7 @@
<dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
@ -1215,7 +1215,7 @@
<dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,12,-1,5,50,0,0,0,0,0</font>
<greenMax>0</greenMax>
<greenMin>0</greenMin>
<maxValue>12</maxValue>
@ -1238,7 +1238,7 @@
<dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<font>MS Shell Dlg 2,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>

2832
ground/openpilotgcs/share/openpilotgcs/default_configurations/OpenPilotGCS_wide.xml
View File

@ -1,2832 +0,0 @@
<gcs>
<General>
<AutoConnect>true</AutoConnect>
<AutoSelect>true</AutoSelect>
<Description>Wide configuration</Description>
<Details>Default configuration built for wide screens (17" and up)</Details>
<ExpertMode>false</ExpertMode>
<LastPreferenceCategory></LastPreferenceCategory>
<LastPreferencePage></LastPreferencePage>
<SaveSettingsOnExit>true</SaveSettingsOnExit>
<SettingsWindowHeight>600</SettingsWindowHeight>
<SettingsWindowWidth>800</SettingsWindowWidth>
<StyleSheet>default</StyleSheet>
<UDPMirror>false</UDPMirror>
</General>
<IPconnection>
<Current>
<arr_1>
<Port>9000</Port>
<UseTCP>0</UseTCP>
</arr_1>
<size>1</size>
</Current>
</IPconnection>
<KeyBindings>
<size>0</size>
</KeyBindings>
<MainWindow>
<Color>#666666</Color>
<FullScreen>false</FullScreen>
<Maximized>true</Maximized>
</MainWindow>
<ModePriorities>
<Mode1>91</Mode1>
<Mode2>90</Mode2>
<Mode3>89</Mode3>
<Mode4>88</Mode4>
<Mode5>87</Mode5>
<Mode6>86</Mode6>
<Welcome>100</Welcome>
</ModePriorities>
<Plugins>
<SoundNotifyPlugin>
<configInfo>
<locked>false</locked>
<version>1.0.0</version>
</configInfo>
<data>
<Current>
<arr_1>
<CurrentLanguage>default</CurrentLanguage>
<DataObject>FlightStatus</DataObject>
<ExpireTimeout>0</ExpireTimeout>
<Mute>false</Mute>
<ObjectField>Armed</ObjectField>
<RangeLimit>0</RangeLimit>
<Repeat>0</Repeat>
<SayOrder>0</SayOrder>
<Sound1>armed</Sound1>
<Sound2></Sound2>
<Sound3></Sound3>
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
<Value1>Armed</Value1>
<Value2>0</Value2>
</arr_1>
<size>1</size>
</Current>
<EnableSound>true</EnableSound>
<listNotifies>
<arr_1>
<CurrentLanguage>default</CurrentLanguage>
<DataObject>FlightStatus</DataObject>
<ExpireTimeout>15</ExpireTimeout>
<Mute>false</Mute>
<ObjectField>Armed</ObjectField>
<RangeLimit>0</RangeLimit>
<Repeat>0</Repeat>
<SayOrder>0</SayOrder>
<Sound1>armed</Sound1>
<Sound2></Sound2>
<Sound3></Sound3>
<SoundCollectionPath>%%DATAPATH%%sounds</SoundCollectionPath>
<Value1>Armed</Value1>
<Value2>0</Value2>
</arr_1>
<size>1</size>
</listNotifies>
</data>
</SoundNotifyPlugin>
</Plugins>
<SerialConnection>
<speed>57600</speed>
</SerialConnection>
<UAVGadgetConfigurations>
<ConfigGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
</default>
</ConfigGadget>
<DialGadget>
<Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeState</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Attitude>
<Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Baro__PCT__20Altimeter>
<Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/barometer.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Barometer>
<Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/vsi.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityState</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
<needle1MinValue>-12</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Climbrate>
<Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Compass>
<Deluxe__PCT__20Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeState</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Attitude>
<Deluxe__PCT__20Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Baro__PCT__20Altimeter>
<Deluxe__PCT__20Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/barometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Barometer>
<Deluxe__PCT__20Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/vsi.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityState</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>11.2</needle1MaxValue>
<needle1MinValue>-11.2</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Climbrate>
<Deluxe__PCT__20Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Compass>
<Deluxe__PCT__20Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/speed.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPositionSensor</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Groundspeed__PCT__20kph>
<Deluxe__PCT__20Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/deluxe/thermometer.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Temperature>
<Deluxe__PCT__20Turn__PCT__20Coordinator>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>/home/lafargue/OP/OpenPilot/trunk/artwork/Dials/deluxe/turncoordinator.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle2</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AccelState</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>-20</needle2MinValue>
<needle2Move>Horizontal</needle2Move>
<needle2ObjectField>x</needle2ObjectField>
<needle3DataObject>AccelState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>x</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Deluxe__PCT__20Turn__PCT__20Coordinator>
<Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/speed.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPositionSensor</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Groundspeed__PCT__20kph>
<HiContrast__PCT__20Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/attitude.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Roll</needle1ObjectField>
<needle2DataObject>AttitudeState</needle2DataObject>
<needle2Factor>75</needle2Factor>
<needle2MaxValue>20</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Vertical</needle2Move>
<needle2ObjectField>Pitch</needle2ObjectField>
<needle3DataObject>AttitudeState</needle3DataObject>
<needle3Factor>-1</needle3Factor>
<needle3MaxValue>360</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Roll</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Attitude>
<HiContrast__PCT__20Baro__PCT__20Altimeter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/altimeter.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>10</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Altitude</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Baro__PCT__20Altimeter>
<HiContrast__PCT__20Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/barometer.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>10</needle1Factor>
<needle1MaxValue>1120</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Pressure</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Barometer>
<HiContrast__PCT__20Climbrate>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/vsi.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>VelocityState</needle1DataObject>
<needle1Factor>0.01</needle1Factor>
<needle1MaxValue>12</needle1MaxValue>
<needle1MinValue>-12</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Down</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Climbrate>
<HiContrast__PCT__20Compass>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/compass.svg</dialFile>
<dialForegroundID>foreground</dialForegroundID>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>AttitudeState</needle1DataObject>
<needle1Factor>-1</needle1Factor>
<needle1MaxValue>360</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Yaw</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Compass>
<HiContrast__PCT__20Groundspeed__PCT__20kph>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/speed.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>GPSPositionSensor</needle1DataObject>
<needle1Factor>3.6</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Groundspeed</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Groundspeed__PCT__20kph>
<HiContrast__PCT__20Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/hi-contrast/thermometer.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</HiContrast__PCT__20Temperature>
<Servo__PCT__20Channel__PCT__201>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>ManualControlCommand</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>2000</needle1MaxValue>
<needle1MinValue>1000</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Channel-3</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Servo__PCT__20Channel__PCT__201>
<Temperature>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<beSmooth>false</beSmooth>
<dialBackgroundID>background</dialBackgroundID>
<dialFile>%%DATAPATH%%dials/default/thermometer.svg</dialFile>
<dialNeedleID1>needle</dialNeedleID1>
<dialNeedleID2>needle2</dialNeedleID2>
<dialNeedleID3>needle3</dialNeedleID3>
<font>MS Shell Dlg 2,8.25,-1,5,50,0,0,0,0,0</font>
<needle1DataObject>BaroSensor</needle1DataObject>
<needle1Factor>1</needle1Factor>
<needle1MaxValue>120</needle1MaxValue>
<needle1MinValue>0</needle1MinValue>
<needle1Move>Rotate</needle1Move>
<needle1ObjectField>Temperature</needle1ObjectField>
<needle2DataObject>BaroSensor</needle2DataObject>
<needle2Factor>1</needle2Factor>
<needle2MaxValue>100</needle2MaxValue>
<needle2MinValue>0</needle2MinValue>
<needle2Move>Rotate</needle2Move>
<needle2ObjectField>Altitude</needle2ObjectField>
<needle3DataObject>BaroSensor</needle3DataObject>
<needle3Factor>1</needle3Factor>
<needle3MaxValue>1000</needle3MaxValue>
<needle3MinValue>0</needle3MinValue>
<needle3Move>Rotate</needle3Move>
<needle3ObjectField>Altitude</needle3ObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
</data>
</Temperature>
</DialGadget>
<GCSControlGadget>
<MS__PCT__20Sidewinder>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<button0Action>0</button0Action>
<button0Amount>0</button0Amount>
<button0Function>0</button0Function>
<button1Action>0</button1Action>
<button1Amount>0</button1Amount>
<button1Function>0</button1Function>
<button2Action>0</button2Action>
<button2Amount>0.1</button2Amount>
<button2Function>3</button2Function>
<button3Action>0</button3Action>
<button3Amount>0.1</button3Amount>
<button3Function>3</button3Function>
<button4Action>0</button4Action>
<button4Amount>0</button4Amount>
<button4Function>0</button4Function>
<button5Action>0</button5Action>
<button5Amount>0</button5Amount>
<button5Function>0</button5Function>
<button6Action>0</button6Action>
<button6Amount>0</button6Amount>
<button6Function>0</button6Function>
<button7Action>0</button7Action>
<button7Amount>0</button7Amount>
<button7Function>0</button7Function>
<channel0Reverse>false</channel0Reverse>
<channel1Reverse>false</channel1Reverse>
<channel2Reverse>true</channel2Reverse>
<channel3Reverse>false</channel3Reverse>
<channel4Reverse>false</channel4Reverse>
<channel5Reverse>false</channel5Reverse>
<channel6Reverse>false</channel6Reverse>
<channel7Reverse>false</channel7Reverse>
<controlPortUDP>0</controlPortUDP>
<controlsMode>2</controlsMode>
<pitchChannel>1</pitchChannel>
<rollChannel>0</rollChannel>
<throttleChannel>2</throttleChannel>
<yawChannel>3</yawChannel>
</data>
</MS__PCT__20Sidewinder>
</GCSControlGadget>
<GpsDisplayGadget>
<Flight__PCT__20GPS>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<connectionMode>Telemetry</connectionMode>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Communications Port (COM1)</defaultPort>
<defaultSpeed>11</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</Flight__PCT__20GPS>
<GPS__PCT__20Mouse>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<connectionMode>Serial</connectionMode>
<defaultDataBits>3</defaultDataBits>
<defaultFlow>0</defaultFlow>
<defaultParity>0</defaultParity>
<defaultPort>Communications Port (COM1)</defaultPort>
<defaultSpeed>17</defaultSpeed>
<defaultStopBits>0</defaultStopBits>
</data>
</GPS__PCT__20Mouse>
</GpsDisplayGadget>
<HITL>
<AeroSimRC__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<addNoise>false</addNoise>
<attActCalc>false</attActCalc>
<attActHW>false</attActHW>
<attActSim>true</attActSim>
<attStateEnabled>true</attStateEnabled>
<attRawEnabled>true</attRawEnabled>
<attRawRate>20</attRawRate>
<baroAltRate>50</baroAltRate>
<baroAltitudeEnabled>false</baroAltitudeEnabled>
<binPath></binPath>
<dataPath></dataPath>
<gcsReceiverEnabled>true</gcsReceiverEnabled>
<gpsPosRate>100</gpsPosRate>
<gpsPositionEnabled>false</gpsPositionEnabled>
<groundTruthEnabled>true</groundTruthEnabled>
<groundTruthRate>100</groundTruthRate>
<hostAddress>0.0.0.0</hostAddress>
<inPort>40100</inPort>
<inputCommand>true</inputCommand>
<latitude></latitude>
<longitude></longitude>
<manualControlEnabled>false</manualControlEnabled>
<manualOutput>false</manualOutput>
<minOutputPeriod>40</minOutputPeriod>
<outPort>40200</outPort>
<remoteAddress>127.0.0.1</remoteAddress>
<simulatorId>ASimRC</simulatorId>
<startSim>false</startSim>
</data>
</AeroSimRC__PCT__20HITL>
<Flightgear__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<addNoise>false</addNoise>
<attActCalc>false</attActCalc>
<attActHW>false</attActHW>
<attActSim>true</attActSim>
<attStateEnabled>true</attStateEnabled>
<attRawEnabled>true</attRawEnabled>
<attRawRate>20</attRawRate>
<baroAltRate>50</baroAltRate>
<baroAltitudeEnabled>false</baroAltitudeEnabled>
<binPath>\usr\games\fgfs</binPath>
<dataPath>\usr\share\games\FlightGear</dataPath>
<gcsReceiverEnabled>false</gcsReceiverEnabled>
<gpsPosRate>100</gpsPosRate>
<gpsPositionEnabled>false</gpsPositionEnabled>
<groundTruthEnabled>true</groundTruthEnabled>
<groundTruthRate>100</groundTruthRate>
<hostAddress>127.0.0.1</hostAddress>
<inPort>9009</inPort>
<inputCommand>true</inputCommand>
<latitude></latitude>
<longitude></longitude>
<manualControlEnabled>true</manualControlEnabled>
<manualOutput>false</manualOutput>
<minOutputPeriod>40</minOutputPeriod>
<outPort>9010</outPort>
<remoteAddress>127.0.0.1</remoteAddress>
<simulatorId>FG</simulatorId>
<startSim>true</startSim>
</data>
</Flightgear__PCT__20HITL>
<XPlane__PCT__20HITL>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<addNoise>false</addNoise>
<attActCalc>false</attActCalc>
<attActHW>false</attActHW>
<attActSim>true</attActSim>
<attStateEnabled>true</attStateEnabled>
<attRawEnabled>true</attRawEnabled>
<attRawRate>20</attRawRate>
<baroAltRate>50</baroAltRate>
<baroAltitudeEnabled>false</baroAltitudeEnabled>
<binPath></binPath>
<dataPath></dataPath>
<gcsReceiverEnabled>false</gcsReceiverEnabled>
<gpsPosRate>100</gpsPosRate>
<gpsPositionEnabled>false</gpsPositionEnabled>
<groundTruthEnabled>true</groundTruthEnabled>
<groundTruthRate>100</groundTruthRate>
<hostAddress>0.0.0.0</hostAddress>
<inPort>6756</inPort>
<inputCommand>true</inputCommand>
<latitude></latitude>
<longitude></longitude>
<manualControlEnabled>true</manualControlEnabled>
<manualOutput>false</manualOutput>
<minOutputPeriod>40</minOutputPeriod>
<outPort>49000</outPort>
<remoteAddress>127.0.0.1</remoteAddress>
<simulatorId>X-Plane</simulatorId>
<startSim>false</startSim>
</data>
</XPlane__PCT__20HITL>
</HITL>
<LineardialGadget>
<Accel__PCT__20Horizontal__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AccelState</sourceDataObject>
<sourceObjectField>x</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20X>
<Accel__PCT__20Horizontal__PCT__20Y>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,6,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AccelState</sourceDataObject>
<sourceObjectField>y</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20Y>
<Accel__PCT__20Horizontal__PCT__20Z>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,8,-1,5,50,0,0,0,0,0</font>
<greenMax>-9</greenMax>
<greenMin>-10</greenMin>
<maxValue>11</maxValue>
<minValue>-11</minValue>
<redMax>11</redMax>
<redMin>-11</redMin>
<sourceDataObject>AccelState</sourceDataObject>
<sourceObjectField>z</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>-5</yellowMax>
<yellowMin>-11</yellowMin>
</data>
</Accel__PCT__20Horizontal__PCT__20Z>
<Arm__PCT__20Status>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/arm-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>FlightStatus</sourceDataObject>
<sourceObjectField>Armed</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Arm__PCT__20Status>
<Flight__PCT__20Time>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/textonly.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>0.001</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>FlightTime</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Flight__PCT__20Time>
<Flight__PCT__20mode>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/flightmode-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>FlightStatus</sourceDataObject>
<sourceObjectField>FlightMode</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</Flight__PCT__20mode>
<GPS__PCT__20Sats>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/gps-signal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>0</greenMax>
<greenMin>0</greenMin>
<maxValue>12</maxValue>
<minValue>0</minValue>
<redMax>0</redMax>
