mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-27 16:54:15 +01:00
Merge remote-tracking branch 'origin/next' into thread/OP-1628_Reboot_Board_In_Wizard
This commit is contained in:
m_thread
commit
fb9bcde440
15
Makefile
15
Makefile
@ -808,24 +808,11 @@ ifneq ($(strip $(filter package clean_package,$(MAKECMDGOALS))),)
|
||||
endif
|
||||
endif
|
||||
|
||||
# Copy file template. Empty line before the endef is required, do not remove
|
||||
# $(1) = copy file name without extension
|
||||
# $(2) = source file extension
|
||||
# $(3) = destination file extension
|
||||
define COPY_FW_FILES
|
||||
$(V1) $(CP) "$(BUILD_DIR)/$(1)/$(1)$(2)" "$(PACKAGE_DIR)/firmware/$(1)$(PACKAGE_SEP)$(PACKAGE_LBL)$(3)"
|
||||
|
||||
endef
|
||||
|
||||
# Build and copy package files into the package directory
|
||||
# and call platform-specific packaging script
|
||||
.PHONY: package
|
||||
package: all_fw all_ground uavobjects_matlab
|
||||
@$(ECHO) "Packaging for $(UNAME) $(ARCH) into $(call toprel, $(PACKAGE_DIR)) directory"
|
||||
$(V1) [ ! -d "$(PACKAGE_DIR)" ] || $(RM) -rf "$(PACKAGE_DIR)"
|
||||
$(V1) $(MKDIR) -p "$(PACKAGE_DIR)/firmware"
|
||||
$(foreach fw_targ, $(PACKAGE_FW_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.opfw,.opfw))
|
||||
$(foreach fw_targ, $(PACKAGE_ELF_TARGETS), $(call COPY_FW_FILES,$(fw_targ),.elf,.elf))
|
||||
$(V1) $(MKDIR) -p "$(PACKAGE_DIR)"
|
||||
$(MAKE) --no-print-directory -C $(ROOT_DIR)/package --file=$(UNAME).mk $@
|
||||
|
||||
##############################
|
||||
|
||||
@ -30,6 +30,7 @@
|
||||
|
||||
#ifndef PLANS_H_
|
||||
#define PLANS_H_
|
||||
#include <stdint.h>
|
||||
#include <pios_math.h>
|
||||
|
||||
/** \page standard Plans
|
||||
@ -67,6 +68,16 @@ void plan_setup_land();
|
||||
*/
|
||||
void plan_run_land();
|
||||
|
||||
/**
|
||||
* @brief setup pathplanner/pathfollower for braking
|
||||
*/
|
||||
void plan_setup_assistedcontrol(uint8_t timeout_occurred);
|
||||
|
||||
#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH 0
|
||||
#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST 1
|
||||
#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN 2
|
||||
#define PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT 3
|
||||
|
||||
/**
|
||||
* @brief setup pathfollower for positionvario
|
||||
*/
|
||||
|
||||
@ -53,6 +53,6 @@ typedef enum {
|
||||
|
||||
extern int32_t configuration_check();
|
||||
|
||||
FrameType_t GetCurrentFrameType();
|
||||
extern FrameType_t GetCurrentFrameType();
|
||||
|
||||
#endif /* SANITYCHECK_H */
|
||||
|
||||
@ -47,6 +47,7 @@ static void path_circle(PathDesiredData *path, float *cur_point, struct path_sta
|
||||
void path_progress(PathDesiredData *path, float *cur_point, struct path_status *status)
|
||||
{
|
||||
switch (path->Mode) {
|
||||
case PATHDESIRED_MODE_BRAKE: // should never get here...
|
||||
case PATHDESIRED_MODE_FLYVECTOR:
|
||||
return path_vector(path, cur_point, status, true);
|
||||
|
||||
|
||||
@ -35,8 +35,11 @@
|
||||
#include <pathdesired.h>
|
||||
#include <positionstate.h>
|
||||
#include <flightmodesettings.h>
|
||||
#include <flightstatus.h>
|
||||
#include <velocitystate.h>
|
||||
#include <manualcontrolcommand.h>
|
||||
#include <attitudestate.h>
|
||||
#include <vtolpathfollowersettings.h>
|
||||
#include <sin_lookup.h>
|
||||
|
||||
#define UPDATE_EXPECTED 0.02f
|
||||
@ -53,8 +56,11 @@ void plan_initialize()
|
||||
PositionStateInitialize();
|
||||
PathDesiredInitialize();
|
||||
FlightModeSettingsInitialize();
|
||||
FlightStatusInitialize();
|
||||
AttitudeStateInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
VelocityStateInitialize();
|
||||
VtolPathFollowerSettingsInitialize();
|
||||
}
|
||||
|
||||
/**
|
||||
@ -84,6 +90,7 @@ void plan_setup_positionHold()
|
||||
PathDesiredSet(&pathDesired);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* @brief setup pathplanner/pathfollower for return to base
|
||||
*/
|
||||
@ -504,3 +511,89 @@ void plan_run_AutoCruise()
|
||||
pathDesired.Start.Down = pathDesired.End.Down;
|
||||
PathDesiredSet(&pathDesired);
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief setup pathplanner/pathfollower for braking in positionroam
|
||||
* timeout_occurred = false: Attempt to enter flyvector for braking
|
||||
* timeout_occurred = true: Revert to position hold
|
||||
*/
|
||||
#define ASSISTEDCONTROL_BRAKERATE_MINIMUM 0.2f // m/s2
|
||||
#define ASSISTEDCONTROL_TIMETOSTOP_MINIMUM 0.2f // seconds
|
||||
#define ASSISTEDCONTROL_TIMETOSTOP_MAXIMUM 9.0f // seconds
|
||||
#define ASSISTEDCONTROL_DELAY_TO_BRAKE 1.0f // seconds
|
||||
#define ASSISTEDCONTROL_TIMEOUT_MULTIPLIER 2.0f // actual deceleration rate can be 50% of desired...timeouts need to cater for this
|
||||
void plan_setup_assistedcontrol(uint8_t timeout_occurred)
|
||||
{
|
||||
PositionStateData positionState;
|
||||
|
||||
PositionStateGet(&positionState);
|
||||
PathDesiredData pathDesired;
|
||||
PathDesiredGet(&pathDesired);
|
||||
|
||||
FlightStatusAssistedControlStateOptions assistedControlFlightMode;
|
||||
FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
|
||||
|
||||
if (timeout_occurred) {
|
||||
pathDesired.End.North = positionState.North;
|
||||
pathDesired.End.East = positionState.East;
|
||||
pathDesired.End.Down = positionState.Down;
|
||||
pathDesired.Start.North = positionState.North;
|
||||
pathDesired.Start.East = positionState.East;
|
||||
pathDesired.Start.Down = positionState.Down;
|
||||
pathDesired.StartingVelocity = 0.0f;
|
||||
pathDesired.EndingVelocity = 0.0f;
|
||||
pathDesired.Mode = PATHDESIRED_MODE_FLYENDPOINT;
|
||||
assistedControlFlightMode = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD;
|
||||
} else {
|
||||
VelocityStateData velocityState;
|
||||
VelocityStateGet(&velocityState);
|
||||
float brakeRate;
|
||||
VtolPathFollowerSettingsBrakeRateGet(&brakeRate);
|
||||
if (brakeRate < ASSISTEDCONTROL_BRAKERATE_MINIMUM) {
|
||||
brakeRate = ASSISTEDCONTROL_BRAKERATE_MINIMUM; // set a minimum to avoid a divide by zero potential below
|
||||
}
|
||||
// Calculate the velocity
|
||||
float velocity = velocityState.North * velocityState.North + velocityState.East * velocityState.East + velocityState.Down * velocityState.Down;
|
||||
velocity = sqrtf(velocity);
|
||||
|
||||
// Calculate the desired time to zero velocity.
|
||||
float time_to_stopped = ASSISTEDCONTROL_DELAY_TO_BRAKE; // we allow at least 0.5 seconds to rotate to a brake angle.
|
||||
time_to_stopped += velocity / brakeRate;
|
||||
|
||||
// Sanity check the brake rate by ensuring that the time to stop is within a range.
|
||||
if (time_to_stopped < ASSISTEDCONTROL_TIMETOSTOP_MINIMUM) {
|
||||
time_to_stopped = ASSISTEDCONTROL_TIMETOSTOP_MINIMUM;
|
||||
} else if (time_to_stopped > ASSISTEDCONTROL_TIMETOSTOP_MAXIMUM) {
|
||||
time_to_stopped = ASSISTEDCONTROL_TIMETOSTOP_MAXIMUM;
|
||||
}
|
||||
|
||||
// calculate the distance we will travel
|
||||
float north_delta = velocityState.North * ASSISTEDCONTROL_DELAY_TO_BRAKE; // we allow at least 0.5s to rotate to brake angle
|
||||
north_delta += (time_to_stopped - ASSISTEDCONTROL_DELAY_TO_BRAKE) * 0.5f * velocityState.North; // area under the linear deceleration plot
|
||||
float east_delta = velocityState.East * ASSISTEDCONTROL_DELAY_TO_BRAKE; // we allow at least 0.5s to rotate to brake angle
|
||||
east_delta += (time_to_stopped - ASSISTEDCONTROL_DELAY_TO_BRAKE) * 0.5f * velocityState.East; // area under the linear deceleration plot
|
||||
float down_delta = velocityState.Down * ASSISTEDCONTROL_DELAY_TO_BRAKE;
|
||||
down_delta += (time_to_stopped - ASSISTEDCONTROL_DELAY_TO_BRAKE) * 0.5f * velocityState.Down; // area under the linear deceleration plot
|
||||
float net_delta = east_delta * east_delta + north_delta * north_delta + down_delta * down_delta;
|
||||
net_delta = sqrtf(net_delta);
|
||||
|
||||
pathDesired.Start.North = positionState.North;
|
||||
pathDesired.Start.East = positionState.East;
|
||||
pathDesired.Start.Down = positionState.Down;
|
||||
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH] = velocityState.North;
|
||||
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST] = velocityState.East;
|
||||
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN] = velocityState.Down;
|
||||
|
||||
pathDesired.End.North = positionState.North + north_delta;
|
||||
pathDesired.End.East = positionState.East + east_delta;
|
||||
pathDesired.End.Down = positionState.Down + down_delta;
|
||||
|
||||
pathDesired.StartingVelocity = velocity;
|
||||
pathDesired.EndingVelocity = 0.0f;
|
||||
pathDesired.Mode = PATHDESIRED_MODE_BRAKE;
|
||||
pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] = time_to_stopped * ASSISTEDCONTROL_TIMEOUT_MULTIPLIER;
|
||||
assistedControlFlightMode = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE;
|
||||
}
|
||||
FlightStatusAssistedControlStateSet(&assistedControlFlightMode);
|
||||
PathDesiredSet(&pathDesired);
|
||||
}
|
||||
|
||||
@ -36,6 +36,7 @@
|
||||
#include <manualcontrolsettings.h>
|
||||
#include <flightmodesettings.h>
|
||||
#include <systemsettings.h>
|
||||
#include <stabilizationsettings.h>
|
||||
#include <systemalarms.h>
|
||||
#include <revosettings.h>
|
||||
#include <positionstate.h>
|
||||
@ -46,7 +47,7 @@
|
||||
|
||||
|
||||
// ! Check a stabilization mode switch position for safety
|
||||
static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol);
|
||||
static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol, bool gpsassisted);
|
||||
|
||||
/**
|
||||
* Run a preflight check over the hardware configuration
|
||||
@ -95,31 +96,41 @@ int32_t configuration_check()
|
||||
// modes
|
||||
uint8_t num_modes;
|
||||
uint8_t modes[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
|
||||
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
|
||||
ManualControlSettingsFlightModeNumberGet(&num_modes);
|
||||
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
|
||||
FlightModeSettingsFlightModePositionGet(modes);
|
||||
|
||||
for (uint32_t i = 0; i < num_modes; i++) {
|
||||
uint8_t gps_assisted = FlightModeAssistMap[i];
|
||||
if (gps_assisted) {
|
||||
ADDSEVERITY(!coptercontrol);
|
||||
ADDSEVERITY(multirotor);
|
||||
ADDSEVERITY(navCapableFusion);
|
||||
}
|
||||
|
||||
switch (modes[i]) {
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_MANUAL:
|
||||
ADDSEVERITY(!gps_assisted);
|
||||
ADDSEVERITY(!multirotor);
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1:
|
||||
ADDSEVERITY(check_stabilization_settings(1, multirotor, coptercontrol));
|
||||
ADDSEVERITY(check_stabilization_settings(1, multirotor, coptercontrol, gps_assisted));
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2:
|
||||
ADDSEVERITY(check_stabilization_settings(2, multirotor, coptercontrol));
|
||||
ADDSEVERITY(check_stabilization_settings(2, multirotor, coptercontrol, gps_assisted));
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3:
|
||||
ADDSEVERITY(check_stabilization_settings(3, multirotor, coptercontrol));
|
||||
ADDSEVERITY(check_stabilization_settings(3, multirotor, coptercontrol, gps_assisted));
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED4:
|
||||
ADDSEVERITY(check_stabilization_settings(4, multirotor, coptercontrol));
|
||||
ADDSEVERITY(check_stabilization_settings(4, multirotor, coptercontrol, gps_assisted));
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED5:
|
||||
ADDSEVERITY(check_stabilization_settings(5, multirotor, coptercontrol));
|
||||
ADDSEVERITY(check_stabilization_settings(5, multirotor, coptercontrol, gps_assisted));
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED6:
|
||||
ADDSEVERITY(check_stabilization_settings(6, multirotor, coptercontrol));
|
||||
ADDSEVERITY(check_stabilization_settings(6, multirotor, coptercontrol, gps_assisted));
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER:
|
||||
{
|
||||
@ -129,9 +140,13 @@ int32_t configuration_check()
|
||||
SystemAlarmsAlarmData alarms;
|
||||
SystemAlarmsAlarmGet(&alarms);
|
||||
ADDSEVERITY(alarms.PathPlan == SYSTEMALARMS_ALARM_OK);
|
||||
ADDSEVERITY(!gps_assisted);
|
||||
}
|
||||
// intentionally no break as this also needs pathfollower
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
|
||||
ADDSEVERITY(!coptercontrol);
|
||||
ADDSEVERITY(navCapableFusion);
|
||||
break;
|
||||
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_COURSELOCK:
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONROAM:
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_HOMELEASH:
|
||||
@ -140,6 +155,7 @@ int32_t configuration_check()
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI:
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE:
|
||||
case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOCRUISE:
|
||||
ADDSEVERITY(!gps_assisted);
|
||||
ADDSEVERITY(!coptercontrol);
|
||||
ADDSEVERITY(navCapableFusion);
|
||||
break;
|
||||
@ -175,7 +191,7 @@ int32_t configuration_check()
|
||||
* @param[in] index Which stabilization mode to check
|
||||
* @returns true or false
|
||||
*/
|
||||
static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol)
|
||||
static bool check_stabilization_settings(int index, bool multirotor, bool coptercontrol, bool gpsassisted)
|
||||
{
|
||||
uint8_t modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NUMELEM];
|
||||
|
||||
@ -213,6 +229,17 @@ static bool check_stabilization_settings(int index, bool multirotor, bool copter
|
||||
}
|
||||
}
|
||||
|
||||
if (gpsassisted) {
|
||||
// For multirotors verify that roll/pitch are either attitude or rattitude
|
||||
for (uint32_t i = 0; i < FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_YAW; i++) {
|
||||
if (!(modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ATTITUDE ||
|
||||
modes[i] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATTITUDE)) {
|
||||
return false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
// coptercontrol cannot do altitude holding
|
||||
if (coptercontrol) {
|
||||
if (modes[FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_THRUST] == FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD
|
||||
|
||||
@ -278,9 +278,9 @@ static bool okToArm(void)
|
||||
|
||||
StabilizationDesiredStabilizationModeData stabDesired;
|
||||
|
||||
uint8_t flightMode;
|
||||
FlightStatusFlightModeGet(&flightMode);
|
||||
switch (flightMode) {
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
switch (flightStatus.FlightMode) {
|
||||
case FLIGHTSTATUS_FLIGHTMODE_MANUAL:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
|
||||
@ -293,9 +293,16 @@ static bool okToArm(void)
|
||||
if (stabDesired.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEHOLD ||
|
||||
stabDesired.Thrust == STABILIZATIONDESIRED_STABILIZATIONMODE_ALTITUDEVARIO) {
|
||||
return false;
|
||||
} else {
|
||||
return true;
|
||||
}
|
||||
|
||||
// avoid assisted control with auto throttle. As it sits waiting to launch,
|
||||
// it will move to hold, and auto thrust will auto launch otherwise!
