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Code Issues Releases Activity

Flight/ManualControl: Make it so the disarmed signal itself changes when GCS

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lost.  Warning though: it takes ~5-10 seconds for the flight telemetry status
to go from connected so this solution still isn't great.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2070 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-11-04 02:30:53 +00:00 committed by peabody124
parent 7bdd900409
commit f950b9f6c0
3 changed files with 34 additions and 10 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
flight/OpenPilot/Modules/Actuator/actuator.c
View File

@ -36,7 +36,6 @@
//#include "vtolsettings.h"
#include "systemsettings.h"
#include "actuatordesired.h"
#include "flighttelemetrystats.h"
#include "actuatorcommand.h"
#include "manualcontrolcommand.h"
#include "mixersettings.h"
@ -180,15 +179,7 @@ static void actuatorTask(void* parameters)
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
if(ManualControlCommandReadOnly(&manualControl)) {
/* when being controlled by GCS check for connection still intact */
/* eventually this lost connection (like lost RX) will trigger */
/* a failsafe flight pattern */
FlightTelemetryStatsData flightStats;
FlightTelemetryStatsGet(&flightStats);
armed &= (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED);
}
armed &= desired.Throttle > 0.05; //zero throttle stops the motors
armed &= desired.Throttle > 0.00; //zero throttle stops the motors
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);
float curve2 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve2);

13
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
View File

@ -41,6 +41,7 @@
#include "actuatordesired.h"
#include "attitudedesired.h"
#include "ahrssettings.h"
#include "flighttelemetrystats.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
@ -110,6 +111,18 @@ static void manualControlTask(void *parameters)
ManualControlSettingsGet(&settings);
StabilizationSettingsGet(&stabSettings);
if (ManualControlCommandReadOnly(&cmd)) {
FlightTelemetryStatsData flightTelemStats;
FlightTelemetryStatsGet(&flightTelemStats);
if(flightTelemStats.Status != FLIGHTTELEMETRYSTATS_STATUS_CONNECTED) {
/* trying to fly via GCS and lost connection. fall back to transmitter */
UAVObjMetadata metadata;
UAVObjGetMetadata(&cmd, &metadata);
metadata.access = ACCESS_READWRITE;
UAVObjSetMetadata(&cmd, &metadata);
}
}
if (!ManualControlCommandReadOnly(&cmd)) {
// Check settings, if error raise alarm
if (settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||

20
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -28,6 +28,8 @@
651CF9F1120B700D00EEFD70 /* pios_usb_hid_prop.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_prop.h; sourceTree = "<group>"; };
651CF9F2120B700D00EEFD70 /* pios_usb_hid_pwr.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_usb_hid_pwr.h; sourceTree = "<group>"; };
651CF9F3120B700D00EEFD70 /* usb_conf.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = usb_conf.h; sourceTree = "<group>"; };
651F32ED1281DE7E00D065F8 /* firmwareiap.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = firmwareiap.c; sourceTree = "<group>"; };
651F32EF1281DE7E00D065F8 /* firmwareiap.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = firmwareiap.h; sourceTree = "<group>"; };
65209A1812208B0600453371 /* baroaltitude.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = baroaltitude.xml; sourceTree = "<group>"; };
65209A1912208B0600453371 /* gpsposition.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = gpsposition.xml; sourceTree = "<group>"; };
6526645A122DF972006F9A3C /* pios_i2c_priv.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_i2c_priv.h; sourceTree = "<group>"; };
@ -2920,6 +2922,23 @@
path = inc;
sourceTree = "<group>";
};
651F32EC1281DE7E00D065F8 /* FirmwareIAP */ = {
isa = PBXGroup;
children = (
651F32ED1281DE7E00D065F8 /* firmwareiap.c */,
651F32EE1281DE7E00D065F8 /* inc */,
);
path = FirmwareIAP;
sourceTree = "<group>";
};
651F32EE1281DE7E00D065F8 /* inc */ = {
isa = PBXGroup;
children = (
651F32EF1281DE7E00D065F8 /* firmwareiap.h */,
);
path = inc;
sourceTree = "<group>";
};
65632CBE124E09D900469B77 /* Guidance */ = {
isa = PBXGroup;
children = (
@ -6846,6 +6865,7 @@
65E8EF2E11EEA61E00BBF654 /* Attitude */,
65E8EF3011EEA61E00BBF654 /* Battery */,
65E8EF3411EEA61E00BBF654 /* Example */,
651F32EC1281DE7E00D065F8 /* FirmwareIAP */,
65E8EF3D11EEA61E00BBF654 /* GPS */,
65632CBE124E09D900469B77 /* Guidance */,
65E8EF4311EEA61E00BBF654 /* ManualControl */,