<redMin>0</redMin>
<sourceDataObject>GPSPositionSensor</sourceDataObject>
<sourceObjectField>Satellites</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0</yellowMax>
<yellowMin>0</yellowMin>
</data>
</GPS__PCT__20Sats>
<GPS__PCT__20Status>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/default/gps-status.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>,12,-1,5,50,0,0,0,0,0</font>
<greenMax>100</greenMax>
<greenMin>66</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>33</redMax>
<redMin>0</redMin>
<sourceDataObject>GPSPositionSensor</sourceDataObject>
<sourceObjectField>Status</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>66</yellowMax>
<yellowMin>33</yellowMin>
</data>
</GPS__PCT__20Status>
<Mainboard__PCT__20CPU>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>90</greenMax>
<greenMin>0</greenMin>
<maxValue>100</maxValue>
<minValue>0</minValue>
<redMax>100</redMax>
<redMin>95</redMin>
<sourceDataObject>SystemStats</sourceDataObject>
<sourceObjectField>CPULoad</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>95</yellowMax>
<yellowMin>90</yellowMin>
</data>
</Mainboard__PCT__20CPU>
<Pitch__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Pitch__PCT__20Desired>
<Pitch>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Pitch>
<PitchState>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.8</greenMax>
<greenMin>0.3</greenMin>
<maxValue>90</maxValue>
<minValue>-90</minValue>
<redMax>1</redMax>
<redMin>0</redMin>
<sourceDataObject>AttitudeState</sourceDataObject>
<sourceObjectField>Pitch</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.9</yellowMax>
<yellowMin>0.1</yellowMin>
</data>
</PitchState>
<Roll__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Roll</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Roll__PCT__20Desired>
<Roll>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Roll</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Roll>
<Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>650</greenMax>
<greenMin>0</greenMin>
<maxValue>1200</maxValue>
<minValue>0</minValue>
<redMax>1200</redMax>
<redMin>900</redMin>
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
<sourceObjectField>RxDataRate</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>900</yellowMax>
<yellowMin>650</yellowMin>
</data>
</Telemetry__PCT__20RX__PCT__20Rate__PCT__20Horizontal>
<Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-horizontal.svg</dFile>
<decimalPlaces>0</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>650</greenMax>
<greenMin>0</greenMin>
<maxValue>1200</maxValue>
<minValue>0</minValue>
<redMax>1200</redMax>
<redMin>900</redMin>
<sourceDataObject>GCSTelemetryStats</sourceDataObject>
<sourceObjectField>TxDataRate</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>900</yellowMax>
<yellowMin>650</yellowMin>
</data>
</Telemetry__PCT__20TX__PCT__20Rate__PCT__20Horizontal>
<Throttle>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>0</greenMin>
<maxValue>1</maxValue>
<minValue>0</minValue>
<redMax>1</redMax>
<redMin>0.75</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Throttle</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.75</yellowMax>
<yellowMin>0.5</yellowMin>
</data>
</Throttle>
<Yaw__PCT__20Desired>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ActuatorDesired</sourceDataObject>
<sourceObjectField>Yaw</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Yaw__PCT__20Desired>
<Yaw>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dFile>%%DATAPATH%%dials/deluxe/lineardial-vertical.svg</dFile>
<decimalPlaces>2</decimalPlaces>
<factor>1</factor>
<font>Andale Mono,12,-1,5,75,0,0,0,0,0</font>
<greenMax>0.5</greenMax>
<greenMin>-0.5</greenMin>
<maxValue>1</maxValue>
<minValue>-1</minValue>
<redMax>1</redMax>
<redMin>-1</redMin>
<sourceDataObject>ManualControlCommand</sourceDataObject>
<sourceObjectField>Yaw</sourceObjectField>
<useOpenGLFlag>false</useOpenGLFlag>
<yellowMax>0.8</yellowMax>
<yellowMin>-0.8</yellowMin>
</data>
</Yaw>
</LineardialGadget>
<ModelViewGadget>
<Aeroquad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/aeroquad/aeroquad_+.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Aeroquad__PCT__20__PCT__2B>
<CC3D>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CC3D/CC3D.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CC3D>
<CopterControl>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/boards/CopterControl/CopterControl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</CopterControl>
<Danker__PCT__27s__PCT__20Quad>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/dankers_quad/dankers_quad.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Danker__PCT__27s__PCT__20Quad>
<Easyquad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/easy_quad/easy_quad_X.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Easyquad__PCT__20X>
<Easystar>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/Easystar/easystar.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Easystar>
<Firecracker>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/firecracker/firecracker.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Firecracker>
<Funjet>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/planes/funjet/funjet.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Funjet>
<Gaui__PCT__20330X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/gaui_330x/gaui_330x.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Gaui__PCT__20330X>
<Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/helis/t-rex/t-rex_450_xl.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Helicopter__PCT__20-__PCT__20TRex__PCT__20450>
<Hexacopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_Hexa.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Hexacopter>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_+.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20__PCT__2B>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
<configInfo>
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<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-Q_X.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20Quad__PCT__20X__PCT__20>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
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<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_+.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20__PCT__2B>
<Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
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</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/joes_cnc/J14-QT_X.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Joe__PCT__27s__PCT__2014__PCT__22__PCT__20T__PCT__20Quad__PCT__20X>
<MattL__PCT__27s__PCT__20Y6>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mattL_Y6/mattL_Y6.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</MattL__PCT__27s__PCT__20Y6>
<Quadcopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/mikrokopter/MK_L4-ME.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Quadcopter>
<Ricoo>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/ricoo/ricoo.3DS</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Ricoo>
<Scorpion__PCT__20Tricopter>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/scorpion_tricopter/scorpion_tricopter.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Scorpion__PCT__20Tricopter>
<Test__PCT__20Quad__PCT__20__PCT__2B>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_+.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20__PCT__2B>
<Test__PCT__20Quad__PCT__20X>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<acFilename>%%DATAPATH%%models/multi/test_quad/test_quad_X.3ds</acFilename>
<bgFilename>%%DATAPATH%%models/backgrounds/default_background.png</bgFilename>
<enableVbo>false</enableVbo>
</data>
</Test__PCT__20Quad__PCT__20X>
</ModelViewGadget>
<OPMapGadget>
<Google__PCT__20Sat>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>ServerAndCache</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleSatellite</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<overlayOpacity>1</overlayOpacity>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
</data>
</Google__PCT__20Sat>
<Memory__PCT__20Only>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>CacheOnly</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleMap</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<overlayOpacity>1</overlayOpacity>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>airplanepip.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
</data>
</Memory__PCT__20Only>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<accessMode>ServerAndCache</accessMode>
<cacheLocation>%%STOREPATH%%mapscache/</cacheLocation>
<defaultLatitude>0</defaultLatitude>
<defaultLongitude>0</defaultLongitude>
<defaultZoom>2</defaultZoom>
<mapProvider>GoogleMap</mapProvider>
<maxUpdateRate>2000</maxUpdateRate>
<overlayOpacity>1</overlayOpacity>
<showTileGridLines>false</showTileGridLines>
<uavSymbol>mapquad.png</uavSymbol>
<useMemoryCache>true</useMemoryCache>
<useOpenGL>true</useOpenGL>
</data>
</default>
</OPMapGadget>
<PfdQmlGadget>
<NoTerrain>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<actualPositionUsed>false</actualPositionUsed>
<altitude>2000</altitude>
<altitudeFactor>1</altitudeFactor>
<cacheOnly>false</cacheOnly>
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
<latitude>46.6715</latitude>
<longitude>10.1589</longitude>
<openGLEnabled>true</openGLEnabled>
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
<speedFactor>1</speedFactor>
<terrainEnabled>false</terrainEnabled>
</data>
</NoTerrain>
<Terrain>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<actualPositionUsed>false</actualPositionUsed>
<altitude>2000</altitude>
<cacheOnly>false</cacheOnly>
<earthFile>%%DATAPATH%%pfd/default/readymap.earth</earthFile>
<latitude>46.6715</latitude>
<longitude>10.1589</longitude>
<openGLEnabled>true</openGLEnabled>
<qmlFile>%%DATAPATH%%pfd/default/Pfd.qml</qmlFile>
<terrainEnabled>false</terrainEnabled>
</data>
</Terrain>
</PfdQmlGadget>
<QmlViewGadget>
<default>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<dialFile>Unknown</dialFile>
<useOpenGLFlag>true</useOpenGLFlag>
</data>
</default>
</QmlViewGadget>
<ScopeGadget>
<Accel>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Accel>
<Actuators>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>20</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-4</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-5</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4289374847</color>
<mathFunction>None</mathFunction>
<uavField>Channel-6</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4289374847</color>
<mathFunction>None</mathFunction>
<uavField>Channel-7</uavField>
<uavObject>ActuatorCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurveCount>4</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Actuators>
<Attitude>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4283760895</color>
<mathFunction>None</mathFunction>
<uavField>Roll</uavField>
<uavObject>AttitudeState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4278233600</color>
<mathFunction>None</mathFunction>
<uavField>Yaw</uavField>
<uavObject>AttitudeState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Pitch</uavField>
<uavObject>AttitudeState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>100</refreshInterval>
</data>
</Attitude>
<Barometer>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4278190080</color>
<mathFunction>None</mathFunction>
<uavField>Pressure</uavField>
<uavObject>BaroSensor</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurveCount>1</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>1000</refreshInterval>
</data>
</Barometer>
<Inputs>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>40</dataSize>
<plotCurve0>
<color>4278190207</color>
<mathFunction>None</mathFunction>
<uavField>Channel-1</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-4</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-5</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-6</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>Channel-7</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4283825920</color>
<mathFunction>None</mathFunction>
<uavField>Channel-2</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4294923520</color>
<mathFunction>None</mathFunction>
<uavField>Channel-3</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
<color>4294967040</color>
<mathFunction>None</mathFunction>
<uavField>Channel-0</uavField>
<uavObject>ManualControlCommand</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurveCount>8</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>200</refreshInterval>
</data>
</Inputs>
<Raw__PCT__20AccelState>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>AccelState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20AccelState>
<Raw__PCT__20GyroState>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>GyroState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>GyroState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>GyroState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20GyroState>
<Raw__PCT__20magnetometers>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>60</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>x</uavField>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4283782655</color>
<mathFunction>None</mathFunction>
<uavField>y</uavField>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4283804160</color>
<mathFunction>None</mathFunction>
<uavField>z</uavField>
<uavObject>MagState</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurveCount>3</plotCurveCount>
<plotType>1</plotType>
<refreshInterval>500</refreshInterval>
</data>
</Raw__PCT__20magnetometers>
<Stacks__PCT__20monitor>
<configInfo>
<locked>false</locked>
<version>0.0.0</version>
</configInfo>
<data>
<LoggingEnabled>false</LoggingEnabled>
<LoggingNewFileOnConnect>false</LoggingNewFileOnConnect>
<configurationStreamVersion>1000</configurationStreamVersion>
<dataSize>240</dataSize>
<plotCurve0>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-System</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve0>
<plotCurve1>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-CallbackScheduler0</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve1>
<plotCurve2>
<color>4278190335</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-CallbackScheduler1</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve2>
<plotCurve3>
<color>4294967040</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-ManualControl</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve3>
<plotCurve4>
<color>4278255615</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Stabilization</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve4>
<plotCurve5>
<color>4294923775</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Actuator</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve5>
<plotCurve6>
<color>4289331327</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Sensors</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve6>
<plotCurve7>
<color>4294945280</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-Altitude</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve7>
<plotCurve8>
<color>4283760767</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryTx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve8>
<plotCurve9>
<color>4294901760</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-TelemetryRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve9>
<plotCurve10>
<color>4283782527</color>
<mathFunction>None</mathFunction>
<uavField>StackRemaining-RadioRx</uavField>
<uavObject>TaskInfo</uavObject>
<yMaximum>0</yMaximum>
<yMeanSamples>1</yMeanSamples>
<yMinimum>0</yMinimum>
<yScalePower>0</yScalePower>
</plotCurve10>
<plotCurveCount>11</plotCurveCount>
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<UAVObjectBrowser>
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<type>uavGadget</type>
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<side1>
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<Icon1>:/core/images/ah.png</Icon1>
<Icon10>:/core/images/openpilot_logo_64.png</Icon10>
<Icon2>:/core/images/config.png</Icon2>
<Icon3>:/core/images/cog.png</Icon3>
<Icon4>:/core/images/scopes.png</Icon4>
<Icon5>:/core/images/joystick.png</Icon5>
<Icon6>:/core/images/cpu.png</Icon6>
<Icon7>:/core/images/openpilot_logo_64.png</Icon7>
<Icon8>:/core/images/openpilot_logo_64.png</Icon8>
<Icon9>:/core/images/openpilot_logo_64.png</Icon9>
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<Workspace10>Workspace10</Workspace10>
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<Workspace8>Workspace8</Workspace8>
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</gcs>