|
||||
if (flightStatus.FlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST) {
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
|
||||
break;
|
||||
|
||||
default:
|
||||
|
||||
@ -37,22 +37,30 @@
|
||||
#include <sanitycheck.h>
|
||||
#include <manualcontrolsettings.h>
|
||||
#include <manualcontrolcommand.h>
|
||||
#include <vtolselftuningstats.h>
|
||||
#include <flightmodesettings.h>
|
||||
#include <flightstatus.h>
|
||||
#include <systemsettings.h>
|
||||
#include <stabilizationdesired.h>
|
||||
#include <callbackinfo.h>
|
||||
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
#include <stabilizationsettings.h>
|
||||
#include <vtolpathfollowersettings.h>
|
||||
#endif
|
||||
|
||||
// Private constants
|
||||
#if defined(PIOS_MANUAL_STACK_SIZE)
|
||||
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
|
||||
#define STACK_SIZE_BYTES PIOS_MANUAL_STACK_SIZE
|
||||
#else
|
||||
#define STACK_SIZE_BYTES 1152
|
||||
#define STACK_SIZE_BYTES 1152
|
||||
#endif
|
||||
|
||||
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
|
||||
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
|
||||
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_REGULAR
|
||||
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
|
||||
|
||||
#define ASSISTEDCONTROL_NEUTRALTHROTTLERANGE_FACTOR 0.2f
|
||||
#define ASSISTEDCONTROL_BRAKETHRUST_DEADBAND_FACTOR_LO 0.92f
|
||||
#define ASSISTEDCONTROL_BRAKETHRUST_DEADBAND_FACTOR_HI 1.08f
|
||||
|
||||
|
||||
// defined handlers
|
||||
@ -93,6 +101,9 @@ static const controlHandler handler_PATHPLANNER = {
|
||||
},
|
||||
.handler = &pathPlannerHandler,
|
||||
};
|
||||
static float thrustAtBrakeStart = 0.0f;
|
||||
static float thrustLo = 0.0f;
|
||||
static float thrustHi = 0.0f;
|
||||
|
||||
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
|
||||
// Private variables
|
||||
@ -101,8 +112,10 @@ static DelayedCallbackInfo *callbackHandle;
|
||||
// Private functions
|
||||
static void configurationUpdatedCb(UAVObjEvent *ev);
|
||||
static void commandUpdatedCb(UAVObjEvent *ev);
|
||||
|
||||
static void manualControlTask(void);
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, FlightModeSettingsData *modeSettings);
|
||||
#endif
|
||||
|
||||
#define assumptions (assumptions1 && assumptions2 && assumptions3 && assumptions4 && assumptions5 && assumptions6 && assumptions7 && assumptions_flightmode)
|
||||
|
||||
@ -147,7 +160,11 @@ int32_t ManualControlInitialize()
|
||||
ManualControlSettingsInitialize();
|
||||
FlightModeSettingsInitialize();
|
||||
SystemSettingsInitialize();
|
||||
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
VtolSelfTuningStatsInitialize();
|
||||
StabilizationSettingsInitialize();
|
||||
VtolPathFollowerSettingsInitialize();
|
||||
#endif
|
||||
callbackHandle = PIOS_CALLBACKSCHEDULER_Create(&manualControlTask, CALLBACK_PRIORITY, CBTASK_PRIORITY, CALLBACKINFO_RUNNING_MANUALCONTROL, STACK_SIZE_BYTES);
|
||||
|
||||
return 0;
|
||||
@ -170,16 +187,36 @@ static void manualControlTask(void)
|
||||
FlightStatusGet(&flightStatus);
|
||||
ManualControlCommandData cmd;
|
||||
ManualControlCommandGet(&cmd);
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
VtolPathFollowerSettingsThrustLimitsData thrustLimits;
|
||||
VtolPathFollowerSettingsThrustLimitsGet(&thrustLimits);
|
||||
#endif
|
||||
|
||||
FlightModeSettingsData modeSettings;
|
||||
FlightModeSettingsGet(&modeSettings);
|
||||
|
||||
uint8_t position = cmd.FlightModeSwitchPosition;
|
||||
uint8_t newMode = flightStatus.FlightMode;
|
||||
uint8_t newFlightModeAssist = flightStatus.FlightModeAssist;
|
||||
uint8_t newAssistedControlState = flightStatus.AssistedControlState;
|
||||
uint8_t newAssistedThrottleState = flightStatus.AssistedThrottleState;
|
||||
if (position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
|
||||
newMode = modeSettings.FlightModePosition[position];
|
||||
}
|
||||
|
||||
// if a mode change occurs we default the assist mode and states here
|
||||
// to avoid having to add it to all of the below modes that are
|
||||
// otherwise unrelated
|
||||
if (newMode != flightStatus.FlightMode) {
|
||||
// set assist mode to none to avoid an assisted flight mode position
|
||||
// carrying over and impacting a newly selected non-assisted flight mode pos
|
||||
newFlightModeAssist = FLIGHTSTATUS_FLIGHTMODEASSIST_NONE;
|
||||
// The following are eqivalent to none effectively. Code should always
|
||||
// check the flightmodeassist state.
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
}
|
||||
|
||||
// Depending on the mode update the Stabilization or Actuator objects
|
||||
const controlHandler *handler = &handler_MANUAL;
|
||||
switch (newMode) {
|
||||
@ -193,9 +230,173 @@ static void manualControlTask(void)
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
|
||||
handler = &handler_STABILIZED;
|
||||
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
|
||||
if (newFlightModeAssist) {
|
||||
// assess roll/pitch state
|
||||
bool flagRollPitchHasInput = (fabsf(cmd.Roll) > 0.0f || fabsf(cmd.Pitch) > 0.0f);
|
||||
|
||||
// assess throttle state
|
||||
bool throttleNeutral = false;
|
||||
bool throttleNeutralOrLow = false;
|
||||
float neutralThrustOffset = 0.0f;
|
||||
VtolSelfTuningStatsNeutralThrustOffsetGet(&neutralThrustOffset);
|
||||
|
||||
|
||||
float throttleRangeDelta = (thrustLimits.Neutral + neutralThrustOffset) * ASSISTEDCONTROL_NEUTRALTHROTTLERANGE_FACTOR;
|
||||
float throttleNeutralLow = (thrustLimits.Neutral + neutralThrustOffset) - throttleRangeDelta;
|
||||
float throttleNeutralHi = (thrustLimits.Neutral + neutralThrustOffset) + throttleRangeDelta;
|
||||
if (cmd.Thrust > throttleNeutralLow && cmd.Thrust < throttleNeutralHi) {
|
||||
throttleNeutral = true;
|
||||
}
|
||||
if (cmd.Thrust < throttleNeutralHi) {
|
||||
throttleNeutralOrLow = true;
|
||||
}
|
||||
|
||||
// determine default thrust mode for hold/brake states
|
||||
uint8_t pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
if (newFlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST) {
|
||||
pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTO;
|
||||
}
|
||||
|
||||
switch (newAssistedControlState) {
|
||||
case FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY:
|
||||
if (!flagRollPitchHasInput) {
|
||||
// no stick input on roll/pitch so enter brake state
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE;
|
||||
newAssistedThrottleState = pathfollowerthrustmode;
|
||||
handler = &handler_PATHFOLLOWER;
|
||||
// retain thrust cmd for later comparison with actual in braking
|
||||
thrustAtBrakeStart = cmd.Thrust;
|
||||
|
||||
// calculate hi and low value of +-8% as a mini-deadband
|
||||
// for use in auto-override in brake sequence
|
||||
thrustLo = ASSISTEDCONTROL_BRAKETHRUST_DEADBAND_FACTOR_LO * thrustAtBrakeStart;
|
||||
thrustHi = ASSISTEDCONTROL_BRAKETHRUST_DEADBAND_FACTOR_HI * thrustAtBrakeStart;
|
||||
|
||||
// The purpose for auto throttle assist is to go from a mid to high thrust range to a
|
||||
// neutral vertical-holding/maintaining ~50% thrust range. It is not designed/intended
|
||||
// to go from near zero to 50%...we don't want an auto-takeoff feature here!
|
||||
// Also for rapid decents a user might have a bit of forward stick and low throttle
|
||||
// then stick-off for auto-braking...but if below the vtol min of 20% it will not
|
||||
// kick in...the flyer needs to manually manage throttle to slow down decent,
|
||||
// and the next time they put in a bit of stick, revert to primary, and then
|
||||
// sticks-off it will brake and hold with auto-thrust
|
||||
if (thrustAtBrakeStart < thrustLimits.Min) {
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
|
||||
}
|
||||
} else {
|
||||
// stick input so stay in primary mode control state
|
||||
// newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
|
||||
}
|
||||
break;
|
||||
|
||||
case FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE:
|
||||
if (flagRollPitchHasInput) {
|
||||
// stick input during brake sequence allows immediate resumption of control
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
|
||||
} else {
|
||||
// no stick input, stay in brake mode
|
||||
newAssistedThrottleState = pathfollowerthrustmode;
|
||||
handler = &handler_PATHFOLLOWER;
|
||||
|
||||
// if auto thrust and user adjusts thrust outside of a deadband in which case revert to manual
|
||||
if ((newAssistedThrottleState == FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTO) &&
|
||||
(cmd.Thrust < thrustLo || cmd.Thrust > thrustHi)) {
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
}
|
||||
}
|
||||
break;
|
||||
|
||||
case FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD:
|
||||
|
||||
if (newFlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST ||
|
||||
(newFlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST &&
|
||||
newAssistedThrottleState == FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL)) {
|
||||
// for manual or primary throttle states/modes, stick control immediately reverts to primary mode control
|
||||
if (flagRollPitchHasInput) {
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
|
||||
} else {
|
||||
// otherwise stay in the hold state
|
||||
// newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD;
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
handler = &handler_PATHFOLLOWER;
|
||||
}
|
||||
} else if (newFlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST &&
|
||||
newAssistedThrottleState != FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL) {
|
||||
// ok auto thrust mode applies in hold unless overridden
|
||||
|
||||
if (throttleNeutralOrLow && flagRollPitchHasInput) {
|
||||
// throttle is neutral approximately and stick input present so revert to primary mode control
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY;
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
|
||||
} else {
|
||||
// otherwise hold, autothrust, no stick input...we watch throttle for need to change mode
|
||||
switch (newAssistedThrottleState) {
|
||||
case FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTO:
|
||||
// whilst in auto, watch for neutral range, from which we allow override
|
||||
if (throttleNeutral) {
|
||||
pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTOOVERRIDE;
|
||||
} else { pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTO; }
|
||||
break;
|
||||
case FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTOOVERRIDE:
|
||||
// previously user has set throttle to neutral range, apply a deadband and revert to manual
|
||||
// if moving out of deadband. This allows for landing in hold state.
|
||||
if (!throttleNeutral) {
|
||||
pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
} else { pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTOOVERRIDE; }
|
||||
break;
|
||||
case FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL:
|
||||
pathfollowerthrustmode = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
break;
|
||||
}
|
||||
|
||||
newAssistedThrottleState = pathfollowerthrustmode;
|
||||
handler = &handler_PATHFOLLOWER;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
}
|
||||
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
|
||||
break;
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
newFlightModeAssist = isAssistedFlightMode(position, newMode, &modeSettings);
|
||||
if (newFlightModeAssist) {
|
||||
switch (newFlightModeAssist) {
|
||||
case FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST:
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST:
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_AUTO;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODEASSIST_NONE:
|
||||
default:
|
||||
newAssistedThrottleState = FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL; // Effectively None
|
||||
break;
|
||||
}
|
||||
|
||||
switch (newAssistedControlState) {
|
||||
case FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE:
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE;
|
||||
break;
|
||||
case FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY:
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE;
|
||||
break;
|
||||
case FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD:
|
||||
newAssistedControlState = FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD;
|
||||
break;
|
||||
}
|
||||
}
|
||||
handler = &handler_PATHFOLLOWER;
|
||||
break;
|
||||
|
||||
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONROAM:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
|
||||
@ -209,7 +410,7 @@ static void manualControlTask(void)
|
||||
case FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER:
|
||||
handler = &handler_PATHPLANNER;
|
||||
break;
|
||||
#endif
|
||||
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
|
||||
// There is no default, so if a flightmode is forgotten the compiler can throw a warning!
|
||||
}
|
||||
|
||||
@ -218,10 +419,16 @@ static void manualControlTask(void)
|
||||
// FlightMode needs to be set correctly on first run (otherwise ControlChain is invalid)
|
||||
static bool firstRun = true;
|
||||
|
||||
if (flightStatus.FlightMode != newMode || firstRun) {
|
||||
if (flightStatus.FlightMode != newMode || firstRun ||
|
||||
newFlightModeAssist != flightStatus.FlightModeAssist ||
|
||||
newAssistedControlState != flightStatus.AssistedControlState ||
|
||||
flightStatus.AssistedThrottleState != newAssistedThrottleState) {
|
||||
firstRun = false;
|
||||
flightStatus.ControlChain = handler->controlChain;
|
||||
flightStatus.FlightMode = newMode;
|
||||
flightStatus.ControlChain = handler->controlChain;
|
||||
flightStatus.FlightMode = newMode;
|
||||
flightStatus.FlightModeAssist = newFlightModeAssist;
|
||||
flightStatus.AssistedControlState = newAssistedControlState;
|
||||
flightStatus.AssistedThrottleState = newAssistedThrottleState;
|
||||
FlightStatusSet(&flightStatus);
|
||||
newinit = true;
|
||||
}
|
||||
@ -246,6 +453,81 @@ static void commandUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
PIOS_CALLBACKSCHEDULER_Dispatch(callbackHandle);
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Check and set modes for gps assisted stablised flight modes
|
||||
*/
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, FlightModeSettingsData *modeSettings)
|
||||
{
|
||||
uint8_t flightModeAssistOption = STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE;
|
||||
uint8_t isAssistedFlag = FLIGHTSTATUS_FLIGHTMODEASSIST_NONE;
|
||||
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
|
||||
|
||||
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
|
||||
if (position < STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM) {
|
||||
flightModeAssistOption = FlightModeAssistMap[position];
|
||||
}
|
||||
|
||||
switch (flightModeAssistOption) {
|
||||
case STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE:
|
||||
break;
|
||||
case STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_GPSASSIST:
|
||||
{
|
||||
// default to cruise control.
|
||||
FlightModeSettingsStabilization1SettingsOptions thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
|
||||
|
||||
switch (flightMode) {
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
thrustMode = modeSettings->Stabilization1Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
|
||||
thrustMode = modeSettings->Stabilization2Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
|
||||
thrustMode = modeSettings->Stabilization3Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
|
||||
thrustMode = modeSettings->Stabilization4Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
|
||||
thrustMode = modeSettings->Stabilization5Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
|
||||
thrustMode = modeSettings->Stabilization6Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
// we hard code the "GPS Assisted" PostionHold to use alt-vario which
|
||||
// is a more appropriate throttle mode. "GPSAssist" adds braking
|
||||
// and a better throttle management to the standard Position Hold.
|
||||
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
|
||||
break;
|
||||
|
||||
// other modes will use cruisecontrol as default
|
||||
}
|
||||
|
||||
|
||||
switch (thrustMode) {
|
||||
case FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEHOLD:
|
||||
case FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO:
|
||||
// this is only for use with stabi mods with althold/vario.
|
||||
isAssistedFlag = FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST;
|
||||
break;
|
||||
case FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_MANUAL:
|
||||
case FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL:
|
||||
default:
|
||||
// this is the default for non stabi modes also
|
||||
isAssistedFlag = FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST;
|
||||
break;
|
||||
}
|
||||
}
|
||||
break;
|
||||
}
|
||||
|
||||
return isAssistedFlag;
|
||||
}
|
||||
#endif /* ifndef PIOS_EXCLUDE_ADVANCED_FEATURES */
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -56,7 +56,9 @@ void pathFollowerHandler(bool newinit)
|
||||
}
|
||||
|
||||
uint8_t flightMode;
|
||||
uint8_t assistedControlFlightMode;
|
||||
FlightStatusFlightModeGet(&flightMode);
|
||||
FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
|
||||
|
||||
if (newinit) {
|
||||
// After not being in this mode for a while init at current height
|
||||
@ -64,9 +66,13 @@ void pathFollowerHandler(bool newinit)
|
||||
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
|
||||
plan_setup_returnToBase();
|
||||
break;
|
||||
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
plan_setup_positionHold();
|
||||
if (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE) {
|
||||
// Just initiated braking after returning from stabi control
|
||||
plan_setup_assistedcontrol(false);
|
||||
} else {
|
||||
plan_setup_positionHold();
|
||||
}
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
|
||||
plan_setup_CourseLock();
|
||||
@ -88,6 +94,18 @@ void pathFollowerHandler(bool newinit)
|
||||
plan_setup_AutoCruise();
|
||||
break;
|
||||
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
|
||||
if (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE) {
|
||||
// Just initiated braking after returning from stabi control
|
||||
plan_setup_assistedcontrol(false);
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
plan_setup_positionHold();
|
||||
break;
|
||||
|
||||
@ -93,6 +93,7 @@ void stabilizedHandler(bool newinit)
|
||||
uint8_t *stab_settings;
|
||||
FlightStatusData flightStatus;
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
switch (flightStatus.FlightMode) {
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