279
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
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Width:  |  Height:  |  Size: 235 KiB

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18
ground/openpilotgcs/src/libs/sdlgamepad/copydata.pro Normal file
View File

@ -0,0 +1,18 @@
equals(copydata, 1) {
win32 {
# copy SDL DLL
SDL_DLLS = \
SDL.dll
for(dll, SDL_DLLS) {
data_copy.commands += $(COPY_FILE) $$targetPath(\"$$(SDL_DIR)/bin/$$dll\") $$targetPath(\"$$GCS_APP_PATH/$$dll\") $$addNewline()
}
# add make target
POST_TARGETDEPS += copydata
data_copy.target = copydata
QMAKE_EXTRA_TARGETS += data_copy
}
}

42
ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.cpp
View File

@ -21,6 +21,22 @@
/**********************************************************************/
#include "sdlgamepad.h"
#include <SDL/SDL.h>
// #undef main
class SDLGamepadPrivate {
public:
SDLGamepadPrivate() : gamepad(0)
{}
/**
* SDL_Joystick object.
*
* This represents the currently opened SDL_Joystick object.
*/
SDL_Joystick *gamepad;
};
/**********************************************************************/
SDLGamepad::SDLGamepad()
{
@ -29,7 +45,7 @@ SDLGamepad::SDLGamepad()
index = -1;
loop = false;
tick = MIN_RATE;
gamepad = 0;
priv = new SDLGamepadPrivate;
}
/**********************************************************************/
@ -37,11 +53,13 @@ SDLGamepad::~SDLGamepad()
{
loop = false;
if (gamepad) {
SDL_JoystickClose(gamepad);
if (priv->gamepad) {
SDL_JoystickClose(priv->gamepad);
}
SDL_Quit();
delete priv;
}
/**********************************************************************/
@ -84,14 +102,14 @@ bool SDLGamepad::setGamepad(qint16 index)
{
if (index != this->index) {
if (SDL_JoystickOpened(this->index)) {
SDL_JoystickClose(gamepad);
SDL_JoystickClose(priv->gamepad);
}
gamepad = SDL_JoystickOpen(index);
priv->gamepad = SDL_JoystickOpen(index);
if (gamepad) {
buttons = SDL_JoystickNumButtons(gamepad);
axes = SDL_JoystickNumAxes(gamepad);
if (priv->gamepad) {
buttons = SDL_JoystickNumButtons(priv->gamepad);
axes = SDL_JoystickNumAxes(priv->gamepad);
if (axes >= 4) {
this->index = index;
@ -122,12 +140,12 @@ void SDLGamepad::setTickRate(qint16 ms)
/**********************************************************************/
void SDLGamepad::updateAxes()
{
if (gamepad) {
if (priv->gamepad) {
QListInt16 values;
SDL_JoystickUpdate();
for (qint8 i = 0; i < axes; i++) {
qint16 value = SDL_JoystickGetAxis(gamepad, i);
qint16 value = SDL_JoystickGetAxis(priv->gamepad, i);
if (value > -NULL_RANGE && value < NULL_RANGE) {
value = 0;
@ -143,11 +161,11 @@ void SDLGamepad::updateAxes()
/**********************************************************************/
void SDLGamepad::updateButtons()
{
if (gamepad) {
if (priv->gamepad) {
SDL_JoystickUpdate();
for (qint8 i = 0; i < buttons; i++) {
qint16 state = SDL_JoystickGetButton(gamepad, i);
qint16 state = SDL_JoystickGetButton(priv->gamepad, i);
if (buttonStates.at(i) != state) {
if (state > 0) {

48
ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.h
View File

@ -20,18 +20,13 @@
* mail.nalla@gmail.com
*/
/**********************************************************************/
#ifndef SDLGAMEPAD_H
#define SDLGAMEPAD_H
/**********************************************************************/
#include <SDL/SDL.h>
#undef main
/**********************************************************************/
#include <QThread>
#include "sdlgamepad_global.h"
#include <QThread>
/**
* The Axis range that is treated as null.
*
@ -114,6 +109,8 @@ enum ButtonNumber {
*/
typedef QList<qint16> QListInt16;
class SDLGamepadPrivate;
/**
* A class for communication with a sdl gamepad.
*
@ -226,17 +223,6 @@ public slots:
private:
/**
* Variable to control thread.
*
* This class member variable is false at construction time. If
* the sdl init was successfull it will be set to true. The quit
* slot will false it again.
*
* @see quit()
*/
bool loop;
/**
* Get new axes information from the SDL system.
*
@ -261,6 +247,17 @@ private:
*/
void updateButtons();
/**
* Variable to control thread.
*
* This class member variable is false at construction time. If
* the SDL init was successful it will be set to true. The quit
* slot will false it again.
*
* @see quit()
*/
bool loop;
/**
* Number of buttons.
*
@ -295,20 +292,18 @@ private:
*/
qint16 index;
/**
* SDL_Joystick object.
*
* This represents the currently opend SDL_Joystick object.
*/
SDL_Joystick *gamepad;
/**
* A QList to store the current button states.
*
* This list stores the current states of all avaliable buttons.
* This list stores the current states of all available buttons.
*/
QList<qint16> buttonStates;
/**
* Variable that holds private members.
*/
SDLGamepadPrivate *priv;
signals:
/**
@ -354,5 +349,4 @@ signals:
void axesValues(QListInt16 values);
};
/**********************************************************************/
#endif // SDLGAMEPAD_H

40
ground/openpilotgcs/src/libs/sdlgamepad/sdlgamepad.pro
View File

@ -18,11 +18,14 @@
# mail.nalla@gmail.com
#
TEMPLATE = lib
TARGET = sdlgamepad
DEFINES += SDLGAMEPAD_LIBRARY
TEMPLATE = lib
TARGET = sdlgamepad
DEFINES += SDLGAMEPAD_LIBRARY
include(../../openpilotgcslibrary.pri)
macx {
# Workaround to ensure that SDL framework and associated header files are found
# Ensures that SDL framework and header files are found when compiled with Qt5.2.1
INCLUDEPATH += /Library/Frameworks/SDL.framework/Headers
SDL = -F/Library/Frameworks
# Add SDL to CFLAGS fixes build problems on mac
@ -30,18 +33,27 @@ macx {
QMAKE_CXXFLAGS += $$SDL
# Let the linker know where to find the frameworks
LIBS += $$SDL
LIBS += -framework OpenGL -framework SDL -framework Cocoa
}
include(../../openpilotgcslibrary.pri)
win32 {
INCLUDEPATH += $(SDL_DIR)/include
LIBS += -L$(SDL_DIR)/lib
}
SOURCES += sdlgamepad.cpp
HEADERS += sdlgamepad.h \
sdlgamepad_global.h
!mac:LIBS += -lSDL
macx:LIBS += -framework OpenGL -framework SDL -framework Cocoa
!macx:LIBS += -lSDL
SOURCES += \
sdlgamepad.cpp
OTHER_FILES += COPYING \
README \
sdlgamepad.dox \
sdlgamepad.doc
HEADERS += \
sdlgamepad.h \
sdlgamepad_global.h
OTHER_FILES += \
COPYING \
README \
sdlgamepad.dox \
sdlgamepad.doc
include(copydata.pro)

3
ground/openpilotgcs/src/plugins/config/airframe_multirotor.ui
View File

@ -119,9 +119,6 @@
<height>50</height>
</size>
</property>
<property name="styleSheet">
<string notr="true">background:transparent</string>
</property>
</widget>
</item>
</layout>

60
ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui
View File

@ -116,8 +116,8 @@
<rect>
<x>0</x>
<y>0</y>
<width>624</width>
<height>516</height>
<width>622</width>
<height>519</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
@ -227,14 +227,14 @@
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<layout class="QGridLayout" name="gridLayout_2">
<item row="0" column="0">
<widget class="QLabel" name="telemetrySpeedLabel">
<property name="text">
<string>Telemetry speed:</string>
<item row="0" column="1">
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<item row="2" column="0">
<widget class="QLabel" name="GpsSpeedLabel">
<property name="minimumSize">
<size>
@ -247,7 +247,28 @@
</property>
</widget>
</item>
<item row="2" column="0">
<item row="0" column="0">
<widget class="QLabel" name="telemetrySpeedLabel">
<property name="text">
<string>Telemetry speed:</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="comUsbBridgeSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="gpsSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QLabel" name="ComUsbBridgeSpeedLabel">
<property name="minimumSize">
<size>
@ -260,26 +281,15 @@
</property>
</widget>
</item>
<item row="0" column="1">
<widget class="QComboBox" name="telemetrySpeed">
<property name="toolTip">
<string>Select the speed here.</string>
<item row="3" column="0">
<widget class="QLabel" name="GpsProtocolLabel">
<property name="text">
<string>GPS protocol :</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QComboBox" name="gpsSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QComboBox" name="comUsbBridgeSpeed">
<property name="toolTip">
<string>Select the speed here.</string>
</property>
</widget>
<item row="3" column="1">
<widget class="QComboBox" name="gpsProtocol"/>
</item>
</layout>
</item>

13
ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp
View File

@ -26,7 +26,6 @@
*/
#include "config_cc_hw_widget.h"
#include "hwsettings.h"
#include <QDebug>
#include <QStringList>
#include <QWidget>
@ -82,6 +81,18 @@ ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
addWidgetBinding("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp);
addWidgetBinding("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed);
addWidgetBinding("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed);
// Add Gps protocol configuration
HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
HwSettings::DataFields hwSettingsData = hwSettings->getData();
if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
m_telemetry->gpsProtocol->setEnabled(false);
m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
} else {
addWidgetBinding("GPSSettings", "DataProtocol", m_telemetry->gpsProtocol);
}
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed);
connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
enableSaveButtons(false);

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

@ -44,7 +44,6 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
ui(new Ui_ccattitude)
{
ui->setupUi(this);
forceConnectedState(); // dynamic widgets don't recieve the connected signal
connect(ui->zeroBias, SIGNAL(clicked()), this, SLOT(startAccelCalibration()));
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
@ -67,7 +66,9 @@ ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH);
addWidgetBinding("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW);
addWidget(ui->zeroBias);
populateWidgets();
refreshWidgetsValues();
forceConnectedState();
}
ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()