stab_settings = FlightModeSettingsStabilization1SettingsToArray(settings.Stabilization1Settings);
|
||||
@ -163,8 +164,8 @@ void stabilizedHandler(bool newinit)
|
||||
0; // this is an invalid mode
|
||||
}
|
||||
|
||||
stabilization.Thrust = cmd.Thrust;
|
||||
stabilization.StabilizationMode.Thrust = stab_settings[3];
|
||||
stabilization.Thrust = cmd.Thrust;
|
||||
StabilizationDesiredSet(&stabilization);
|
||||
}
|
||||
|
||||
|
||||
@ -54,6 +54,7 @@
|
||||
#include <sin_lookup.h>
|
||||
#include <pathdesired.h>
|
||||
#include <paths.h>
|
||||
#include "plans.h"
|
||||
#include <sanitycheck.h>
|
||||
|
||||
|
||||
@ -61,6 +62,7 @@
|
||||
#include <fixedwingpathfollowerstatus.h>
|
||||
#include <vtolpathfollowersettings.h>
|
||||
#include <flightstatus.h>
|
||||
#include <flightmodesettings.h>
|
||||
#include <pathstatus.h>
|
||||
#include <positionstate.h>
|
||||
#include <velocitystate.h>
|
||||
@ -73,25 +75,42 @@
|
||||
#include <manualcontrolcommand.h>
|
||||
#include <systemsettings.h>
|
||||
#include <stabilizationbank.h>
|
||||
#include <vtolselftuningstats.h>
|
||||
#include <pathsummary.h>
|
||||
|
||||
|
||||
// Private constants
|
||||
|
||||
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
|
||||
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
|
||||
#define CALLBACK_PRIORITY CALLBACK_PRIORITY_LOW
|
||||
#define CBTASK_PRIORITY CALLBACK_TASK_FLIGHTCONTROL
|
||||
|
||||
#define PF_IDLE_UPDATE_RATE_MS 100
|
||||
#define PF_IDLE_UPDATE_RATE_MS 100
|
||||
|
||||
#define STACK_SIZE_BYTES 2048
|
||||
#define STACK_SIZE_BYTES 2048
|
||||
|
||||
#define DEADBAND_HIGH 0.10f
|
||||
#define DEADBAND_LOW -0.10f
|
||||
|
||||
#define BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK 0.95f
|
||||
#define BRAKE_EXIT_VELOCITY_LIMIT 0.2f
|
||||
|
||||
#define BRAKE_RATE_MINIMUM 0.2f
|
||||
|
||||
#define NEUTRALTHRUST_PH_POSITIONAL_ERROR_LIMIT 0.5f
|
||||
#define NEUTRALTHRUST_PH_VEL_DESIRED_LIMIT 0.2f
|
||||
#define NEUTRALTHRUST_PH_VEL_STATE_LIMIT 0.2f
|
||||
#define NEUTRALTHRUST_PH_VEL_ERROR_LIMIT 0.1f
|
||||
|
||||
#define NEUTRALTHRUST_START_DELAY (2 * 20) // 2 seconds at rate of 20Hz (50ms update rate)
|
||||
#define NEUTRALTHRUST_END_COUNT (NEUTRALTHRUST_START_DELAY + (4 * 20)) // 4 second sample
|
||||
|
||||
#define DEADBAND_HIGH 0.10f
|
||||
#define DEADBAND_LOW -0.10f
|
||||
// Private types
|
||||
|
||||
struct Globals {
|
||||
struct pid PIDposH[2];
|
||||
struct pid PIDposV;
|
||||
struct pid PIDvel[3];
|
||||
struct pid PIDvel[3]; // North, East, Down
|
||||
struct pid BrakePIDvel[2]; // North, East
|
||||
struct pid PIDcourse;
|
||||
struct pid PIDspeed;
|
||||
struct pid PIDpower;
|
||||
@ -100,6 +119,19 @@ struct Globals {
|
||||
bool vtolEmergencyFallbackSwitch;
|
||||
};
|
||||
|
||||
struct NeutralThrustEstimation {
|
||||
uint32_t count;
|
||||
float sum;
|
||||
float average;
|
||||
float correction;
|
||||
float algo_erro_check;
|
||||
float min;
|
||||
float max;
|
||||
bool start_sampling;
|
||||
bool have_correction;
|
||||
};
|
||||
static struct NeutralThrustEstimation neutralThrustEst;
|
||||
|
||||
|
||||
// Private variables
|
||||
static DelayedCallbackInfo *pathFollowerCBInfo;
|
||||
@ -109,6 +141,8 @@ static PathStatusData pathStatus;
|
||||
static PathDesiredData pathDesired;
|
||||
static FixedWingPathFollowerSettingsData fixedWingPathFollowerSettings;
|
||||
static VtolPathFollowerSettingsData vtolPathFollowerSettings;
|
||||
static FlightStatusData flightStatus;
|
||||
static PathSummaryData pathSummary;
|
||||
|
||||
// correct speed by measured airspeed
|
||||
static float indicatedAirspeedStateBias = 0.0f;
|
||||
@ -126,6 +160,7 @@ static float updateCourseBearing();
|
||||
static float updatePathBearing();
|
||||
static float updatePOIBearing();
|
||||
static void processPOI();
|
||||
static void updateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
|
||||
static void updatePathVelocity(float kFF, bool limited);
|
||||
static uint8_t updateFixedDesiredAttitude();
|
||||
static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction);
|
||||
@ -159,7 +194,9 @@ int32_t PathFollowerInitialize()
|
||||
FixedWingPathFollowerStatusInitialize();
|
||||
VtolPathFollowerSettingsInitialize();
|
||||
FlightStatusInitialize();
|
||||
FlightModeSettingsInitialize();
|
||||
PathStatusInitialize();
|
||||
PathSummaryInitialize();
|
||||
PathDesiredInitialize();
|
||||
PositionStateInitialize();
|
||||
VelocityStateInitialize();
|
||||
@ -172,6 +209,8 @@ int32_t PathFollowerInitialize()
|
||||
ManualControlCommandInitialize();
|
||||
SystemSettingsInitialize();
|
||||
StabilizationBankInitialize();
|
||||
VtolSelfTuningStatsInitialize();
|
||||
|
||||
|
||||
// reset integrals
|
||||
resetGlobals();
|
||||
@ -193,8 +232,6 @@ MODULE_INITCALL(PathFollowerInitialize, PathFollowerStart);
|
||||
*/
|
||||
static void pathFollowerTask(void)
|
||||
{
|
||||
FlightStatusData flightStatus;
|
||||
|
||||
FlightStatusGet(&flightStatus);
|
||||
|
||||
if (flightStatus.ControlChain.PathFollower != FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
|
||||
@ -208,11 +245,21 @@ static void pathFollowerTask(void)
|
||||
processPOI();
|
||||
}
|
||||
|
||||
int16_t old_uid = pathStatus.UID;
|
||||
pathStatus.UID = pathDesired.UID;
|
||||
pathStatus.Status = PATHSTATUS_STATUS_INPROGRESS;
|
||||
if (pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] > 0.0f) {
|
||||
if (old_uid != pathStatus.UID) {
|
||||
pathStatus.path_time = 0.0f;
|
||||
} else {
|
||||
pathStatus.path_time += updatePeriod / 1000.0f;
|
||||
}
|
||||
}
|
||||
|
||||
switch (pathDesired.Mode) {
|
||||
case PATHDESIRED_MODE_FLYENDPOINT:
|
||||
case PATHDESIRED_MODE_FLYVECTOR:
|
||||
case PATHDESIRED_MODE_BRAKE:
|
||||
case PATHDESIRED_MODE_FLYCIRCLERIGHT:
|
||||
case PATHDESIRED_MODE_FLYCIRCLELEFT:
|
||||
{
|
||||
@ -239,6 +286,7 @@ static void pathFollowerTask(void)
|
||||
}
|
||||
PathStatusSet(&pathStatus);
|
||||
|
||||
|
||||
PIOS_CALLBACKSCHEDULER_Schedule(pathFollowerCBInfo, updatePeriod, CALLBACK_UPDATEMODE_SOONER);
|
||||
}
|
||||
|
||||
@ -258,6 +306,9 @@ static void SettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
|
||||
pid_configure(&global.PIDvel[1], vtolPathFollowerSettings.HorizontalVelPID.Kp, vtolPathFollowerSettings.HorizontalVelPID.Ki, vtolPathFollowerSettings.HorizontalVelPID.Kd, vtolPathFollowerSettings.HorizontalVelPID.ILimit);
|
||||
pid_configure(&global.PIDvel[2], vtolPathFollowerSettings.VerticalVelPID.Kp, vtolPathFollowerSettings.VerticalVelPID.Ki, vtolPathFollowerSettings.VerticalVelPID.Kd, vtolPathFollowerSettings.VerticalVelPID.ILimit);
|
||||
|
||||
pid_configure(&global.BrakePIDvel[0], vtolPathFollowerSettings.BrakeHorizontalVelPID.Kp, vtolPathFollowerSettings.BrakeHorizontalVelPID.Ki, vtolPathFollowerSettings.BrakeHorizontalVelPID.Kd, vtolPathFollowerSettings.BrakeHorizontalVelPID.ILimit);
|
||||
pid_configure(&global.BrakePIDvel[1], vtolPathFollowerSettings.BrakeHorizontalVelPID.Kp, vtolPathFollowerSettings.BrakeHorizontalVelPID.Ki, vtolPathFollowerSettings.BrakeHorizontalVelPID.Kd, vtolPathFollowerSettings.BrakeHorizontalVelPID.ILimit);
|
||||
|
||||
PathDesiredGet(&pathDesired);
|
||||
}
|
||||
|
||||
@ -297,12 +348,27 @@ static void resetGlobals()
|
||||
pid_zero(&global.PIDvel[0]);
|
||||
pid_zero(&global.PIDvel[1]);
|
||||
pid_zero(&global.PIDvel[2]);
|
||||
pid_zero(&global.BrakePIDvel[0]);
|
||||
pid_zero(&global.BrakePIDvel[1]);
|
||||
pid_zero(&global.PIDcourse);
|
||||
pid_zero(&global.PIDspeed);
|
||||
pid_zero(&global.PIDpower);
|
||||
global.poiRadius = 0.0f;
|
||||
global.vtolEmergencyFallback = 0;
|
||||
global.vtolEmergencyFallbackSwitch = false;
|
||||
|
||||
// reset neutral thrust assessment. We restart this process
|
||||
// and do once for each position hold engagement
|
||||
neutralThrustEst.start_sampling = false;
|
||||
neutralThrustEst.count = 0;
|
||||
neutralThrustEst.sum = 0.0f;
|
||||
neutralThrustEst.have_correction = false;
|
||||
neutralThrustEst.average = 0.0f;
|
||||
neutralThrustEst.correction = 0.0f;
|
||||
neutralThrustEst.min = 0.0f;
|
||||
neutralThrustEst.max = 0.0f;
|
||||
|
||||
pathStatus.path_time = 0.0f;
|
||||
}
|
||||
|
||||
static uint8_t updateAutoPilotByFrameType()
|
||||
@ -389,28 +455,37 @@ static uint8_t updateAutoPilotVtol()
|
||||
// yaw behaviour is configurable in vtolpathfollower, select yaw control algorithm
|
||||
bool yaw_attitude = true;
|
||||
float yaw = 0.0f;
|
||||
switch (vtolPathFollowerSettings.YawControl) {
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_MANUAL:
|
||||
|
||||
if (pathDesired.Mode == PATHDESIRED_MODE_BRAKE) {
|
||||
yaw_attitude = false;
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_TAILIN:
|
||||
yaw = updateTailInBearing();
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_MOVEMENTDIRECTION:
|
||||
yaw = updateCourseBearing();
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_PATHDIRECTION:
|
||||
yaw = updatePathBearing();
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_POI:
|
||||
yaw = updatePOIBearing();
|
||||
break;
|
||||
} else {
|
||||
switch (vtolPathFollowerSettings.YawControl) {
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_MANUAL:
|
||||
yaw_attitude = false;
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_TAILIN:
|
||||
yaw = updateTailInBearing();
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_MOVEMENTDIRECTION:
|
||||
yaw = updateCourseBearing();
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_PATHDIRECTION:
|
||||
yaw = updatePathBearing();
|
||||
break;
|
||||
case VTOLPATHFOLLOWERSETTINGS_YAWCONTROL_POI:
|
||||
yaw = updatePOIBearing();
|
||||
break;
|
||||
}
|
||||
}
|
||||
result = updateVtolDesiredAttitude(yaw_attitude, yaw);
|
||||
|
||||
// switch to emergency follower if follower indicates problems
|
||||
if (!result && (vtolPathFollowerSettings.FlyawayEmergencyFallback != VTOLPATHFOLLOWERSETTINGS_FLYAWAYEMERGENCYFALLBACK_DISABLED)) {
|
||||
global.vtolEmergencyFallbackSwitch = true;
|
||||
if (!result) {
|
||||
if (pathDesired.Mode == PATHDESIRED_MODE_BRAKE) {
|
||||
plan_setup_assistedcontrol(true); // revert braking to position hold, user can always stick override
|
||||
} else if (vtolPathFollowerSettings.FlyawayEmergencyFallback != VTOLPATHFOLLOWERSETTINGS_FLYAWAYEMERGENCYFALLBACK_DISABLED) {
|
||||
// switch to emergency follower if follower indicates problems
|
||||
global.vtolEmergencyFallbackSwitch = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
break;
|
||||
@ -427,6 +502,48 @@ static uint8_t updateAutoPilotVtol()
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
// Brake mode end condition checks
|
||||
if (pathDesired.Mode == PATHDESIRED_MODE_BRAKE) {
|
||||
bool exit_brake = false;
|
||||
VelocityStateData velocityState;
|
||||
if (pathStatus.path_time > pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT]) { // enter hold on timeout
|
||||
pathSummary.brake_exit_reason = PATHSUMMARY_BRAKE_EXIT_REASON_TIMEOUT;
|
||||
exit_brake = true;
|
||||
} else if (pathStatus.fractional_progress > BRAKE_FRACTIONALPROGRESS_STARTVELOCITYCHECK) {
|
||||
VelocityStateGet(&velocityState);
|
||||
if (fabsf(velocityState.East) < BRAKE_EXIT_VELOCITY_LIMIT && fabsf(velocityState.North) < BRAKE_EXIT_VELOCITY_LIMIT) {
|
||||
pathSummary.brake_exit_reason = PATHSUMMARY_BRAKE_EXIT_REASON_PATHCOMPLETED;
|
||||
exit_brake = true;
|
||||
}
|
||||
}
|
||||
|
||||
if (exit_brake) {
|
||||
// Calculate the distance error between the originally desired
|
||||
// stopping point and the actual brake-exit point.