20
ground/openpilotgcs/src/plugins/config/configrevohwwidget.cpp
View File

@ -65,6 +65,10 @@ ConfigRevoHWWidget::ConfigRevoHWWidget(QWidget *parent) : ConfigTaskWidget(paren
addWidgetBinding("HwSettings", "GPSSpeed", m_ui->cbMainGPSSpeed);
addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_ui->cbMainComSpeed);
// Add Gps protocol configuration
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbMainGPSProtocol);
addWidgetBinding("GPSSettings", "DataProtocol", m_ui->cbFlexiGPSProtocol);
connect(m_ui->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
setupCustomCombos();
@ -191,6 +195,10 @@ void ConfigRevoHWWidget::flexiPortChanged(int index)
m_ui->cbFlexiComSpeed->setVisible(false);
m_ui->lblFlexiSpeed->setVisible(true);
// Add Gps protocol configuration
m_ui->cbFlexiGPSProtocol->setVisible(false);
m_ui->lbFlexiGPSProtocol->setVisible(false);
switch (m_ui->cbFlexi->currentIndex()) {
case HwSettings::RM_FLEXIPORT_TELEMETRY:
m_ui->cbFlexiTelemSpeed->setVisible(true);
@ -199,6 +207,10 @@ void ConfigRevoHWWidget::flexiPortChanged(int index)
}
break;
case HwSettings::RM_FLEXIPORT_GPS:
// Add Gps protocol configuration
m_ui->cbFlexiGPSProtocol->setVisible(true);
m_ui->lbFlexiGPSProtocol->setVisible(true);
m_ui->cbFlexiGPSSpeed->setVisible(true);
if (m_ui->cbMain->currentIndex() == HwSettings::RM_MAINPORT_GPS) {
m_ui->cbMain->setCurrentIndex(HwSettings::RM_MAINPORT_DISABLED);
@ -234,6 +246,10 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
m_ui->cbMainComSpeed->setVisible(false);
m_ui->lblMainSpeed->setVisible(true);
// Add Gps protocol configuration
m_ui->cbMainGPSProtocol->setVisible(false);
m_ui->lbMainGPSProtocol->setVisible(false);
switch (m_ui->cbMain->currentIndex()) {
case HwSettings::RM_MAINPORT_TELEMETRY:
m_ui->cbMainTelemSpeed->setVisible(true);
@ -242,6 +258,10 @@ void ConfigRevoHWWidget::mainPortChanged(int index)
}
break;
case HwSettings::RM_MAINPORT_GPS:
// Add Gps protocol configuration
m_ui->cbMainGPSProtocol->setVisible(true);
m_ui->lbMainGPSProtocol->setVisible(true);
m_ui->cbMainGPSSpeed->setVisible(true);
if (m_ui->cbFlexi->currentIndex() == HwSettings::RM_FLEXIPORT_GPS) {
m_ui->cbFlexi->setCurrentIndex(HwSettings::RM_FLEXIPORT_DISABLED);

329
ground/openpilotgcs/src/plugins/config/configrevohwwidget.ui
View File

@ -27,7 +27,16 @@
<string>HW settings</string>
</attribute>
<layout class="QVBoxLayout" name="verticalLayout_3">
<property name="margin">
<property name="leftMargin">
<number>0</number>
</property>
<property name="topMargin">
<number>0</number>
</property>
<property name="rightMargin">
<number>0</number>
</property>
<property name="bottomMargin">
<number>0</number>
</property>
<item>
@ -113,16 +122,117 @@
<rect>
<x>0</x>
<y>0</y>
<width>818</width>
<height>673</height>
<width>810</width>
<height>665</height>
</rect>
</property>
<layout class="QGridLayout" name="gridLayout_3">
<property name="margin">
<property name="leftMargin">
<number>12</number>
</property>
<property name="topMargin">
<number>12</number>
</property>
<property name="rightMargin">
<number>12</number>
</property>
<property name="bottomMargin">
<number>12</number>
</property>
<item row="0" column="2">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Changes on this page only take effect after board reset or power cycle</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="3">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="2">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="2">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0">
<item row="5" column="0">
<widget class="QLabel" name="label_4">
<property name="sizePolicy">
@ -155,27 +265,7 @@
</property>
</spacer>
</item>
<item row="15" column="1">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
<number>0</number>
</property>
<item alignment="Qt::AlignTop">
<widget class="QComboBox" name="cbFlexiTelemSpeed">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
<item alignment="Qt::AlignTop">
<widget class="QComboBox" name="cbFlexiGPSSpeed"/>
</item>
<item alignment="Qt::AlignTop">
<widget class="QComboBox" name="cbFlexiComSpeed"/>
</item>
</layout>
</item>
<item row="16" column="1">
<item row="19" column="1">
<spacer name="horizontalSpacer_7">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -191,13 +281,13 @@
</property>
</spacer>
</item>
<item row="14" column="3">
<widget class="QLabel" name="lblMainSpeed">
<item row="16" column="3">
<widget class="QLabel" name="lbMainGPSProtocol">
<property name="text">
<string>Speed</string>
<string>Protocol</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
@ -232,10 +322,46 @@
</property>
</widget>
</item>
<item row="10" column="5">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="15" column="1">
<layout class="QVBoxLayout" name="verticalLayout_5">
<property name="spacing">
<number>0</number>
</property>
<item alignment="Qt::AlignTop">
<widget class="QComboBox" name="cbFlexiTelemSpeed">
<property name="enabled">
<bool>true</bool>
</property>
</widget>
</item>
<item alignment="Qt::AlignTop">
<widget class="QComboBox" name="cbFlexiGPSSpeed"/>
</item>
<item alignment="Qt::AlignTop">
<widget class="QComboBox" name="cbFlexiComSpeed"/>
</item>
</layout>
</item>
<item row="13" column="1">
<widget class="QComboBox" name="cbFlexi"/>
</item>
<item row="16" column="4">
<item row="19" column="4">
<spacer name="horizontalSpacer_8">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -271,22 +397,6 @@
<item row="13" column="3">
<widget class="QComboBox" name="cbMain"/>
</item>
<item row="10" column="5">
<spacer name="verticalSpacer_6">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="12" column="3">
<widget class="QLabel" name="label_3">
<property name="text">
@ -471,7 +581,7 @@
<item row="3" column="0">
<widget class="QComboBox" name="cbRcvr"/>
</item>
<item row="16" column="3">
<item row="19" column="3">
<spacer name="horizontalSpacer_9">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -551,7 +661,7 @@
</property>
</spacer>
</item>
<item row="16" column="2">
<item row="19" column="2">
<spacer name="horizontalSpacer_10">
<property name="orientation">
<enum>Qt::Horizontal</enum>
@ -564,100 +674,37 @@
</property>
</spacer>
</item>
<item row="14" column="3">
<widget class="QLabel" name="lblMainSpeed">
<property name="text">
<string>Speed</string>
</property>
<property name="alignment">
<set>Qt::AlignBottom|Qt::AlignHCenter</set>
</property>
</widget>
</item>
<item row="16" column="1">
<widget class="QLabel" name="lbFlexiGPSProtocol">
<property name="text">
<string>Protocol</string>
</property>
<property name="textFormat">
<enum>Qt::PlainText</enum>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
</widget>
</item>
<item row="18" column="3">
<widget class="QComboBox" name="cbMainGPSProtocol"/>
</item>
<item row="18" column="1">
<widget class="QComboBox" name="cbFlexiGPSProtocol"/>
</item>
</layout>
</item>
<item row="0" column="2">
<widget class="QLabel" name="label_6">
<property name="sizePolicy">
<sizepolicy hsizetype="Preferred" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>0</width>
<height>0</height>
</size>
</property>
<property name="maximumSize">
<size>
<width>16777215</width>
<height>16777215</height>
</size>
</property>
<property name="font">
<font>
<weight>75</weight>
<bold>true</bold>
</font>
</property>
<property name="text">
<string>Changes on this page only take effect after board reset or power cycle</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="wordWrap">
<bool>true</bool>
</property>
</widget>
</item>
<item row="1" column="2">
<spacer name="verticalSpacer_2">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeType">
<enum>QSizePolicy::Fixed</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>10</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="0">
<spacer name="horizontalSpacer_4">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="2" column="3">
<spacer name="horizontalSpacer_5">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>40</width>
<height>20</height>
</size>
</property>
</spacer>
</item>
<item row="3" column="2">
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</widget>
</widget>