|
||||
|
||||
PositionStateData p;
|
||||
PositionStateGet(&p);
|
||||
float north_offset = pathDesired.End.North - p.North;
|
||||
float east_offset = pathDesired.End.East - p.East;
|
||||
float down_offset = pathDesired.End.Down - p.Down;
|
||||
pathSummary.brake_distance_offset = sqrtf(north_offset * north_offset + east_offset * east_offset + down_offset * down_offset);
|
||||
pathSummary.time_remaining = pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT] - pathStatus.path_time;
|
||||
pathSummary.fractional_progress = pathStatus.fractional_progress;
|
||||
float cur_velocity = velocityState.North * velocityState.North + velocityState.East * velocityState.East + velocityState.Down * velocityState.Down;
|
||||
cur_velocity = sqrtf(cur_velocity);
|
||||
pathSummary.decelrate = (pathDesired.StartingVelocity - cur_velocity) / pathStatus.path_time;
|
||||
pathSummary.brakeRateActualDesiredRatio = pathSummary.decelrate / vtolPathFollowerSettings.BrakeRate;
|
||||
pathSummary.velocityIntoHold = cur_velocity;
|
||||
pathSummary.UID = pathStatus.UID;
|
||||
PathSummarySet(&pathSummary);
|
||||
|
||||
plan_setup_assistedcontrol(true); // braking timeout true
|
||||
// having re-entered hold allow reassessment of neutral thrust
|
||||
neutralThrustEst.have_correction = false;
|
||||
}
|
||||
}
|
||||
|
||||
switch (returnmode) {
|
||||
case RETURN_RESULT:
|
||||
return result;
|
||||
@ -607,6 +724,28 @@ static void processPOI()
|
||||
}
|
||||
}
|
||||
|
||||
static void updateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity)
|
||||
{
|
||||
if (startingVelocity >= 0.0f) {
|
||||
*updatedVelocity = startingVelocity - dT * brakeRate;
|
||||
if (*updatedVelocity > currentVelocity) {
|
||||
*updatedVelocity = currentVelocity;
|
||||
}
|
||||
if (*updatedVelocity < 0.0f) {
|
||||
*updatedVelocity = 0.0f;
|
||||
}
|
||||
} else {
|
||||
*updatedVelocity = startingVelocity + dT * brakeRate;
|
||||
if (*updatedVelocity < currentVelocity) {
|
||||
*updatedVelocity = currentVelocity;
|
||||
}
|
||||
if (*updatedVelocity > 0.0f) {
|
||||
*updatedVelocity = 0.0f;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* Compute desired velocity from the current position and path
|
||||
*/
|
||||
@ -617,57 +756,91 @@ static void updatePathVelocity(float kFF, bool limited)
|
||||
PositionStateGet(&positionState);
|
||||
VelocityStateData velocityState;
|
||||
VelocityStateGet(&velocityState);
|
||||
VelocityDesiredData velocityDesired;
|
||||
|
||||
const float dT = updatePeriod / 1000.0f;
|
||||
|
||||
// look ahead kFF seconds
|
||||
float cur[3] = { positionState.North + (velocityState.North * kFF),
|
||||
positionState.East + (velocityState.East * kFF),
|
||||
positionState.Down + (velocityState.Down * kFF) };
|
||||
struct path_status progress;
|
||||
if (pathDesired.Mode == PATHDESIRED_MODE_BRAKE) {
|
||||
float brakeRate = vtolPathFollowerSettings.BrakeRate;
|
||||
if (brakeRate < BRAKE_RATE_MINIMUM) {
|
||||
brakeRate = BRAKE_RATE_MINIMUM; // set a minimum to avoid a divide by zero potential below
|
||||
}
|
||||
updateBrakeVelocity(pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH], pathStatus.path_time, brakeRate, velocityState.North, &velocityDesired.North);
|
||||
updateBrakeVelocity(pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST], pathStatus.path_time, brakeRate, velocityState.East, &velocityDesired.East);
|
||||
updateBrakeVelocity(pathDesired.ModeParameters[PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN], pathStatus.path_time, brakeRate, velocityState.Down, &velocityDesired.Down);
|
||||
|
||||
path_progress(&pathDesired, cur, &progress);
|
||||
float cur_velocity = velocityState.North * velocityState.North + velocityState.East * velocityState.East + velocityState.Down * velocityState.Down;
|
||||
cur_velocity = sqrtf(cur_velocity);
|
||||
float desired_velocity = velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East + velocityDesired.Down * velocityDesired.Down;
|
||||
desired_velocity = sqrtf(desired_velocity);
|
||||
|
||||
// calculate velocity - can be zero if waypoints are too close
|
||||
VelocityDesiredData velocityDesired;
|
||||
velocityDesired.North = progress.path_vector[0];
|
||||
velocityDesired.East = progress.path_vector[1];
|
||||
velocityDesired.Down = progress.path_vector[2];
|
||||
// update pathstatus
|
||||
pathStatus.error = cur_velocity - desired_velocity;
|
||||
pathStatus.fractional_progress = 1.0f;
|
||||
if (pathDesired.StartingVelocity > 0.0f) {
|
||||
pathStatus.fractional_progress = (pathDesired.StartingVelocity - cur_velocity) / pathDesired.StartingVelocity;
|
||||
|
||||
if (limited &&
|
||||
// if a plane is crossing its desired flightpath facing the wrong way (away from flight direction)
|
||||
// it would turn towards the flightpath to get on its desired course. This however would reverse the correction vector
|
||||
// once it crosses the flightpath again, which would make it again turn towards the flightpath (but away from its desired heading)
|
||||
// leading to an S-shape snake course the wrong way
|
||||
// this only happens especially if HorizontalPosP is too high, as otherwise the angle between velocity desired and path_direction won't
|
||||
// turn steep unless there is enough space complete the turn before crossing the flightpath
|
||||
// in this case the plane effectively needs to be turned around
|
||||
// indicators:
|
||||
// difference between correction_direction and velocitystate >90 degrees and
|
||||
// difference between path_direction and velocitystate >90 degrees ( 4th sector, facing away from everything )
|
||||
// fix: ignore correction, steer in path direction until the situation has become better (condition doesn't apply anymore)
|
||||
// calculating angles < 90 degrees through dot products
|
||||
(vector_lengthf(progress.path_vector, 2) > 1e-6f) &&
|
||||
((progress.path_vector[0] * velocityState.North + progress.path_vector[1] * velocityState.East) < 0.0f) &&
|
||||
((progress.correction_vector[0] * velocityState.North + progress.correction_vector[1] * velocityState.East) < 0.0f)) {
|
||||
;
|
||||
// sometimes current velocity can exceed starting velocity due to initial acceleration
|
||||
if (pathStatus.fractional_progress < 0.0f) {
|
||||
pathStatus.fractional_progress = 0.0f;
|
||||
}
|
||||
}
|
||||
pathStatus.path_direction_north = velocityDesired.North;
|
||||
pathStatus.path_direction_east = velocityDesired.East;
|
||||
pathStatus.path_direction_down = velocityDesired.Down;
|
||||
|
||||
pathStatus.correction_direction_north = velocityDesired.North - velocityState.North;
|
||||
pathStatus.correction_direction_east = velocityDesired.East - velocityState.East;
|
||||
pathStatus.correction_direction_down = velocityDesired.Down - velocityState.Down;
|
||||
} else {
|
||||
// calculate correction
|
||||
velocityDesired.North += pid_apply(&global.PIDposH[0], progress.correction_vector[0], dT);
|
||||
velocityDesired.East += pid_apply(&global.PIDposH[1], progress.correction_vector[1], dT);
|
||||
// look ahead kFF seconds
|
||||
float cur[3] = { positionState.North + (velocityState.North * kFF),
|
||||
positionState.East + (velocityState.East * kFF),
|
||||
positionState.Down + (velocityState.Down * kFF) };
|
||||
struct path_status progress;
|
||||
path_progress(&pathDesired, cur, &progress);
|
||||
|
||||
// calculate velocity - can be zero if waypoints are too close
|
||||
velocityDesired.North = progress.path_vector[0];
|
||||
velocityDesired.East = progress.path_vector[1];
|
||||
velocityDesired.Down = progress.path_vector[2];
|
||||
|
||||
if (limited &&
|
||||
// if a plane is crossing its desired flightpath facing the wrong way (away from flight direction)
|
||||
// it would turn towards the flightpath to get on its desired course. This however would reverse the correction vector
|
||||
// once it crosses the flightpath again, which would make it again turn towards the flightpath (but away from its desired heading)
|
||||
// leading to an S-shape snake course the wrong way
|
||||
// this only happens especially if HorizontalPosP is too high, as otherwise the angle between velocity desired and path_direction won't
|
||||
// turn steep unless there is enough space complete the turn before crossing the flightpath
|
||||
// in this case the plane effectively needs to be turned around
|
||||
// indicators:
|
||||
// difference between correction_direction and velocitystate >90 degrees and
|
||||
// difference between path_direction and velocitystate >90 degrees ( 4th sector, facing away from everything )
|
||||
// fix: ignore correction, steer in path direction until the situation has become better (condition doesn't apply anymore)
|
||||
// calculating angles < 90 degrees through dot products
|
||||
(vector_lengthf(progress.path_vector, 2) > 1e-6f) &&
|
||||
((progress.path_vector[0] * velocityState.North + progress.path_vector[1] * velocityState.East) < 0.0f) &&
|
||||
((progress.correction_vector[0] * velocityState.North + progress.correction_vector[1] * velocityState.East) < 0.0f)) {
|
||||
;
|
||||
} else {
|
||||
// calculate correction
|
||||
velocityDesired.North += pid_apply(&global.PIDposH[0], progress.correction_vector[0], dT);
|
||||
velocityDesired.East += pid_apply(&global.PIDposH[1], progress.correction_vector[1], dT);
|
||||
}
|
||||
velocityDesired.Down += pid_apply(&global.PIDposV, progress.correction_vector[2], dT);
|
||||
|
||||
// update pathstatus
|
||||
pathStatus.error = progress.error;
|
||||
pathStatus.fractional_progress = progress.fractional_progress;
|
||||
pathStatus.path_direction_north = progress.path_vector[0];
|
||||
pathStatus.path_direction_east = progress.path_vector[1];
|
||||
pathStatus.path_direction_down = progress.path_vector[2];
|
||||
|
||||
pathStatus.correction_direction_north = progress.correction_vector[0];
|
||||
pathStatus.correction_direction_east = progress.correction_vector[1];
|
||||
pathStatus.correction_direction_down = progress.correction_vector[2];
|
||||
}
|
||||
velocityDesired.Down += pid_apply(&global.PIDposV, progress.correction_vector[2], dT);
|
||||
|
||||
// update pathstatus
|
||||
pathStatus.error = progress.error;
|
||||
pathStatus.fractional_progress = progress.fractional_progress;
|
||||
pathStatus.path_direction_north = progress.path_vector[0];
|
||||
pathStatus.path_direction_east = progress.path_vector[1];
|
||||
pathStatus.path_direction_down = progress.path_vector[2];
|
||||
|
||||
pathStatus.correction_direction_north = progress.correction_vector[0];
|
||||
pathStatus.correction_direction_east = progress.correction_vector[1];
|
||||
pathStatus.correction_direction_down = progress.correction_vector[2];
|
||||
|
||||
VelocityDesiredSet(&velocityDesired);
|
||||
}
|
||||
@ -1036,8 +1209,9 @@ static bool correctCourse(float *C, float *V, float *F, float s)
|
||||
*/
|
||||
static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction)
|
||||
{
|
||||
const float dT = updatePeriod / 1000.0f;
|
||||
uint8_t result = 1;
|
||||
const float dT = updatePeriod / 1000.0f;
|
||||
uint8_t result = 1;
|
||||
bool manual_thrust = false;
|
||||
|
||||
VelocityDesiredData velocityDesired;
|
||||
VelocityStateData velocityState;
|
||||
@ -1045,6 +1219,7 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction)
|
||||
AttitudeStateData attitudeState;
|
||||
StabilizationBankData stabSettings;
|
||||
SystemSettingsData systemSettings;
|
||||
VtolSelfTuningStatsData vtolSelfTuningStats;
|
||||
|
||||
float northError;
|
||||
float northCommand;
|
||||
@ -1062,36 +1237,121 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction)
|
||||
VelocityDesiredGet(&velocityDesired);
|
||||
AttitudeStateGet(&attitudeState);
|
||||
StabilizationBankGet(&stabSettings);
|
||||
VtolSelfTuningStatsGet(&vtolSelfTuningStats);
|
||||
|
||||
// Testing code - refactor into manual control command
|
||||
ManualControlCommandData manualControlData;
|
||||
ManualControlCommandGet(&manualControlData);
|
||||
|
||||
// scale velocity if it is above configured maximum
|
||||
float velH = sqrtf(velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East);
|
||||
if (velH > vtolPathFollowerSettings.HorizontalVelMax) {
|
||||
velocityDesired.North *= vtolPathFollowerSettings.HorizontalVelMax / velH;
|
||||
velocityDesired.East *= vtolPathFollowerSettings.HorizontalVelMax / velH;
|
||||
}
|
||||
if (fabsf(velocityDesired.Down) > vtolPathFollowerSettings.VerticalVelMax) {
|
||||
velocityDesired.Down *= vtolPathFollowerSettings.VerticalVelMax / fabsf(velocityDesired.Down);
|
||||
if (pathDesired.Mode != PATHDESIRED_MODE_BRAKE) {
|
||||
// scale velocity if it is above configured maximum
|
||||
// for braking, we can not help it if initial velocity was greater
|
||||
float velH = sqrtf(velocityDesired.North * velocityDesired.North + velocityDesired.East * velocityDesired.East);
|
||||
if (velH > vtolPathFollowerSettings.HorizontalVelMax) {
|
||||
velocityDesired.North *= vtolPathFollowerSettings.HorizontalVelMax / velH;
|
||||
velocityDesired.East *= vtolPathFollowerSettings.HorizontalVelMax / velH;
|
||||
}
|
||||
if (fabsf(velocityDesired.Down) > vtolPathFollowerSettings.VerticalVelMax) {
|
||||
velocityDesired.Down *= vtolPathFollowerSettings.VerticalVelMax / fabsf(velocityDesired.Down);
|
||||
}
|
||||
}
|
||||
|
||||
// Compute desired north command
|
||||
northError = velocityDesired.North - velocityState.North;
|
||||
northCommand = pid_apply(&global.PIDvel[0], northError, dT) + velocityDesired.North * vtolPathFollowerSettings.VelocityFeedforward;
|
||||
// calculate the velocity errors between desired and actual
|
||||
northError = velocityDesired.North - velocityState.North;
|
||||
eastError = velocityDesired.East - velocityState.East;
|
||||
downError = velocityDesired.Down - velocityState.Down;
|
||||
|
||||
// Compute desired east command
|
||||
eastError = velocityDesired.East - velocityState.East;
|
||||
eastCommand = pid_apply(&global.PIDvel[1], eastError, dT) + velocityDesired.East * vtolPathFollowerSettings.VelocityFeedforward;
|
||||
|
||||
// Compute desired down command
|
||||
downError = velocityDesired.Down - velocityState.Down;
|
||||
// Must flip this sign
|
||||
downError = -downError;
|
||||
downCommand = pid_apply(&global.PIDvel[2], downError, dT);
|
||||
downError = -downError;
|
||||
|
||||
stabDesired.Thrust = boundf(downCommand + vtolPathFollowerSettings.ThrustLimits.Neutral, vtolPathFollowerSettings.ThrustLimits.Min, vtolPathFollowerSettings.ThrustLimits.Max);
|
||||
// Compute desired commands
|
||||
if (pathDesired.Mode != PATHDESIRED_MODE_BRAKE) {
|
||||
northCommand = pid_apply(&global.PIDvel[0], northError, dT) + velocityDesired.North * vtolPathFollowerSettings.VelocityFeedforward;
|
||||
eastCommand = pid_apply(&global.PIDvel[1], eastError, dT) + velocityDesired.East * vtolPathFollowerSettings.VelocityFeedforward;
|
||||
} else {
|
||||
northCommand = pid_apply(&global.BrakePIDvel[0], northError, dT) + velocityDesired.North * vtolPathFollowerSettings.BrakeVelocityFeedforward;
|
||||
eastCommand = pid_apply(&global.BrakePIDvel[1], eastError, dT) + velocityDesired.East * vtolPathFollowerSettings.BrakeVelocityFeedforward;
|
||||
}
|
||||
downCommand = pid_apply(&global.PIDvel[2], downError, dT);
|
||||
|
||||
|
||||
if ((vtolPathFollowerSettings.ThrustControl == VTOLPATHFOLLOWERSETTINGS_THRUSTCONTROL_MANUAL &&
|
||||
flightStatus.FlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) ||
|
||||
(flightStatus.FlightModeAssist && flightStatus.AssistedThrottleState == FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL)) {
|
||||
manual_thrust = true;
|
||||
}
|
||||
|
||||
// if auto thrust and we have not run a correction calc check for PH and stability to then run an assessment
|
||||
// note that arming into this flight mode is not allowed, so assumption here is that
|
||||
// we have not landed. If GPSAssist+Manual/Cruise control thrust mode is used, a user overriding the
|
||||
// altitude maintaining PID will have moved the throttle state to FLIGHTSTATUS_ASSISTEDTHROTTLESTATE_MANUAL.