303
ground/openpilotgcs/src/plugins/flightlog/FlightLogDialog.qml
View File

@ -20,23 +20,28 @@ Rectangle {
border.width: 1
radius: 4
ColumnLayout {
id: exportTab
anchors.margins: 10
anchors.fill: parent
visible: true
Text {
Layout.fillWidth: true
text: "<b>" + qsTr("Log entries") + "</b>"
font.pixelSize: 12
}
TableView {
Layout.fillWidth: true
Layout.fillHeight: true
Layout.preferredHeight: 1000;
model: logManager.logEntries
enabled: !logManager.disableControls && logManager.boardConnected
rowDelegate: Rectangle {
height: 22
color: styleData.selected ? "#ccc" : (styleData.alternate ? "#fff" : "#eee")
}
itemDelegate: Text {
anchors.fill: parent
anchors.margins: 2
anchors.leftMargin: 5
font.pixelSize: 12
verticalAlignment: Text.AlignVCenter
text: styleData.value
}
@ -44,33 +49,24 @@ Rectangle {
role: "Flight"; title: qsTr("Flight"); width: 50;
delegate:
Text {
anchors.fill: parent
anchors.margins: 2
anchors.leftMargin: 5
font.pixelSize: 12
verticalAlignment: Text.AlignVCenter
text: styleData.value + 1
}
}
TableViewColumn {
role: "FlightTime"; title: qsTr("Time"); width: 80;
role: "FlightTime"; title: qsTr("Time"); width: 100;
delegate:
Text {
anchors.fill: parent
anchors.margins: 2
anchors.leftMargin: 5
font.pixelSize: 12
verticalAlignment: Text.AlignVCenter
text: Functions.millisToTime(styleData.value)
}
}
TableViewColumn {
role: "Type"; title: "Type"; width: 50;
role: "Type"; title: "Type"; width: 60;
delegate:
Text {
anchors.fill: parent
anchors.margins: 2
anchors.leftMargin: 5
font.pixelSize: 12
verticalAlignment: Text.AlignVCenter
text: {
switch(styleData.value) {
case 0 : text: qsTr("Empty"); break;
@ -82,25 +78,39 @@ Rectangle {
}
}
TableViewColumn { role: "LogString"; title: qsTr("Data"); width: 280}
TableViewColumn {
role: "LogString";
title: qsTr("Data");
width: 280
}
}
RowLayout {
anchors.margins: 10
spacing: 10
ColumnLayout {
spacing: 10
Text {
id: totalFlights
font.pixelSize: 12
text: "<b>" + qsTr("Flights recorded: ") + "</b>" + (logStatus.Flight + 1)
}
Text {
id: totalEntries
font.pixelSize: 12
text: "<b>" + qsTr("Entries logged (free): ") + "</b>" +
logStatus.UsedSlots + " (" + logStatus.FreeSlots + ")"
}
Rectangle {
Layout.fillHeight: true
}
CheckBox {
id: exportRelativeTimeCB
enabled: !logManager.disableControls && !logManager.disableExport && logManager.boardConnected
text: qsTr("Adjust timestamps")
activeFocusOnPress: true
checked: logManager.adjustExportedTimestamps
onCheckedChanged: logManager.setAdjustExportedTimestamps(checked)
}
}
Rectangle {
Layout.fillWidth: true
@ -112,29 +122,240 @@ Rectangle {
Layout.fillWidth: true
}
Text {
font.pixelSize: 12
text: "<b>" + qsTr("Flight to download:") + "</b>"
}
ComboBox {
id: flightCombo
enabled: !logManager.disableControls
enabled: !logManager.disableControls && logManager.boardConnected
model: logManager.flightEntries
}
}
RowLayout {
Layout.fillWidth: true
Layout.fillHeight: true
spacing: 10
Rectangle {
Layout.fillWidth: true
}
Button {
text: qsTr("Download logs")
enabled: !logManager.disableControls
enabled: !logManager.disableControls && logManager.boardConnected
activeFocusOnPress: true
onClicked: logManager.retrieveLogs(flightCombo.currentIndex - 1)
}
}
Rectangle {
Layout.fillHeight: true
}
RowLayout {
Rectangle {
Layout.fillWidth: true
}
Button {
id: clearButton
enabled: !logManager.disableControls && logManager.boardConnected
text: qsTr("Clear all logs")
activeFocusOnPress: true
onClicked: logManager.clearAllLogs()
}
Button {
id: exportButton
enabled: !logManager.disableControls && !logManager.disableExport && logManager.boardConnected
text: qsTr("Export logs...")
activeFocusOnPress: true
onClicked: logManager.exportLogs()
}
}
}
}
}
ColumnLayout {
id: settingsTab
visible: false
anchors.margins: 10
anchors.fill: parent
Text {
Layout.fillWidth: true
text: "<b>" + qsTr("Settings") + "</b>"
}
RowLayout {
Layout.fillWidth: true
Layout.fillHeight: true
Text {
text: qsTr("When to log: ")
}
ComboBox {
enabled: !logManager.disableControls && logManager.boardConnected
model: logManager.logStatuses
Layout.preferredWidth: 200
currentIndex: logManager.loggingEnabled
onCurrentIndexChanged: {
logManager.setLoggingEnabled(currentIndex);
}
}
}
Component {
id: comboEditableDelegate
Item {
Text {
width: parent.width
anchors.left: parent.left
anchors.verticalCenter: parent.verticalCenter
elide: styleData.elideMode
text: styleData.value !== undefined ? logManager.logSettings[styleData.value] : ""
color: logManager.uavoEntries[styleData.row].dirty ? "#f00" : styleData.textColor
visible: !styleData.selected
}
Loader {
id: loaderEditor
anchors.fill: parent
Connections {
target: loaderEditor.item
onCurrentIndexChanged: {
logManager.uavoEntries[styleData.row].setting = loaderEditor.item.currentIndex
}
}
sourceComponent: styleData.selected ? editor : null
Component {
id: editor
ComboBox {
id: combo
model: logManager.logSettings
currentIndex: styleData.value
}
}
}
}
}
Component {
id: spinnerEditableDelegate
Item {
Text {
width: parent.width
anchors.left: parent.left
anchors.verticalCenter: parent.verticalCenter
elide: styleData.elideMode
text: styleData.value !== undefined &&
(logManager.uavoEntries[styleData.row].setting === 1 || logManager.uavoEntries[styleData.row].setting === 3) ?
parseInt(logManager.uavoEntries[styleData.row].period) + " ms" : "-"
color: logManager.uavoEntries[styleData.row].dirty ? "#f00" : styleData.textColor
//visible: !styleData.selected && (logManager.uavoEntries[styleData.row].setting <= 1)
enabled: (logManager.uavoEntries[styleData.row].setting > 1)
}
Loader {
id: loaderEditor
anchors.fill: parent
Connections {
target: loaderEditor.item
onValueChanged: {
logManager.uavoEntries[styleData.row].period = loaderEditor.item.value
}
}
sourceComponent: styleData.selected &&
(logManager.uavoEntries[styleData.row].setting === 1 || logManager.uavoEntries[styleData.row].setting === 3) ? editor : null
Component {
id: editor
SpinBox {
id: spinner
decimals: 0
minimumValue: 0
maximumValue: 1000 * 60 * 60 //1h
suffix: "ms"
stepSize: 10
value: styleData.value
}
}
}
}
}
TableView {
id: settingsTable
Layout.fillWidth: true
Layout.fillHeight: true
Layout.preferredHeight: 1000;
model: logManager.uavoEntries
enabled: !logManager.disableControls && logManager.boardConnected
rowDelegate: Rectangle {
height: 22
color: styleData.selected ? "#ccc" : (styleData.alternate ? "#fff" : "#eee")
}
TableViewColumn {
role: "name";
title: qsTr("UAVObject");
width: 250;
delegate:
Text {
verticalAlignment: Text.AlignVCenter
anchors.leftMargin: 5
color: logManager.uavoEntries[styleData.row].dirty ? "#f00" : styleData.textColor
text: styleData.value
}
}
TableViewColumn {
role: "setting";
title: qsTr("Settings");
width: 160;
delegate: comboEditableDelegate
}
TableViewColumn {
role: "period";
title: qsTr("Period");
width: 120;
delegate: spinnerEditableDelegate
}
}
RowLayout {
Layout.fillWidth: true
Layout.fillHeight: true
Button {
enabled: !logManager.disableControls && logManager.boardConnected
text: qsTr("Load...")
tooltip: qsTr("Loads settings for all objects from a file.")
activeFocusOnPress: true
onClicked: logManager.loadSettings()
}
Button {
enabled: !logManager.disableControls && logManager.boardConnected
text: qsTr("Save...")
tooltip: qsTr("Saves settings for all objects in a file.")
activeFocusOnPress: true
onClicked: logManager.saveSettings()
}
Button {
enabled: !logManager.disableControls && logManager.boardConnected
text: qsTr("Reset")
tooltip: qsTr("Resets all settings to the values currently set on the board.")
activeFocusOnPress: true
onClicked: logManager.resetSettings(false)
}
Button {
enabled: !logManager.disableControls && logManager.boardConnected
text: qsTr("Clear")
tooltip: qsTr("Clears all settings to default values.")
activeFocusOnPress: true
onClicked: logManager.resetSettings(true)
}
Rectangle {
Layout.fillWidth: true
}
Button {
enabled: !logManager.disableControls && logManager.boardConnected
text: qsTr("Save to board")
tooltip: qsTr("Saves the logging configurations to the boards flash memory.")
activeFocusOnPress: true
onClicked: logManager.saveSettingsToBoard()
}
}
}
@ -144,27 +365,17 @@ Rectangle {
Layout.fillWidth: true
height: 40
Button {
id: exportButton
enabled: !logManager.disableControls && !logManager.disableExport
text: qsTr("Export...")
activeFocusOnPress: true
onClicked: logManager.exportLogs()
}
CheckBox {
id: exportRelativeTimeCB
enabled: !logManager.disableControls && !logManager.disableExport
text: qsTr("Adjust timestamps")
activeFocusOnPress: true
checked: logManager.adjustExportedTimestamps
onCheckedChanged: logManager.setAdjustExportedTimestamps(checked)
}
Button {
id: clearButton
id: settingsButton
enabled: !logManager.disableControls
text: qsTr("Clear all logs")
text: qsTr("Settings...")
activeFocusOnPress: true
onClicked: logManager.clearAllLogs()
property bool showSettings: false
onClicked: {
showSettings = !showSettings;
settingsTab.visible = showSettings;
exportTab.visible = !showSettings;
text = (showSettings ? qsTr("Logs...") : qsTr("Settings..."));
}
}
Rectangle {
Layout.fillWidth: true

1
ground/openpilotgcs/src/plugins/flightlog/flightlog.pro
View File

@ -6,6 +6,7 @@ QT += qml quick
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../plugins/uavobjectutil/uavobjectutil.pri)
include(../../plugins/uavtalk/uavtalk.pri)
HEADERS += flightlogplugin.h \

4
ground/openpilotgcs/src/plugins/flightlog/flightlogdialog.cpp
View File

@ -35,11 +35,13 @@
#include <QQmlContext>
#include "flightlogmanager.h"
#include "uavobject.h"
FlightLogDialog::FlightLogDialog(QWidget *parent, FlightLogManager *flightLogManager) :
QDialog(parent)
{
qmlRegisterType<ExtendedDebugLogEntry>("org.openpilot", 1, 0, "DebugLogEntry");
qmlRegisterType<UAVOLogSettingsWrapper>("org.openpilot", 1, 0, "UAVOLogSettingsWrapper");
setWindowIcon(QIcon(":/core/images/openpilot_logo_32.png"));
setWindowTitle(tr("Manage flight side logs"));
@ -49,6 +51,8 @@ FlightLogDialog::FlightLogDialog(QWidget *parent, FlightLogManager *flightLogMan
QQuickView *view = new QQuickView();
view->rootContext()->setContextProperty("dialog", this);
view->rootContext()->setContextProperty("logStatus", flightLogManager->flightLogStatus());
view->rootContext()->setContextProperty("logControl", flightLogManager->flightLogControl());
view->rootContext()->setContextProperty("logSettings", flightLogManager->flightLogSettings());
view->rootContext()->setContextProperty("logManager", flightLogManager);
view->setResizeMode(QQuickView::SizeRootObjectToView);
view->setSource(QUrl("qrc:/flightlog/FlightLogDialog.qml"));