|
||||
// In manualcontrol.c the state will stay in manual throttle until the throttle command exceeds the vtol thrust min,
|
||||
// avoiding auto-takeoffs. Therefore no need to check that here.
|
||||
if (!manual_thrust && neutralThrustEst.have_correction != true) {
|
||||
// Assess if position hold state running. This can be normal position hold or
|
||||
// another mode with assist-hold active.
|
||||
bool ph_active =
|
||||
((flightStatus.FlightMode == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD &&
|
||||
flightStatus.FlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) ||
|
||||
(flightStatus.FlightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE &&
|
||||
flightStatus.AssistedControlState == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_HOLD));
|
||||
|
||||
|
||||
bool stable = (fabsf(pathStatus.correction_direction_down) < NEUTRALTHRUST_PH_POSITIONAL_ERROR_LIMIT &&
|
||||
fabsf(velocityDesired.Down) < NEUTRALTHRUST_PH_VEL_DESIRED_LIMIT &&
|
||||
fabsf(velocityState.Down) < NEUTRALTHRUST_PH_VEL_STATE_LIMIT &&
|
||||
fabsf(downError) < NEUTRALTHRUST_PH_VEL_ERROR_LIMIT);
|
||||
|
||||
if (ph_active && stable) {
|
||||
if (neutralThrustEst.start_sampling) {
|
||||
neutralThrustEst.count++;
|
||||
|
||||
|
||||
// delay count for 2 seconds into hold allowing for stablisation
|
||||
if (neutralThrustEst.count > NEUTRALTHRUST_START_DELAY) {
|
||||
neutralThrustEst.sum += global.PIDvel[2].iAccumulator;
|
||||
if (global.PIDvel[2].iAccumulator < neutralThrustEst.min) {
|
||||
neutralThrustEst.min = global.PIDvel[2].iAccumulator;
|
||||
}
|
||||
if (global.PIDvel[2].iAccumulator > neutralThrustEst.max) {
|
||||
neutralThrustEst.max = global.PIDvel[2].iAccumulator;
|
||||
}
|
||||
}
|
||||
|
||||
if (neutralThrustEst.count >= NEUTRALTHRUST_END_COUNT) {
|
||||
// 6 seconds have past
|
||||
// lets take an average
|
||||
neutralThrustEst.average = neutralThrustEst.sum / (float)(NEUTRALTHRUST_END_COUNT - NEUTRALTHRUST_START_DELAY);
|
||||
neutralThrustEst.correction = neutralThrustEst.average / 1000.0f;
|
||||
|
||||
global.PIDvel[2].iAccumulator -= neutralThrustEst.average;
|
||||
|
||||
neutralThrustEst.start_sampling = false;
|
||||
neutralThrustEst.have_correction = true;
|
||||
|
||||
// Write a new adjustment value
|
||||
// vtolSelfTuningStats.NeutralThrustOffset was incremental adjusted above
|
||||
VtolSelfTuningStatsData new_vtolSelfTuningStats;
|
||||
// add the average remaining i value to the
|
||||
new_vtolSelfTuningStats.NeutralThrustOffset = vtolSelfTuningStats.NeutralThrustOffset + neutralThrustEst.correction;
|
||||
new_vtolSelfTuningStats.NeutralThrustCorrection = neutralThrustEst.correction; // the i term thrust correction value applied
|
||||
new_vtolSelfTuningStats.NeutralThrustAccumulator = global.PIDvel[2].iAccumulator; // the actual iaccumulator value after correction
|
||||
new_vtolSelfTuningStats.NeutralThrustRange = neutralThrustEst.max - neutralThrustEst.min;
|
||||
VtolSelfTuningStatsSet(&new_vtolSelfTuningStats);
|
||||
}
|
||||
} else {
|
||||
// start a tick count
|
||||
neutralThrustEst.start_sampling = true;
|
||||
neutralThrustEst.count = 0;
|
||||
neutralThrustEst.sum = 0.0f;
|
||||
neutralThrustEst.max = 0.0f;
|
||||
neutralThrustEst.min = 0.0f;
|
||||
}
|
||||
} else {
|
||||
// reset sampling as we did't get 6 continuous seconds
|
||||
neutralThrustEst.start_sampling = false;
|
||||
}
|
||||
} // else we already have a correction for this PH run
|
||||
|
||||
// Generally in braking the downError will be an increased altitude. We really will rely on cruisecontrol to backoff.
|
||||
stabDesired.Thrust = boundf(vtolSelfTuningStats.NeutralThrustOffset + downCommand + vtolPathFollowerSettings.ThrustLimits.Neutral, vtolPathFollowerSettings.ThrustLimits.Min, vtolPathFollowerSettings.ThrustLimits.Max);
|
||||
|
||||
|
||||
// DEBUG HACK: allow user to skew compass on purpose to see if emergency failsafe kicks in
|
||||
@ -1102,6 +1362,7 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction)
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
if ( // emergency flyaway detection
|
||||
( // integral already at its limit
|
||||
vtolPathFollowerSettings.HorizontalVelPID.ILimit - fabsf(global.PIDvel[0].iAccumulator) < 1e-6f ||
|
||||
@ -1124,19 +1385,22 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction)
|
||||
|
||||
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
|
||||
// craft should move similarly for 5 deg roll versus 5 deg pitch
|
||||
|
||||
float maxPitch = vtolPathFollowerSettings.MaxRollPitch;
|
||||
if (pathDesired.Mode == PATHDESIRED_MODE_BRAKE) {
|
||||
maxPitch = vtolPathFollowerSettings.BrakeMaxPitch;
|
||||
}
|
||||
|
||||
stabDesired.Pitch = boundf(-northCommand * cosf(DEG2RAD(attitudeState.Yaw)) +
|
||||
-eastCommand * sinf(DEG2RAD(attitudeState.Yaw)),
|
||||
-vtolPathFollowerSettings.MaxRollPitch, vtolPathFollowerSettings.MaxRollPitch);
|
||||
-maxPitch, maxPitch);
|
||||
stabDesired.Roll = boundf(-northCommand * sinf(DEG2RAD(attitudeState.Yaw)) +
|
||||
eastCommand * cosf(DEG2RAD(attitudeState.Yaw)),
|
||||
-vtolPathFollowerSettings.MaxRollPitch, vtolPathFollowerSettings.MaxRollPitch);
|
||||
-maxPitch, maxPitch);
|
||||
|
||||
ManualControlCommandData manualControl;
|
||||
ManualControlCommandGet(&manualControl);
|
||||
|
||||
if (vtolPathFollowerSettings.ThrustControl == VTOLPATHFOLLOWERSETTINGS_THRUSTCONTROL_MANUAL) {
|
||||
// For now override thrust with manual control. Disable at your risk, quad goes to China.
|
||||
ManualControlCommandData manualControl;
|
||||
ManualControlCommandGet(&manualControl);
|
||||
stabDesired.Thrust = manualControl.Thrust;
|
||||
}
|
||||
|
||||
stabDesired.StabilizationMode.Roll = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
stabDesired.StabilizationMode.Pitch = STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE;
|
||||
@ -1145,9 +1409,51 @@ static int8_t updateVtolDesiredAttitude(bool yaw_attitude, float yaw_direction)
|
||||
stabDesired.Yaw = yaw_direction;
|
||||
} else {
|
||||
stabDesired.StabilizationMode.Yaw = STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK;
|
||||
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControlData.Yaw;
|
||||
stabDesired.Yaw = stabSettings.MaximumRate.Yaw * manualControl.Yaw;
|
||||
}
|
||||
|
||||
// default thrust mode to cruise control
|
||||
stabDesired.StabilizationMode.Thrust = STABILIZATIONDESIRED_STABILIZATIONMODE_CRUISECONTROL;
|
||||
|
||||
// when flight mode assist is active but in primary-thrust mode, the thrust mode must be set to the same as per the primary mode.
|
||||
if (flightStatus.FlightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_GPSASSIST_PRIMARYTHRUST) {
|
||||
FlightModeSettingsData settings;
|
||||
FlightModeSettingsGet(&settings);
|
||||
FlightModeSettingsStabilization1SettingsOptions thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
|
||||
|
||||
switch (flightStatus.FlightMode) {
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
|
||||
thrustMode = settings.Stabilization1Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
|
||||
thrustMode = settings.Stabilization2Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
|
||||
thrustMode = settings.Stabilization3Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
|
||||
thrustMode = settings.Stabilization4Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
|
||||
thrustMode = settings.Stabilization5Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
|
||||
thrustMode = settings.Stabilization6Settings.Thrust;
|
||||
break;
|
||||
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
|
||||
// we hard code the "GPS Assisted" PostionHold to use alt-vario which
|
||||
// is a more appropriate throttle mode. "GPSAssist" adds braking
|
||||
// and a better throttle management to the standard Position Hold.
|
||||
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
|
||||
break;
|
||||
}
|
||||
stabDesired.StabilizationMode.Thrust = thrustMode;
|
||||
stabDesired.Thrust = manualControl.Thrust;
|
||||
} else if (manual_thrust) {
|
||||
stabDesired.Thrust = manualControl.Thrust;
|
||||
}
|
||||
// else thrust is set by the PID controller
|
||||
|
||||
StabilizationDesiredSet(&stabDesired);
|
||||
|
||||
return result;
|
||||
|
||||
@ -39,27 +39,33 @@
|
||||
#include <receiveractivity.h>
|
||||
#include <flightstatus.h>
|
||||
#include <flighttelemetrystats.h>
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
#include <stabilizationsettings.h>
|
||||
#endif
|
||||
#include <flightmodesettings.h>
|
||||
#include <systemsettings.h>
|
||||
#include <taskinfo.h>
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_RCTX)
|
||||
#include "pios_usb_rctx.h"
|
||||
#endif /* PIOS_INCLUDE_USB_RCTX */
|
||||
|
||||
// Private constants
|
||||
#if defined(PIOS_RECEIVER_STACK_SIZE)
|
||||
#define STACK_SIZE_BYTES PIOS_RECEIVER_STACK_SIZE
|
||||
#define STACK_SIZE_BYTES PIOS_RECEIVER_STACK_SIZE
|
||||
#else
|
||||
#define STACK_SIZE_BYTES 1152
|
||||
#define STACK_SIZE_BYTES 1152
|
||||
#endif
|
||||
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) // 3 = flight control
|
||||
#define UPDATE_PERIOD_MS 20
|
||||
#define THROTTLE_FAILSAFE -0.1f
|
||||
#define ARMED_THRESHOLD 0.50f
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) // 3 = flight control
|
||||
#define UPDATE_PERIOD_MS 20
|
||||
#define THROTTLE_FAILSAFE -0.1f
|
||||
#define ARMED_THRESHOLD 0.50f
|
||||
// safe band to allow a bit of calibration error or trim offset (in microseconds)
|
||||
#define CONNECTION_OFFSET 250
|
||||
#define CONNECTION_OFFSET 250
|
||||
|
||||
#define ASSISTEDCONTROL_DEADBAND_MINIMUM 0.02f // minimum value for a well bahaved Tx.
|
||||
|
||||
// Private types
|
||||
|
||||
@ -79,8 +85,12 @@ static uint32_t timeDifferenceMs(portTickType start_time, portTickType end_time)
|
||||
static bool validInputRange(int16_t min, int16_t max, uint16_t value);
|
||||
static void applyDeadband(float *value, float deadband);
|
||||
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
static uint8_t isAssistedFlightMode(uint8_t position);
|
||||
#endif
|
||||
|
||||
#ifdef USE_INPUT_LPF
|
||||
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsData *settings, float dT);
|
||||
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, float deadband, float dT);
|
||||
#endif
|
||||
|
||||
#define RCVR_ACTIVITY_MONITOR_CHANNELS_PER_GROUP 12
|
||||
@ -129,6 +139,10 @@ int32_t ReceiverInitialize()
|
||||
ManualControlCommandInitialize();
|
||||
ReceiverActivityInitialize();
|
||||
ManualControlSettingsInitialize();
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
StabilizationSettingsInitialize();
|
||||
#endif
|
||||
|
||||
|
||||
return 0;
|
||||
}
|
||||
@ -363,11 +377,30 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
cmd.FlightModeSwitchPosition = settings.FlightModeNumber - 1;
|
||||
}
|
||||
|
||||
float deadband_checked = settings.Deadband;
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
// AssistedControl must have deadband set for pitch/roll hence
|
||||
// we default to a higher value for badly behaved TXs and also enforce a minimum value
|
||||
// for well behaved TXs
|
||||
uint8_t assistedMode = isAssistedFlightMode(cmd.FlightModeSwitchPosition);
|
||||
if (assistedMode) {
|
||||
deadband_checked = settings.DeadbandAssistedControl;
|
||||
if (deadband_checked < ASSISTEDCONTROL_DEADBAND_MINIMUM) {
|
||||
deadband_checked = ASSISTEDCONTROL_DEADBAND_MINIMUM;
|
||||
}
|
||||
|
||||
// If user has set settings.Deadband to a higher value...we use that.