308
ground/openpilotgcs/src/plugins/flightlog/flightlogmanager.cpp
View File

@ -30,33 +30,60 @@
#include <QApplication>
#include <QFileDialog>
#include <QXmlStreamReader>
#include <QMessageBox>
#include <QDebug>
#include "debuglogcontrol.h"
#include "uavobjecthelper.h"
#include "uavtalk/uavtalk.h"
#include "utils/logfile.h"
#include "uavdataobject.h"
#include <uavobjectutil/uavobjectutilmanager.h>
FlightLogManager::FlightLogManager(QObject *parent) :
QObject(parent), m_disableControls(false),
m_disableExport(true), m_cancelDownload(false),
m_adjustExportedTimestamps(true)
{
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
ExtensionSystem::PluginManager *pluginManager = ExtensionSystem::PluginManager::instance();
m_objectManager = pm->getObject<UAVObjectManager>();
Q_ASSERT(pluginManager);
m_objectManager = pluginManager->getObject<UAVObjectManager>();
Q_ASSERT(m_objectManager);
m_flightLogControl = DebugLogControl::GetInstance(m_objectManager);
m_telemtryManager = pluginManager->getObject<TelemetryManager>();
Q_ASSERT(m_telemtryManager);
m_objectUtilManager = pluginManager->getObject<UAVObjectUtilManager>();
Q_ASSERT(m_objectUtilManager);
m_flightLogControl = DebugLogControl::GetInstance(m_objectManager);
Q_ASSERT(m_flightLogControl);
m_flightLogStatus = DebugLogStatus::GetInstance(m_objectManager);
m_flightLogStatus = DebugLogStatus::GetInstance(m_objectManager);
Q_ASSERT(m_flightLogStatus);
connect(m_flightLogStatus, SIGNAL(FlightChanged(quint16)), this, SLOT(updateFlightEntries(quint16)));
m_flightLogEntry = DebugLogEntry::GetInstance(m_objectManager);
m_flightLogEntry = DebugLogEntry::GetInstance(m_objectManager);
Q_ASSERT(m_flightLogEntry);
m_flightLogSettings = DebugLogSettings::GetInstance(m_objectManager);
Q_ASSERT(m_flightLogSettings);
m_objectPersistence = ObjectPersistence::GetInstance(m_objectManager);
Q_ASSERT(m_objectPersistence);
updateFlightEntries(m_flightLogStatus->getFlight());
setupLogSettings();
setupLogStatuses();
setupUAVOWrappers();
connect(m_telemtryManager, SIGNAL(connected()), this, SLOT(connectionStatusChanged()));
connect(m_telemtryManager, SIGNAL(disconnected()), this, SLOT(connectionStatusChanged()));
connectionStatusChanged();
}
FlightLogManager::~FlightLogManager()
@ -64,6 +91,9 @@ FlightLogManager::~FlightLogManager()
while (!m_logEntries.isEmpty()) {
delete m_logEntries.takeFirst();
}
while (!m_uavoEntries.isEmpty()) {
delete m_uavoEntries.takeFirst();
}
}
void addLogEntries(QQmlListProperty<ExtendedDebugLogEntry> *list, ExtendedDebugLogEntry *entry)
@ -92,6 +122,32 @@ QQmlListProperty<ExtendedDebugLogEntry> FlightLogManager::logEntries()
return QQmlListProperty<ExtendedDebugLogEntry>(this, &m_logEntries, &addLogEntries, &countLogEntries, &logEntryAt, &clearLogEntries);
}
void addUAVOEntries(QQmlListProperty<UAVOLogSettingsWrapper> *list, UAVOLogSettingsWrapper *entry)
{
Q_UNUSED(list);
Q_UNUSED(entry);
}
int countUAVOEntries(QQmlListProperty<UAVOLogSettingsWrapper> *list)
{
return static_cast< QList<UAVOLogSettingsWrapper *> *>(list->data)->size();
}
UAVOLogSettingsWrapper *uavoEntryAt(QQmlListProperty<UAVOLogSettingsWrapper> *list, int index)
{
return static_cast< QList<UAVOLogSettingsWrapper *> *>(list->data)->at(index);
}
void clearUAVOEntries(QQmlListProperty<UAVOLogSettingsWrapper> *list)
{
return static_cast< QList<UAVOLogSettingsWrapper *> *>(list->data)->clear();
}
QQmlListProperty<UAVOLogSettingsWrapper> FlightLogManager::uavoEntries()
{
return QQmlListProperty<UAVOLogSettingsWrapper>(this, &m_uavoEntries, &addUAVOEntries, &countUAVOEntries, &uavoEntryAt, &clearUAVOEntries);
}
QStringList FlightLogManager::flightEntries()
{
return m_flightEntries;
@ -305,8 +361,7 @@ void FlightLogManager::exportLogs()
QString selectedFilter = csvFilter;
QString fileName = QFileDialog::getSaveFileName(NULL, tr("Save Log Entries"),
QString("OP-%1").arg(QDateTime::currentDateTime().toString("yyyy-MM-dd_hh-mm-ss")),
QString fileName = QFileDialog::getSaveFileName(NULL, tr("Save Log Entries"), QDir::homePath(),
QString("%1;;%2;;%3").arg(oplFilter, csvFilter, xmlFilter), &selectedFilter);
if (!fileName.isEmpty()) {
if (selectedFilter == oplFilter) {
@ -336,6 +391,138 @@ void FlightLogManager::cancelExportLogs()
m_cancelDownload = true;
}
void FlightLogManager::loadSettings()
{
QString xmlFilter = tr("XML file %1").arg("(*.xml)");
QString fileName = QFileDialog::getOpenFileName(NULL, tr("Load Log Settings"), QDir::homePath(), QString("%1").arg(xmlFilter));
if (!fileName.isEmpty()) {
if (!fileName.endsWith(".xml")) {
fileName.append(".xml");
}
QFile xmlFile(fileName);
QString errorString;
if (xmlFile.open(QFile::ReadOnly)) {
QXmlStreamReader xmlReader(&xmlFile);
while (xmlReader.readNextStartElement() && xmlReader.name() == "settings") {
bool ok;
int version = xmlReader.attributes().value("version").toInt(&ok);
if (!ok || version != LOG_SETTINGS_FILE_VERSION) {
errorString = tr("The file has the wrong version or could not parse version information.");
break;
}
setLoggingEnabled(xmlReader.attributes().value("enabled").toInt(&ok));
if (!ok) {
errorString = tr("Could not parse enabled attribute.");
break;
}
while (xmlReader.readNextStartElement()) {
if (xmlReader.name() == "setting") {
QString name = xmlReader.attributes().value("name").toString();
int level = xmlReader.attributes().value("level").toInt(&ok);
if (ok) {
int period = xmlReader.attributes().value("period").toInt(&ok);
if (ok && updateLogWrapper(name, level, period)) {} else {
errorString = tr("Could not parse period attribute, or object with name '%1' could not be found.").arg(name);
break;
}
} else {
errorString = tr("Could not parse level attribute on setting '%1'").arg(name);
break;
}
}
xmlReader.skipCurrentElement();
}
xmlReader.skipCurrentElement();
}
if (!xmlReader.atEnd() && (xmlReader.hasError() || !errorString.isEmpty())) {
QMessageBox::warning(NULL, tr("Settings file corrupt."),
tr("The file loaded is not in the correct format.\nPlease check the file.\n%1")
.arg(xmlReader.hasError() ? xmlReader.errorString() : errorString),
QMessageBox::Ok);
}
}
xmlFile.close();
}
}
void FlightLogManager::saveSettings()
{
QString xmlFilter = tr("XML file %1").arg("(*.xml)");
QString fileName = QFileDialog::getSaveFileName(NULL, tr("Save Log Settings"),
QDir::homePath(), QString("%1").arg(xmlFilter));
if (!fileName.isEmpty()) {
if (!fileName.endsWith(".xml")) {
fileName.append(".xml");
}
QFile xmlFile(fileName);
if (xmlFile.open(QFile::WriteOnly | QFile::Truncate)) {
QXmlStreamWriter xmlWriter(&xmlFile);
xmlWriter.setAutoFormatting(true);
xmlWriter.setAutoFormattingIndent(4);
xmlWriter.writeStartDocument("1.0", true);
xmlWriter.writeComment("This file was created by the flight log settings function in OpenPilot GCS.");
xmlWriter.writeStartElement("settings");
xmlWriter.writeAttribute("version", QString::number(LOG_SETTINGS_FILE_VERSION));
xmlWriter.writeAttribute("enabled", QString::number(m_loggingEnabled));
foreach(UAVOLogSettingsWrapper * wrapper, m_uavoEntries) {
xmlWriter.writeStartElement("setting");
xmlWriter.writeAttribute("name", wrapper->name());
xmlWriter.writeAttribute("level", QString::number(wrapper->setting()));
xmlWriter.writeAttribute("period", QString::number(wrapper->period()));
xmlWriter.writeEndElement();
}
xmlWriter.writeEndElement();
xmlWriter.writeEndDocument();
xmlFile.flush();
xmlFile.close();
}
}
}
void FlightLogManager::resetSettings(bool clear)
{
setLoggingEnabled(clear ? 0 : m_flightLogSettings->getLoggingEnabled());
foreach(UAVOLogSettingsWrapper * wrapper, m_uavoEntries) {
wrapper->reset(clear);
}
}
void FlightLogManager::saveSettingsToBoard()
{
m_flightLogSettings->setLoggingEnabled(m_loggingEnabled);
m_flightLogSettings->updated();
saveUAVObjectToFlash(m_flightLogSettings);
foreach(UAVOLogSettingsWrapper * wrapper, m_uavoEntries) {
if (wrapper->dirty()) {
UAVObject::Metadata meta = wrapper->object()->getMetadata();
wrapper->object()->SetLoggingUpdateMode(meta, wrapper->settingAsUpdateMode());
meta.loggingUpdatePeriod = wrapper->period();
// As metadata are set up to update via telemetry on change
// this call will send the update to the board.
wrapper->object()->setMetadata(meta);
if (saveUAVObjectToFlash(wrapper->object()->getMetaObject())) {
wrapper->setDirty(false);
}
}
}
}
bool FlightLogManager::saveUAVObjectToFlash(UAVObject *object)
{
m_objectUtilManager->saveObjectToSD(object);
return true;
}
void FlightLogManager::updateFlightEntries(quint16 currentFlight)
{
Q_UNUSED(currentFlight);
@ -353,6 +540,65 @@ void FlightLogManager::updateFlightEntries(quint16 currentFlight)
}
}
void FlightLogManager::setupUAVOWrappers()
{
foreach(QList<UAVObject *> objectList, m_objectManager->getObjects()) {
UAVObject *object = objectList.at(0);
if (!object->isMetaDataObject() && !object->isSettingsObject()) {
UAVOLogSettingsWrapper *wrapper = new UAVOLogSettingsWrapper(qobject_cast<UAVDataObject *>(object));
m_uavoEntries.append(wrapper);
m_uavoEntriesHash[wrapper->name()] = wrapper;
}
}
emit uavoEntriesChanged();
}
void FlightLogManager::setupLogSettings()
{
// Corresponds to:
// typedef enum {
// UPDATEMODE_MANUAL = 0, /** Manually update object, by calling the updated() function */
// UPDATEMODE_PERIODIC = 1, /** Automatically update object at periodic intervals */
// UPDATEMODE_ONCHANGE = 2, /** Only update object when its data changes */
// UPDATEMODE_THROTTLED = 3 /** Object is updated on change, but not more often than the interval time */
// } UpdateMode;
m_logSettings << tr("Disabled") << tr("Periodically") << tr("When updated") << tr("Throttled");
}
void FlightLogManager::setupLogStatuses()
{
m_logStatuses << tr("Never") << tr("Only when Armed") << tr("Always");
}
void FlightLogManager::connectionStatusChanged()
{
if (m_telemtryManager->isConnected()) {
ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
setBoardConnected(utilMngr->getBoardModel() == 0x0903);
} else {
setBoardConnected(false);
}
if (boardConnected()) {
resetSettings(false);
}
}
bool FlightLogManager::updateLogWrapper(QString name, int level, int period)
{
UAVOLogSettingsWrapper *wrapper = m_uavoEntriesHash[name];
if (wrapper) {
wrapper->setSetting(level);
wrapper->setPeriod(period);
qDebug() << "Wrapper" << name << ", level" << level << ", period" << period;
return true;
}
return false;
}
ExtendedDebugLogEntry::ExtendedDebugLogEntry() : DebugLogEntry(),
m_object(0)
{}
@ -415,3 +661,51 @@ void ExtendedDebugLogEntry::setData(const DebugLogEntry::DataFields &data, UAVOb
m_object->unpack(getData().Data);
}
}
UAVOLogSettingsWrapper::UAVOLogSettingsWrapper() : QObject()
{}
UAVOLogSettingsWrapper::UAVOLogSettingsWrapper(UAVDataObject *object) : QObject(),
m_object(object), m_setting(DISABLED), m_period(0), m_dirty(0)
{
reset(false);
}
UAVOLogSettingsWrapper::~UAVOLogSettingsWrapper()
{}
void UAVOLogSettingsWrapper::reset(bool clear)
{
setSetting(m_object->GetLoggingUpdateMode(m_object->getMetadata()));
setPeriod(m_object->getMetadata().loggingUpdatePeriod);
if (clear) {
int oldSetting = setting();
int oldPeriod = period();
setSetting(0);
setPeriod(0);
setDirty(oldSetting != setting() || oldPeriod != period());
} else {
setDirty(false);
}
}
UAVObject::UpdateMode UAVOLogSettingsWrapper::settingAsUpdateMode()
{
switch (m_setting) {
case 0:
return UAVObject::UPDATEMODE_MANUAL;
case 1:
return UAVObject::UPDATEMODE_PERIODIC;
case 2:
return UAVObject::UPDATEMODE_ONCHANGE;
case 3:
return UAVObject::UPDATEMODE_THROTTLED;
default:
return UAVObject::UPDATEMODE_MANUAL;
}
}

190
ground/openpilotgcs/src/plugins/flightlog/flightlogmanager.h
View File

@ -30,15 +30,108 @@
#include <QObject>
#include <QList>
#include <QHash>
#include <QQmlListProperty>
#include <QSemaphore>
#include <QXmlStreamWriter>
#include <QTextStream>
#include "uavobjectmanager.h"
#include "uavobjectutilmanager.h"
#include "debuglogentry.h"
#include "debuglogstatus.h"
#include "debuglogsettings.h"
#include "debuglogcontrol.h"
#include "objectpersistence.h"
#include "uavtalk/telemetrymanager.h"
class UAVOLogSettingsWrapper : public QObject {
Q_OBJECT Q_PROPERTY(UAVDataObject *object READ object NOTIFY objectChanged)
Q_PROPERTY(QString name READ name NOTIFY nameChanged)
Q_PROPERTY(int setting READ setting WRITE setSetting NOTIFY settingChanged)
Q_PROPERTY(int period READ period WRITE setPeriod NOTIFY periodChanged)
Q_PROPERTY(bool dirty READ dirty WRITE setDirty NOTIFY dirtyChanged)
public:
enum UAVLogSetting { DISABLED = 0, ON_CHANGE, THROTTLED, PERIODICALLY };
explicit UAVOLogSettingsWrapper();
explicit UAVOLogSettingsWrapper(UAVDataObject *object);
~UAVOLogSettingsWrapper();
QString name() const
{
return m_object->getName();
}
int setting() const
{
return m_setting;
}
UAVObject::UpdateMode settingAsUpdateMode();
int period() const
{
return m_period;
}
UAVDataObject *object() const
{
return m_object;
}
bool dirty() const
{
return m_dirty;
}
public slots:
void setSetting(int setting)
{
if (m_setting != setting) {
m_setting = setting;
setDirty(true);
if (m_setting != 1 && m_setting != 3) {
setPeriod(0);
}
emit settingChanged(setting);
}
}
void setPeriod(int arg)
{
if (m_period != arg) {
m_period = arg;
setDirty(true);
emit periodChanged(arg);
}
}
void setDirty(bool arg)
{
if (m_dirty != arg) {
m_dirty = arg;
emit dirtyChanged(arg);
}
}
void reset(bool clear);
signals:
void settingChanged(int setting);
void nameChanged(QString name);
void periodChanged(int period);
void objectChanged(UAVDataObject *arg);
void dirtyChanged(bool arg);
private:
UAVDataObject *m_object;
int m_setting;
int m_period;
bool m_dirty;
};
class ExtendedDebugLogEntry : public DebugLogEntry {
Q_OBJECT Q_PROPERTY(QString LogString READ getLogString WRITE setLogString NOTIFY LogStringUpdated)
@ -72,19 +165,35 @@ private:
class FlightLogManager : public QObject {
Q_OBJECT Q_PROPERTY(DebugLogStatus *flightLogStatus READ flightLogStatus)
Q_PROPERTY(DebugLogControl * flightLogControl READ flightLogControl)
Q_PROPERTY(DebugLogSettings * flightLogSettings READ flightLogSettings)
Q_PROPERTY(QQmlListProperty<ExtendedDebugLogEntry> logEntries READ logEntries NOTIFY logEntriesChanged)
Q_PROPERTY(QStringList flightEntries READ flightEntries NOTIFY flightEntriesChanged)
Q_PROPERTY(bool disableControls READ disableControls WRITE setDisableControls NOTIFY disableControlsChanged)
Q_PROPERTY(bool disableExport READ disableExport WRITE setDisableExport NOTIFY disableExportChanged)
Q_PROPERTY(bool adjustExportedTimestamps READ adjustExportedTimestamps WRITE setAdjustExportedTimestamps NOTIFY adjustExportedTimestampsChanged)
Q_PROPERTY(bool boardConnected READ boardConnected WRITE setBoardConnected NOTIFY boardConnectedChanged)
Q_PROPERTY(QQmlListProperty<UAVOLogSettingsWrapper> uavoEntries READ uavoEntries NOTIFY uavoEntriesChanged)
Q_PROPERTY(QStringList logSettings READ logSettings NOTIFY logSettingsChanged)
Q_PROPERTY(QStringList logStatuses READ logStatuses NOTIFY logStatusesChanged)
Q_PROPERTY(int loggingEnabled READ loggingEnabled WRITE setLoggingEnabled NOTIFY loggingEnabledChanged)
public:
explicit FlightLogManager(QObject *parent = 0);
~FlightLogManager();
QQmlListProperty<ExtendedDebugLogEntry> logEntries();
QQmlListProperty<UAVOLogSettingsWrapper> uavoEntries();
QStringList flightEntries();
QStringList logSettings()
{
return m_logSettings;
}
DebugLogStatus *flightLogStatus() const
{
return m_flightLogStatus;
@ -107,19 +216,54 @@ public:
return m_adjustExportedTimestamps;
}
bool boardConnected() const
{
return m_boardConnected;
}
QStringList logStatuses() const
{
return m_logStatuses;
}
DebugLogControl *flightLogControl() const
{
return m_flightLogControl;
}
DebugLogSettings *flightLogSettings() const
{
return m_flightLogSettings;
}
int loggingEnabled() const
{
return m_loggingEnabled;
}
signals:
void logEntriesChanged();
void flightEntriesChanged();
void logSettingsChanged();
void uavoEntriesChanged();
void disableControlsChanged(bool arg);
void disableExportChanged(bool arg);
void adjustExportedTimestampsChanged(bool arg);
void boardConnectedChanged(bool arg);
void logStatusesChanged(QStringList arg);
void loggingEnabledChanged(int arg);
public slots:
void clearAllLogs();
void retrieveLogs(int flightToRetrieve = -1);
void exportLogs();
void cancelExportLogs();
void loadSettings();
void saveSettings();
void resetSettings(bool clear);
void saveSettingsToBoard();
bool saveUAVObjectToFlash(UAVObject *object);
void setDisableControls(bool arg)
{
@ -145,26 +289,60 @@ public slots:
}
}
void setBoardConnected(bool arg)
{
if (m_boardConnected != arg) {
m_boardConnected = arg;
emit boardConnectedChanged(arg);
}
}
void setLoggingEnabled(int arg)
{
if (m_loggingEnabled != arg) {
m_loggingEnabled = arg;
emit loggingEnabledChanged(arg);
}
}
private slots:
void updateFlightEntries(quint16 currentFlight);
void setupUAVOWrappers();
void setupLogSettings();
void setupLogStatuses();
void connectionStatusChanged();
bool updateLogWrapper(QString name, int level, int period);
private:
UAVObjectManager *m_objectManager;
UAVObjectUtilManager *m_objectUtilManager;
TelemetryManager *m_telemtryManager;
DebugLogControl *m_flightLogControl;
DebugLogStatus *m_flightLogStatus;
DebugLogEntry *m_flightLogEntry;
DebugLogSettings *m_flightLogSettings;
ObjectPersistence *m_objectPersistence;
QList<ExtendedDebugLogEntry *> m_logEntries;
QStringList m_flightEntries;
QStringList m_logSettings;
QStringList m_logStatuses;
static const int UAVTALK_TIMEOUT = 4000;
bool m_disableControls;
bool m_disableExport;
bool m_cancelDownload;
bool m_adjustExportedTimestamps;
QList<UAVOLogSettingsWrapper *> m_uavoEntries;
QHash<QString, UAVOLogSettingsWrapper *> m_uavoEntriesHash;
void exportToOPL(QString fileName);
void exportToCSV(QString fileName);
void exportToXML(QString fileName);
static const int UAVTALK_TIMEOUT = 4000;
static const int LOG_SETTINGS_FILE_VERSION = 1;
bool m_disableControls;
bool m_disableExport;
bool m_cancelDownload;
bool m_adjustExportedTimestamps;
bool m_boardConnected;
int m_loggingEnabled;
};
#endif // FLIGHTLOGMANAGER_H

2
ground/openpilotgcs/src/plugins/flightlog/flightlogplugin.cpp
View File

@ -75,6 +75,8 @@ void FlightLogPlugin::ShowLogManagementDialog()
m_logDialog = new FlightLogDialog(0, new FlightLogManager());
connect(m_logDialog, SIGNAL(finished(int)), this, SLOT(LogManagementDialogClosed()));
m_logDialog->show();
} else {
m_logDialog->raise();
}
}

52
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrol.pro
View File

@ -1,45 +1,35 @@
TEMPLATE = lib
TARGET = GCSControl
QT += svg
QT += opengl
QT += network
TARGET = GCSControl
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
QT += svg opengl network
include(../../openpilotgcsplugin.pri)
include(../../plugins/coreplugin/coreplugin.pri)
include(../../plugins/uavobjects/uavobjects.pri)
include(../../libs/sdlgamepad/sdlgamepad.pri)
macx {
# Ensures that SDL framework and header files are found when compiled with Qt5.1.1
INCLUDEPATH += /Library/Frameworks/SDL.framework/Headers
SDL = -F/Library/Frameworks
# Add SDL to CFLAGS fixes build problems on mac
QMAKE_CFLAGS += $$SDL
QMAKE_CXXFLAGS += $$SDL
# Let the linker know where to find the frameworks
LIBS += $$SDL
}
HEADERS += gcscontrolgadget.h \
HEADERS += \
gcscontrolgadget.h \
gcscontrolgadgetconfiguration.h \
gcscontrolgadgetoptionspage.h
HEADERS += joystickcontrol.h
HEADERS += gcscontrolgadgetwidget.h
HEADERS += gcscontrolgadgetfactory.h
HEADERS += gcscontrolplugin.h
gcscontrolgadgetoptionspage.h \
gcscontrolgadgetwidget.h \
gcscontrolgadgetfactory.h \
gcscontrolplugin.h \
joystickcontrol.h
SOURCES += gcscontrolgadget.cpp \
SOURCES += \
gcscontrolgadget.cpp \
gcscontrolgadgetconfiguration.cpp \
gcscontrolgadgetoptionspage.cpp
SOURCES += gcscontrolgadgetwidget.cpp
SOURCES += gcscontrolgadgetfactory.cpp
SOURCES += gcscontrolplugin.cpp
SOURCES += joystickcontrol.cpp
gcscontrolgadgetoptionspage.cpp \
gcscontrolgadgetwidget.cpp \
gcscontrolgadgetfactory.cpp \
gcscontrolplugin.cpp \
joystickcontrol.cpp
OTHER_FILES += GCSControl.pluginspec
FORMS += gcscontrol.ui \
FORMS += \
gcscontrol.ui \
gcscontrolgadgetoptionspage.ui
RESOURCES += gcscontrol.qrc

1
ground/openpilotgcs/src/plugins/gcscontrol/gcscontrolgadgetoptionspage.h
View File

@ -31,7 +31,6 @@
#include "coreplugin/dialogs/ioptionspage.h"
#include "gcscontrolplugin.h"
#include "sdlgamepad/sdlgamepad.h"
#include <SDL/SDL.h>
#include <QDebug>
#include <QCheckBox>

4
ground/openpilotgcs/src/plugins/hitl/aerosimrc/src/plugin.cpp
View File

@ -33,8 +33,8 @@
bool isFirstRun = true;
QString debugInfo(DBG_BUFFER_MAX_SIZE, ' ');
QString pluginFolder(MAX_PATH, ' ');
QString outputFolder(MAX_PATH, ' ');
QString pluginFolder(_MAX_PATH, ' ');
QString outputFolder(_MAX_PATH, ' ');
QList<quint16> videoModes;
QTime ledTimer;

2
ground/openpilotgcs/src/plugins/logging/loggingplugin.cpp
View File

@ -230,7 +230,7 @@ void LoggingThread::retrieveSettings()
QList< QList<UAVDataObject *> > objs = objMngr->getDataObjects();
for (int n = 0; n < objs.length(); ++n) {
UAVDataObject *obj = objs[n][0];
if (obj->isSettings()) {
if (obj->isSettingsObject()) {
queue.enqueue(obj);
}
}

10
ground/openpilotgcs/src/plugins/opmap/modelmapproxy.cpp
View File

@ -292,11 +292,9 @@ void modelMapProxy::dataChanged(const QModelIndex &topLeft, const QModelIndex &b
void modelMapProxy::rowsInserted(const QModelIndex &parent, int first, int last)
{
Q_UNUSED(parent);
Q_UNUSED(first);
Q_UNUSED(last);
/*
for (int x = first; x < last + 1; x++) {
for (int x = first; x < last + 1; x++) {
QModelIndex index;
WayPointItem *item;
internals::PointLatLng latlng;
@ -324,8 +322,8 @@ void modelMapProxy::rowsInserted(const QModelIndex &parent, int first, int last)
} else {
item = myMap->WPInsert(latlng, altitude, desc, x);
}
}
*/
}
refreshOverlays();
}
void modelMapProxy::deleteWayPoint(int number)

2
ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp
View File

@ -517,7 +517,7 @@ bool VehicleConfigurationHelper::saveChangesToController(bool save)
m_transactionOK = false;
UAVDataObject *obj = objPair->first;
QString objDescription = objPair->second;
if (UAVObject::GetGcsAccess(obj->getMetadata()) != UAVObject::ACCESS_READONLY && obj->isSettings()) {
if (UAVObject::GetGcsAccess(obj->getMetadata()) != UAVObject::ACCESS_READONLY && obj->isSettingsObject()) {
emit saveProgress(m_modifiedObjects.count() + 1, ++m_progress, objDescription);
m_currentTransactionObjectID = obj->getObjID();

15
ground/openpilotgcs/src/plugins/systemhealth/systemhealthgadgetwidget.cpp
View File

@ -97,6 +97,8 @@ void SystemHealthGadgetWidget::updateAlarms(UAVObject *systemAlarm)
delete item; // removeItem does _not_ delete the item.
}
QMatrix backgroundMatrix = (m_renderer->matrixForElement(background->elementId())).inverted();
QString alarm = systemAlarm->getName();
foreach(UAVObjectField * field, systemAlarm->getFields()) {
for (uint i = 0; i < field->getNumElements(); ++i) {
@ -104,18 +106,21 @@ void SystemHealthGadgetWidget::updateAlarms(UAVObject *systemAlarm)
QString value = field->getValue(i).toString();
if (!missingElements->contains(element)) {
if (m_renderer->elementExists(element)) {
QMatrix blockMatrix = m_renderer->matrixForElement(element);
qreal startX = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).x();
qreal startY = blockMatrix.mapRect(m_renderer->boundsOnElement(element)).y();
QString element2 = element + "-" + value;
QString element2 = element + "-" + value;
if (!missingElements->contains(element2)) {
if (m_renderer->elementExists(element2)) {
// element2 is in global coordinates
// transform its matrix into the coordinates of background
QMatrix blockMatrix = backgroundMatrix * m_renderer->matrixForElement(element2);
// use this composed projection to get the position in background coordinates
QRectF rectProjected = blockMatrix.mapRect(m_renderer->boundsOnElement(element2));
QGraphicsSvgItem *ind = new QGraphicsSvgItem();
ind->setSharedRenderer(m_renderer);
ind->setElementId(element2);
ind->setParentItem(background);
QTransform matrix;
matrix.translate(startX, startY);
matrix.translate(rectProjected.x(), rectProjected.y());
ind->setTransform(matrix, false);
} else {
if (value.compare("Uninitialised") != 0) {

6
ground/openpilotgcs/src/plugins/uavobjectbrowser/uavobjecttreemodel.cpp
View File

@ -99,7 +99,7 @@ void UAVObjectTreeModel::newObject(UAVObject *obj)
void UAVObjectTreeModel::addDataObject(UAVDataObject *obj)
{
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
TopTreeItem *root = obj->isSettingsObject() ? m_settingsTree : m_nonSettingsTree;
TreeItem *parent = root;
@ -461,7 +461,7 @@ ObjectTreeItem *UAVObjectTreeModel::findObjectTreeItem(UAVObject *object)
DataObjectTreeItem *UAVObjectTreeModel::findDataObjectTreeItem(UAVDataObject *obj)
{
TopTreeItem *root = obj->isSettings() ? m_settingsTree : m_nonSettingsTree;
TopTreeItem *root = obj->isSettingsObject() ? m_settingsTree : m_nonSettingsTree;
return root->findDataObjectTreeItemByObjectId(obj->getObjID());
}
@ -471,7 +471,7 @@ MetaObjectTreeItem *UAVObjectTreeModel::findMetaObjectTreeItem(UAVMetaObject *ob
UAVDataObject *dataObject = qobject_cast<UAVDataObject *>(obj->getParentObject());
Q_ASSERT(dataObject);
TopTreeItem *root = dataObject->isSettings() ? m_settingsTree : m_nonSettingsTree;
TopTreeItem *root = dataObject->isSettingsObject() ? m_settingsTree : m_nonSettingsTree;
return root->findMetaObjectTreeItemByObjectId(obj->getObjID());
}