|
||||
if (deadband_checked < settings.Deadband) {
|
||||
deadband_checked = settings.Deadband;
|
||||
}
|
||||
}
|
||||
#endif // PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
|
||||
// Apply deadband for Roll/Pitch/Yaw stick inputs
|
||||
if (settings.Deadband > 0.0f) {
|
||||
applyDeadband(&cmd.Roll, settings.Deadband);
|
||||
applyDeadband(&cmd.Pitch, settings.Deadband);
|
||||
applyDeadband(&cmd.Yaw, settings.Deadband);
|
||||
if (deadband_checked > 0.0f) {
|
||||
applyDeadband(&cmd.Roll, deadband_checked);
|
||||
applyDeadband(&cmd.Pitch, deadband_checked);
|
||||
applyDeadband(&cmd.Yaw, deadband_checked);
|
||||
}
|
||||
#ifdef USE_INPUT_LPF
|
||||
// Apply Low Pass Filter to input channels, time delta between calls in ms
|
||||
@ -377,9 +410,9 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
(float)UPDATE_PERIOD_MS;
|
||||
lastSysTimeLPF = thisSysTime;
|
||||
|
||||
applyLPF(&cmd.Roll, MANUALCONTROLSETTINGS_RESPONSETIME_ROLL, &settings, dT);
|
||||
applyLPF(&cmd.Pitch, MANUALCONTROLSETTINGS_RESPONSETIME_PITCH, &settings, dT);
|
||||
applyLPF(&cmd.Yaw, MANUALCONTROLSETTINGS_RESPONSETIME_YAW, &settings, dT);
|
||||
applyLPF(&cmd.Roll, MANUALCONTROLSETTINGS_RESPONSETIME_ROLL, &settings.ResponseTime, deadband_checked, dT);
|
||||
applyLPF(&cmd.Pitch, MANUALCONTROLSETTINGS_RESPONSETIME_PITCH, &settings.ResponseTime, deadband_checked, dT);
|
||||
applyLPF(&cmd.Yaw, MANUALCONTROLSETTINGS_RESPONSETIME_YAW, &settings.ResponseTime, deadband_checked, dT);
|
||||
#endif // USE_INPUT_LPF
|
||||
if (cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_INVALID
|
||||
&& cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_COLLECTIVE] != (uint16_t)PIOS_RCVR_NODRIVER
|
||||
@ -389,7 +422,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
applyDeadband(&cmd.Collective, settings.Deadband);
|
||||
}
|
||||
#ifdef USE_INPUT_LPF
|
||||
applyLPF(&cmd.Collective, MANUALCONTROLSETTINGS_RESPONSETIME_COLLECTIVE, &settings, dT);
|
||||
applyLPF(&cmd.Collective, MANUALCONTROLSETTINGS_RESPONSETIME_COLLECTIVE, &settings.ResponseTime, settings.Deadband, dT);
|
||||
#endif // USE_INPUT_LPF
|
||||
}
|
||||
|
||||
@ -409,7 +442,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
if (settings.ChannelGroups.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
|
||||
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0];
|
||||
#ifdef USE_INPUT_LPF
|
||||
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT);
|
||||
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings.ResponseTime, settings.Deadband, dT);
|
||||
#endif
|
||||
if (AccessoryDesiredInstSet(0, &accessory) != 0) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
|
||||
@ -419,7 +452,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
if (settings.ChannelGroups.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
|
||||
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1];
|
||||
#ifdef USE_INPUT_LPF
|
||||
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT);
|
||||
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings.ResponseTime, settings.Deadband, dT);
|
||||
#endif
|
||||
if (AccessoryDesiredInstSet(1, &accessory) != 0) {
|
||||
AlarmsSet(SYSTEMALARMS_ALARM_RECEIVER, SYSTEMALARMS_ALARM_WARNING);
|
||||
@ -429,7 +462,7 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
if (settings.ChannelGroups.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) {
|
||||
accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2];
|
||||
#ifdef USE_INPUT_LPF
|
||||
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings, dT);
|
||||
applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings.ResponseTime, settings.Deadband, dT);
|
||||
#endif
|
||||
|
||||
if (AccessoryDesiredInstSet(2, &accessory) != 0) {
|
||||
@ -440,6 +473,8 @@ static void receiverTask(__attribute__((unused)) void *parameters)
|
||||
|
||||
// Update cmd object
|
||||
ManualControlCommandSet(&cmd);
|
||||
|
||||
|
||||
#if defined(PIOS_INCLUDE_USB_RCTX)
|
||||
if (pios_usb_rctx_id) {
|
||||
PIOS_USB_RCTX_Update(pios_usb_rctx_id,
|
||||
@ -658,16 +693,42 @@ static void applyDeadband(float *value, float deadband)
|
||||
/**
|
||||
* @brief Apply Low Pass Filter to Throttle/Roll/Pitch/Yaw or Accessory channel
|
||||
*/
|
||||
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsData *settings, float dT)
|
||||
static void applyLPF(float *value, ManualControlSettingsResponseTimeElem channel, ManualControlSettingsResponseTimeData *responseTime, float deadband, float dT)
|
||||
{
|
||||
if (ManualControlSettingsResponseTimeToArray(settings->ResponseTime)[channel]) {
|
||||
float rt = (float)ManualControlSettingsResponseTimeToArray(settings->ResponseTime)[channel];
|
||||
float rt = (float)ManualControlSettingsResponseTimeToArray((*responseTime))[channel];
|
||||
|
||||
if (rt > 0.0f) {
|
||||
inputFiltered[channel] = ((rt * inputFiltered[channel]) + (dT * (*value))) / (rt + dT);
|
||||
|
||||
// avoid a long tail of non-zero data. if we have deadband, once the filtered result reduces to 1/10th
|
||||
// of deadband revert to 0. We downstream rely on this to know when sticks are centered.
|
||||
if (deadband > 0.0f && fabsf(inputFiltered[channel]) < deadband / 10.0f) {
|
||||
inputFiltered[channel] = 0.0f;
|
||||
}
|
||||
*value = inputFiltered[channel];
|
||||
}
|
||||
}
|
||||
#endif // USE_INPUT_LPF
|
||||
|
||||
/**
|
||||
* Check and set modes for gps assisted stablised flight modes
|
||||
*/
|
||||
#ifndef PIOS_EXCLUDE_ADVANCED_FEATURES
|
||||
static uint8_t isAssistedFlightMode(uint8_t position)
|
||||
{
|
||||
uint8_t isAssistedFlag = STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NONE;
|
||||
uint8_t FlightModeAssistMap[STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM];
|
||||
|
||||
StabilizationSettingsFlightModeAssistMapGet(FlightModeAssistMap);
|
||||
|
||||
if (position < STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_NUMELEM) {
|
||||
isAssistedFlag = FlightModeAssistMap[position];
|
||||
}
|
||||
|
||||
return isAssistedFlag;
|
||||
}
|
||||
#endif
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
|
||||
@ -213,20 +213,21 @@ static int PIOS_DSM_UnrollChannels(struct pios_dsm_dev *dsm_dev)
|
||||
/* extract and save the channel value */
|
||||
uint8_t channel_num = (word >> resolution) & 0x0f;
|
||||
if (channel_num < PIOS_DSM_NUM_INPUTS) {
|
||||
|
||||
if (channel_log & (1 << channel_num)) {
|
||||
/* Found duplicate. This should happen when in 11 bit */
|
||||
/* mode and the data is 10 bits */
|
||||
if (resolution == 10)
|
||||
if (resolution == 10) {
|
||||
return -1;
|
||||
}
|
||||
resolution = 10;
|
||||
return PIOS_DSM_UnrollChannels(dsm_dev);
|
||||
}
|
||||
|
||||
if ((channel_log & 0xFF) == 0x55) {
|
||||
/* This pattern indicates 10 bit pattern */
|
||||
if (resolution == 11)
|
||||
if (resolution == 11) {
|
||||
return -1;
|
||||
}
|
||||
resolution = 11;
|
||||
return PIOS_DSM_UnrollChannels(dsm_dev);
|
||||
}
|
||||
|
||||
@ -215,20 +215,21 @@ static int PIOS_DSM_UnrollChannels(struct pios_dsm_dev *dsm_dev)
|
||||
/* extract and save the channel value */
|
||||
uint8_t channel_num = (word >> resolution) & 0x0f;
|
||||
if (channel_num < PIOS_DSM_NUM_INPUTS) {
|
||||
|
||||
if (channel_log & (1 << channel_num)) {
|
||||
/* Found duplicate. This should happen when in 11 bit */
|
||||
/* mode and the data is 10 bits */
|
||||
if (resolution == 10)
|
||||
if (resolution == 10) {
|
||||
return -1;
|
||||
}
|
||||
resolution = 10;
|
||||
return PIOS_DSM_UnrollChannels(dsm_dev);
|
||||
}
|
||||
|
||||
if ((channel_log & 0xFF) == 0x55) {
|
||||
/* This pattern indicates 10 bit pattern */
|
||||
if (resolution == 11)
|
||||
if (resolution == 11) {
|
||||
return -1;
|
||||
}
|
||||
resolution = 11;
|
||||
return PIOS_DSM_UnrollChannels(dsm_dev);
|
||||
}
|
||||
|
||||
@ -19,6 +19,7 @@
|
||||
# These are the UAVObjects supposed to be build as part of the OpenPilot target
|
||||
# (all architectures)
|
||||
UAVOBJSRCFILENAMES =
|
||||
UAVOBJSRCFILENAMES += vtolselftuningstats
|
||||
UAVOBJSRCFILENAMES += accelgyrosettings
|
||||
UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
@ -76,6 +77,7 @@ UAVOBJSRCFILENAMES += pathaction
|
||||
UAVOBJSRCFILENAMES += pathdesired
|
||||
UAVOBJSRCFILENAMES += pathplan
|
||||
UAVOBJSRCFILENAMES += pathstatus
|
||||
UAVOBJSRCFILENAMES += pathsummary
|
||||
UAVOBJSRCFILENAMES += positionstate
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += ekfconfiguration
|
||||
|
||||
@ -19,6 +19,7 @@
|
||||
# These are the UAVObjects supposed to be build as part of the OpenPilot target
|
||||
# (all architectures)
|
||||
UAVOBJSRCFILENAMES =
|
||||
UAVOBJSRCFILENAMES += vtolselftuningstats
|
||||
UAVOBJSRCFILENAMES += accelgyrosettings
|
||||
UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
@ -76,6 +77,7 @@ UAVOBJSRCFILENAMES += pathaction
|
||||
UAVOBJSRCFILENAMES += pathdesired
|
||||
UAVOBJSRCFILENAMES += pathplan
|
||||
UAVOBJSRCFILENAMES += pathstatus
|
||||
UAVOBJSRCFILENAMES += pathsummary
|
||||
UAVOBJSRCFILENAMES += positionstate
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += ekfconfiguration
|
||||
|
||||
@ -19,6 +19,7 @@
|
||||
# These are the UAVObjects supposed to be build as part of the OpenPilot target
|
||||
# (all architectures)
|
||||
UAVOBJSRCFILENAMES =
|
||||
UAVOBJSRCFILENAMES += vtolselftuningstats
|
||||
UAVOBJSRCFILENAMES += accelgyrosettings
|
||||
UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
@ -76,6 +77,7 @@ UAVOBJSRCFILENAMES += pathaction
|
||||
UAVOBJSRCFILENAMES += pathdesired
|
||||
UAVOBJSRCFILENAMES += pathplan
|
||||
UAVOBJSRCFILENAMES += pathstatus
|
||||
UAVOBJSRCFILENAMES += pathsummary
|
||||
UAVOBJSRCFILENAMES += positionstate
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += ekfconfiguration
|
||||
|
||||
@ -24,6 +24,7 @@
|
||||
# (all architectures)
|
||||
|
||||
UAVOBJSRCFILENAMES =
|
||||
UAVOBJSRCFILENAMES += vtolselftuningstats
|
||||
UAVOBJSRCFILENAMES += accessorydesired
|
||||
UAVOBJSRCFILENAMES += actuatorcommand
|
||||
UAVOBJSRCFILENAMES += actuatordesired
|
||||
@ -77,6 +78,7 @@ UAVOBJSRCFILENAMES += pathaction
|
||||
UAVOBJSRCFILENAMES += pathdesired
|
||||
UAVOBJSRCFILENAMES += pathplan
|
||||
UAVOBJSRCFILENAMES += pathstatus
|
||||
UAVOBJSRCFILENAMES += pathsummary
|
||||
UAVOBJSRCFILENAMES += positionstate
|
||||
UAVOBJSRCFILENAMES += ratedesired
|
||||
UAVOBJSRCFILENAMES += revocalibration
|
||||
|
||||
@ -45,7 +45,7 @@ Item {
|
||||
text: altitude_scale.topNumber - index
|
||||
color: "white"
|
||||
font.pixelSize: parent.height / 3
|
||||
font.family: "Arial"
|
||||
font.family: pt_bold.name
|
||||
|
||||
anchors.horizontalCenter: parent.horizontalCenter
|
||||
anchors.verticalCenter: parent.top
|
||||
@ -100,7 +100,7 @@ Item {
|
||||
text: " " +altitude.toFixed(1)
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 0.35
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -125,7 +125,7 @@ Item {
|
||||
text: qmlWidget.altitudeUnit
|
||||
color: "cyan"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 0.6
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
|
||||
@ -88,7 +88,7 @@ Item {
|
||||
text: Math.floor(AttitudeState.Yaw).toFixed()
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 1.2
|
||||
}
|
||||
anchors.centerIn: parent
|
||||
|
||||
@ -105,7 +105,7 @@ Item {
|
||||
text: ["NO GPS", "NO FIX", "FIX 2D", "FIX 3D"][GPSPositionSensor.Status]
|
||||
anchors.centerIn: parent
|
||||
font.pixelSize: Math.floor(parent.height*1.3)
|
||||
font.family: "Arial"