33
ground/openpilotgcs/src/plugins/uavobjects/uavdataobject.cpp
View File

@ -30,40 +30,40 @@
/**
* Constructor
*/
UAVDataObject::UAVDataObject(quint32 objID, bool isSingleInst, bool isSet, const QString & name) :
UAVDataObject::UAVDataObject(quint32 objID, bool isSingleInst, bool isSettings, const QString & name) :
UAVObject(objID, isSingleInst, name)
{
mobj = NULL;
this->isSet = isSet;
m_metaObject = NULL;
this->m_isSettings = isSettings;
}
/**
* Initialize instance ID and assign a metaobject
*/
void UAVDataObject::initialize(quint32 instID, UAVMetaObject *mobj)
void UAVDataObject::initialize(quint32 instID, UAVMetaObject *metaObject)
{
QMutexLocker locker(mutex);
this->mobj = mobj;
this->m_metaObject = metaObject;
UAVObject::initialize(instID);
}
/**
* Assign a metaobject
*/
void UAVDataObject::initialize(UAVMetaObject *mobj)
void UAVDataObject::initialize(UAVMetaObject *metaObject)
{
QMutexLocker locker(mutex);
this->mobj = mobj;
this->m_metaObject = metaObject;
}
/**
* Returns true if this is a data object holding module settings
*/
bool UAVDataObject::isSettings()
bool UAVDataObject::isSettingsObject()
{
return isSet;
return m_isSettings;
}
/**
@ -71,8 +71,8 @@ bool UAVDataObject::isSettings()
*/
void UAVDataObject::setMetadata(const Metadata & mdata)
{
if (mobj != NULL) {
mobj->setData(mdata);
if (m_metaObject != NULL) {
m_metaObject->setData(mdata);
}
}
@ -81,8 +81,8 @@ void UAVDataObject::setMetadata(const Metadata & mdata)
*/
UAVObject::Metadata UAVDataObject::getMetadata(void)
{
if (mobj != NULL) {
return mobj->getData();
if (m_metaObject != NULL) {
return m_metaObject->getData();
} else {
return getDefaultMetadata();
}
@ -93,5 +93,10 @@ UAVObject::Metadata UAVDataObject::getMetadata(void)
*/
UAVMetaObject *UAVDataObject::getMetaObject()
{
return mobj;
return m_metaObject;
}
bool UAVDataObject::isDataObject()
{
return true;
}

14
ground/openpilotgcs/src/plugins/uavobjects/uavdataobject.h
View File

@ -38,19 +38,21 @@ class UAVOBJECTS_EXPORT UAVDataObject : public UAVObject {
Q_OBJECT
public:
UAVDataObject(quint32 objID, bool isSingleInst, bool isSet, const QString & name);
void initialize(quint32 instID, UAVMetaObject *mobj);
void initialize(UAVMetaObject *mobj);
bool isSettings();
UAVDataObject(quint32 objID, bool isSingleInst, bool isSettingsObject, const QString & name);
void initialize(quint32 instID, UAVMetaObject *metaObject);
void initialize(UAVMetaObject *metaObject);
void setMetadata(const Metadata & mdata);
Metadata getMetadata();
UAVMetaObject *getMetaObject();
virtual UAVDataObject *clone(quint32 instID = 0) = 0;
virtual UAVDataObject *dirtyClone() = 0;
bool isSettingsObject();
bool isDataObject();
private:
UAVMetaObject *mobj;
bool isSet;
UAVMetaObject *m_metaObject;
bool m_isSettings;
};
#endif // UAVDATAOBJECT_H

5
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.cpp
View File

@ -107,3 +107,8 @@ UAVObject::Metadata UAVMetaObject::getData()
return parentMetadata;
}
bool UAVMetaObject::isMetaDataObject()
{
return true;
}

2
ground/openpilotgcs/src/plugins/uavobjects/uavmetaobject.h
View File

@ -43,6 +43,8 @@ public:
void setData(const Metadata & mdata);
Metadata getData();
bool isMetaDataObject();
private:
UAVObject *parent;
Metadata ownMetadata;

35
ground/openpilotgcs/src/plugins/uavobjects/uavobject.cpp
View File

@ -548,6 +548,21 @@ void UAVObject::emitNewInstance(UAVObject *obj)
emit newInstance(obj);
}
bool UAVObject::isSettingsObject()
{
return false;
}
bool UAVObject::isDataObject()
{
return false;
}
bool UAVObject::isMetaDataObject()
{
return false;
}
/**
* Initialize a UAVObjMetadata object.
* \param[in] metadata The metadata object
@ -686,3 +701,23 @@ void UAVObject::SetGcsTelemetryUpdateMode(UAVObject::Metadata & metadata, UAVObj
{
SET_BITS(metadata.flags, UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Get the UAVObject metadata logging update mode
* \param[in] metadata The metadata object
* \return the logging update mode
*/
UAVObject::UpdateMode UAVObject::GetLoggingUpdateMode(const UAVObject::Metadata & metadata)
{
return UAVObject::UpdateMode((metadata.flags >> UAVOBJ_LOGGING_UPDATE_MODE_SHIFT) & UAVOBJ_UPDATE_MODE_MASK);
}
/**
* Set the UAVObject metadata logging update mode member
* \param[in] metadata The metadata object
* \param[in] val The logging update mode
*/
void UAVObject::SetLoggingUpdateMode(UAVObject::Metadata & metadata, UAVObject::UpdateMode val)
{
SET_BITS(metadata.flags, UAVOBJ_LOGGING_UPDATE_MODE_SHIFT, val, UAVOBJ_UPDATE_MODE_MASK);
}

7
ground/openpilotgcs/src/plugins/uavobjects/uavobject.h
View File

@ -55,6 +55,7 @@ class UAVOBJECTS_EXPORT UAVObject : public QObject {
Q_OBJECT
public:
Q_PROPERTY(QString Name READ getName)
/**
* Object update mode
@ -132,6 +133,10 @@ public:
void emitTransactionCompleted(bool success);
void emitNewInstance(UAVObject *);
virtual bool isSettingsObject();
virtual bool isDataObject();
virtual bool isMetaDataObject();
// Metadata accessors
static void MetadataInitialize(Metadata & meta);
static AccessMode GetFlightAccess(const Metadata & meta);
@ -146,6 +151,8 @@ public:
static void SetFlightTelemetryUpdateMode(Metadata & meta, UpdateMode val);
static UpdateMode GetGcsTelemetryUpdateMode(const Metadata & meta);
static void SetGcsTelemetryUpdateMode(Metadata & meta, UpdateMode val);
static UpdateMode GetLoggingUpdateMode(const Metadata & meta);
static void SetLoggingUpdateMode(Metadata & meta, UpdateMode val);
public slots:
void requestUpdate();

73
ground/openpilotgcs/src/plugins/uavobjects/uavobject.m.template
View File

@ -59,60 +59,79 @@ $(INSTANTIATIONCODE)
fid = fopen(logfile);
buffer=fread(fid,Inf,'uchar=>uchar');
buffer=fread(fid,Inf,'uchar=>uint8');
fseek(fid, 0, 'bof');
bufferIdx=1;
bufferlen = size(buffer);
correctMsgByte=hex2dec('20');
correctTimestampedByte=hex2dec('A0');
correctSyncByte=hex2dec('3C');
unknownObjIDList=zeros(1,2);
% Parse log file, entry by entry
% prebuf = buffer(1:12);
headerLen = 1 + 1 + 2 + 4 + 2; % sync type len id inst
timestampLen = 4;
crcLen = 1;
oplHeaderLen = 8 + 4;
last_print = -1e10;
bufferIdx=1;
headerIdx=oplHeaderLen + 1;
startTime=clock;
while (1)
if (feof(fid)); break; end
try
%% Read message header
% get sync field (0x3C, 1 byte)
sync = fread(fid, 1, 'uint8');
if (bufferlen < headerIdx + 12); break; end
sync = buffer(headerIdx);
% printf('%x ', sync);
headerIdx += 1;
if sync ~= correctSyncByte
prebuf = [prebuf(2:end); sync];
wrongSyncByte = wrongSyncByte + 1;
continue
end
% get msg type (quint8 1 byte ) should be 0x20, ignore the rest?
msgType = fread(fid, 1, 'uint8');
if msgType ~= correctMsgByte && msgType ~= hex2dec('A0')
wrongMessageByte = wrongMessageByte + 1;
% printf('\n %u:',headerIdx - 1);
% get the opl timestamp and datablock size
oplTimestamp = typecast(uint8(buffer(headerIdx - 1 - 8 - 4:headerIdx - 1 - 8 - 1)), 'uint32');
oplSize = typecast(uint8(buffer(headerIdx - 1 - 8:headerIdx - 1 - 1)), 'uint64');
% get msg type (quint8 1 byte ) should be 0x20/0xA0, ignore the rest
msgType = buffer(headerIdx);
headerIdx += 1;
if msgType ~= correctMsgByte && msgType ~= correctTimestampedByte
% fixme: it should read the whole message payload instead of skipping and blindly searching for next sync byte.
fprintf('\nSkipping message type: %x \n', msgType);
continue
end
% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
msgSize = fread(fid, 1, 'uint16');
msgSize = uint32(typecast(buffer(headerIdx:headerIdx + 1), 'uint16'));
headerIdx += 2;
% get obj id (quint32 4 bytes)
objID = fread(fid, 1, 'uint32');
objID = typecast(uint8(buffer(headerIdx:headerIdx + 3)), 'uint32');
headerIdx += 4;
% get instance id (quint16 2 bytes)
instID = typecast(uint8(buffer(headerIdx:headerIdx + 1)), 'uint16');
% printf('Id %x type %x size %u Inst %x ', objID, msgType, msgSize, instID);
headerIdx += 2;
% get timestamp if needed (quint32 4 bytes)
if msgType == correctMsgByte
%% Process header if we are aligned
timestamp = typecast(uint8(prebuf(1:4)), 'uint32');
datasize = typecast(uint8(prebuf(5:12)), 'uint64');
datasize = msgSize - headerLen;
elseif msgType == correctTimestampedByte
timestamp = fread(fid,1,'uint16');
timestamp = typecast(uint8(buffer(headerIdx:headerIdx + 3)), 'uint32');
% printf('ts %u');
headerIdx += 4;
datasize = msgSize - headerLen - timestampLen;
end
% printf('\n');
bufferIdx = headerIdx;
headerIdx += datasize + crcLen + oplHeaderLen;
if (isempty(objID)) %End of file
break;
end
%% Read object
switch objID
@ -124,10 +143,8 @@ $(SWITCHCODE)
else
unknownObjIDList(unknownObjIDListIdx,2)=unknownObjIDList(unknownObjIDListIdx,2)+1;
end
datasize = typecast(buffer(datasizeBufferIdx + 4:datasizeBufferIdx + 12-1), 'uint64');
msgBytesLeft = datasize - 1 - 1 - 2 - 4;
msgBytesLeft = msgSize - 1 - 1 - 2 - 4;
if msgBytesLeft > 255
msgBytesLeft = 0;
end

7
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -14,17 +14,14 @@ HEADERS += \
uavdataobject.h \
uavobjectfield.h \
uavobjectsinit.h \
uavobjectsplugin.h \
uavobjecthelper.h
uavobjectsplugin.h
SOURCES += \
uavobject.cpp \
uavmetaobject.cpp \
uavobjectmanager.cpp \
uavdataobject.cpp \
uavobjectfield.cpp \
uavobjectsplugin.cpp \
uavobjecthelper.cpp
uavobjectsplugin.cpp
OTHER_FILES += UAVObjects.pluginspec

9
ground/openpilotgcs/src/plugins/uavobjects/uavobjecthelper.cpp → ground/openpilotgcs/src/plugins/uavobjectutil/uavobjecthelper.cpp
View File

@ -32,6 +32,9 @@ AbstractUAVObjectHelper::AbstractUAVObjectHelper(QObject *parent) :
QObject(parent), m_transactionResult(false), m_transactionCompleted(false)
{}
AbstractUAVObjectHelper::~AbstractUAVObjectHelper()
{}
AbstractUAVObjectHelper::Result AbstractUAVObjectHelper::doObjectAndWait(UAVObject *object, int timeout)
{
// Lock, we can't call this twice from different threads
@ -86,6 +89,9 @@ void AbstractUAVObjectHelper::transactionCompleted(UAVObject *object, bool succe
UAVObjectUpdaterHelper::UAVObjectUpdaterHelper(QObject *parent) : AbstractUAVObjectHelper(parent)
{}
UAVObjectUpdaterHelper::~UAVObjectUpdaterHelper()
{}
void UAVObjectUpdaterHelper::doObjectAndWaitImpl()
{
m_object->updated();
@ -94,6 +100,9 @@ void UAVObjectUpdaterHelper::doObjectAndWaitImpl()
UAVObjectRequestHelper::UAVObjectRequestHelper(QObject *parent) : AbstractUAVObjectHelper(parent)
{}
UAVObjectRequestHelper::~UAVObjectRequestHelper()
{}
void UAVObjectRequestHelper::doObjectAndWaitImpl()
{
m_object->requestUpdate();

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