|
||||
font.family: pt_bold.name
|
||||
font.weight: Font.DemiBold
|
||||
color: "white"
|
||||
}
|
||||
@ -138,7 +138,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.5)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -159,7 +159,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.5)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -182,7 +182,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.5)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -208,7 +208,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.5)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -229,7 +229,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.5)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -251,7 +251,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.5)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -307,7 +307,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -334,7 +334,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -368,7 +368,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -405,7 +405,7 @@ Item {
|
||||
color: "cyan"
|
||||
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -471,7 +471,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "cyan"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 1.2
|
||||
}
|
||||
}
|
||||
@ -502,7 +502,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "cyan"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 1.2
|
||||
}
|
||||
}
|
||||
@ -533,7 +533,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "cyan"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 1.2
|
||||
}
|
||||
}
|
||||
|
||||
@ -69,7 +69,10 @@ Item {
|
||||
|
||||
property real smeter_angle
|
||||
|
||||
property real memory_free : SystemStats.HeapRemaining > 1024 ? SystemStats.HeapRemaining / 1024 : SystemStats.HeapRemaining
|
||||
property real memory_free : SystemStats.HeapRemaining > 1024 ? SystemStats.HeapRemaining / 1024 : SystemStats.HeapRemaining
|
||||
|
||||
// Needed to get correctly int8 value
|
||||
property int cpuTemp : SystemStats.CPUTemp
|
||||
|
||||
// Needed to get correctly int8 value, reset value (-127) on disconnect
|
||||
property int oplm0_db: telemetry_link == 1 ? OPLinkStatus.PairSignalStrengths_0 : -127
|
||||
@ -404,7 +407,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
}
|
||||
}
|
||||
@ -445,7 +448,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
}
|
||||
}
|
||||
@ -490,7 +493,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
}
|
||||
}
|
||||
@ -536,7 +539,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.6)
|
||||
}
|
||||
}
|
||||
@ -809,7 +812,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.4)
|
||||
weight: Font.DemiBold
|
||||
capitalization: Font.AllUppercase
|
||||
@ -895,7 +898,7 @@ Item {
|
||||
anchors.right: parent.right
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.4)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -922,13 +925,13 @@ Item {
|
||||
}
|
||||
|
||||
Text {
|
||||
// CC3D hack, Cputemp not working
|
||||
text: SystemStats.CPULoad+"% - "+
|
||||
[String(SystemStats.CPUTemp).charCodeAt(0) == "64" ? "??" : String(SystemStats.CPUTemp).charCodeAt(0)] +"°C"
|
||||
// Coptercontrol detect with mem free : Only display Cpu load, no temperature available.
|
||||
text: SystemStats.CPULoad+"%"+
|
||||
[SystemStats.HeapRemaining < 3000 ? "" : " | "+cpuTemp+"°C"]
|
||||
anchors.right: parent.right
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.4)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -959,7 +962,7 @@ Item {
|
||||
anchors.right: parent.right
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.4)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -986,12 +989,12 @@ Item {
|
||||
}
|
||||
|
||||
Text {
|
||||
text: ["None", "Complementary", "CompMag", "Comp+Mag+GPS", "EKFIndoor", "EKFOutdoor"][RevoSettings.FusionAlgorithm]
|
||||
text: ["None", "Basic (No Nav)", "CompMag", "Comp+Mag+GPS", "EKFIndoor", "GPS Nav (INS13)"][RevoSettings.FusionAlgorithm]
|
||||
anchors.right: parent.right
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
pixelSize: Math.floor(parent.height * 1.2)
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.35)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
}
|
||||
@ -1021,7 +1024,7 @@ Item {
|
||||
anchors.right: parent.right
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.4)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -1052,7 +1055,7 @@ Item {
|
||||
anchors.right: parent.right
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 1.4)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
|
||||
@ -24,6 +24,11 @@ Rectangle {
|
||||
Item {
|
||||
id: sceneItem
|
||||
|
||||
FontLoader {
|
||||
id: pt_bold
|
||||
source: "qrc:/pfdqml/fonts/PTS75F.ttf"
|
||||
}
|
||||
|
||||
width: Math.floor((parent.paintedHeight * 1.32) - (parent.paintedHeight * 0.013))
|
||||
height: Math.floor(parent.paintedHeight - parent.paintedHeight * 0.02)
|
||||
property variant viewportSize : Qt.size(width, height)
|
||||
|
||||
@ -22,7 +22,7 @@ Item {
|
||||
id: telemetry_rate
|
||||
text: GCSTelemetryStats.TxDataRate.toFixed()+"/"+GCSTelemetryStats.RxDataRate.toFixed()
|
||||
color: "white"
|
||||
font.family: "Arial"
|
||||
font.family: pt_bold.name
|
||||
font.pixelSize: telemetry_status.height * 0.75
|
||||
|
||||
anchors.top: telemetry_status.bottom
|
||||
@ -33,7 +33,7 @@ Item {
|
||||
id: gps_text
|
||||
text: "GPS: " + GPSPositionSensor.Satellites + "\nPDP: " + Math.round(GPSPositionSensor.PDOP*10)/10
|
||||
color: "white"
|
||||
font.family: "Arial"
|
||||
font.family: pt_bold.name
|
||||
font.pixelSize: telemetry_status.height * 0.75
|
||||
|
||||
visible: GPSPositionSensor.Satellites > 0
|
||||
@ -52,7 +52,7 @@ Item {
|
||||
|
||||
|
||||
color: "white"
|
||||
font.family: "Arial"
|
||||
font.family: pt_bold.name
|
||||
|
||||
//I think it should be pixel size,
|
||||
//but making it more consistent with C++ version instead
|
||||
|
||||
@ -49,7 +49,7 @@ Item {
|
||||
visible: speed_scale.topNumber - index >= 0
|
||||
|
||||
font.pixelSize: parent.height / 3
|
||||
font.family: "Arial"
|
||||
font.family: pt_bold.name
|
||||
|
||||
anchors.horizontalCenter: parent.horizontalCenter
|
||||
anchors.verticalCenter: parent.top
|
||||
@ -90,7 +90,7 @@ Item {
|
||||
text: sceneItem.groundSpeed.toFixed(1)+" "
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 0.35
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -115,7 +115,7 @@ Item {
|
||||
text: qmlWidget.speedUnit
|
||||
color: "cyan"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 0.6
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
|
||||
@ -86,7 +86,7 @@ Item {
|
||||
text: qmlWidget.altitudeUnit == "m" ? "m/s" : "ft/s"
|
||||
color: "cyan"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: parent.height * 1.7
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
|
||||
@ -2,19 +2,20 @@ import QtQuick 2.0
|
||||
|
||||
Item {
|
||||
id: warnings
|
||||
|
||||
property variant sceneSize
|
||||
// Uninitialised, OK, Warning, Error, Critical
|
||||
property variant statusColors : ["gray", "green", "red", "red", "red"]
|
||||
|
||||
// DisArmed , Arming, Armed
|
||||
property variant armColors : ["gray", "orange", "green"]
|
||||
|
||||
|
||||
// All 'manual modes' are green, 'assisted' modes in cyan
|
||||
// "MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6", "AUTOTUNE",
|
||||
// "POS HOLD", "POS VFPV", "POS VLOS", "POS VNSEW", "RTB", "LAND", "PATHPLANNER", "POI", "AUTOCRUISE"
|
||||
// "MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6",
|
||||
// "POS HOLD", "COURSE LOCK", "POS ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLANNER", "POI", "AUTOCRUISE"
|
||||
|
||||
property variant flightmodeColors : ["gray", "green", "green", "green", "green", "green", "green", "red",
|
||||
"cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
|
||||
property variant flightmodeColors : ["gray", "green", "green", "green", "green", "green", "green",
|
||||
"cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan", "cyan"]
|
||||
|
||||
// Manual,Rate,Attitude,AxisLock,WeakLeveling,VirtualBar,Acro+,Rattitude,
|
||||
// AltitudeHold,AltitudeVario,CruiseControl + Auto mode (VTOL/Wing pathfollower)
|
||||
@ -26,9 +27,9 @@ Item {
|
||||
// SystemSettings.AirframeType 3 - 18 : VtolPathFollower, check ThrustControl
|
||||
|
||||
property var thrust_mode: FlightStatus.FlightMode < 7 ? StabilizationDesired.StabilizationMode_Thrust :
|
||||
FlightStatus.FlightMode > 7 && SystemSettings.AirframeType > 2 && SystemSettings.AirframeType < 19
|
||||
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType > 2 && SystemSettings.AirframeType < 19
|
||||
&& VtolPathFollowerSettings.ThrustControl == 1 ? 11 :
|
||||
FlightStatus.FlightMode > 7 && SystemSettings.AirframeType < 3 ? 11: 0
|
||||
FlightStatus.FlightMode > 6 && SystemSettings.AirframeType < 3 ? 11: 0
|
||||
|
||||
|
||||
property real flight_time: Math.round(SystemStats.FlightTime / 1000)
|
||||
@ -70,7 +71,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
text: formatTime(time_h) + ":" + formatTime(time_m) + ":" + formatTime(time_s)
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.8)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -95,7 +96,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
text: ["DISARMED","ARMING","ARMED"][FlightStatus.Armed]
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.74)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -120,7 +121,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
text: "RC INPUT"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.74)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -152,7 +153,7 @@ Item {
|
||||
text: "MASTER CAUTION"
|
||||
color: "white"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.74)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -177,7 +178,7 @@ Item {
|
||||
anchors.centerIn: parent
|
||||
text: "AUTOPILOT"
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.74)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -200,10 +201,10 @@ Item {
|
||||
|
||||
Text {
|
||||
anchors.centerIn: parent
|
||||
text: ["MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6", "AUTOTUNE", "POS HOLD", "POS VFPV",
|
||||
"POS VLOS", "POS VNSEW", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE"][FlightStatus.FlightMode]
|
||||
text: ["MANUAL","STAB 1","STAB 2", "STAB 3", "STAB 4", "STAB 5", "STAB 6", "POS HOLD", "COURSELOCK",
|
||||
"POS ROAM", "HOME LEASH", "ABS POS", "RTB", "LAND", "PATHPLAN", "POI", "AUTOCRUISE"][FlightStatus.FlightMode]
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.74)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
@ -232,7 +233,7 @@ Item {
|
||||
text: ["MANUAL"," "," ", " ", " ", " ", " ", " ",
|
||||
"ALT HOLD", "ALT VARIO", "CRUISECTRL", "AUTO"][thrust_mode.toString()]
|
||||
font {
|
||||
family: "Arial"
|
||||
family: pt_bold.name
|
||||
pixelSize: Math.floor(parent.height * 0.74)
|
||||
weight: Font.DemiBold
|
||||
}
|
||||
|
||||
@ -148,6 +148,7 @@ ConfigInputWidget::ConfigInputWidget(QWidget *parent) :
|
||||
}
|
||||
|
||||
addWidgetBinding("ManualControlSettings", "Deadband", ui->deadband, 0, 0.01f);
|
||||
addWidgetBinding("ManualControlSettings", "DeadbandAssistedControl", ui->assistedControlDeadband, 0, 0.01f);
|
||||
|
||||
connect(ui->configurationWizard, SIGNAL(clicked()), this, SLOT(goToWizard()));
|
||||
connect(ui->stackedWidget, SIGNAL(currentChanged(int)), this, SLOT(disableWizardButton(int)));
|
||||
@ -1494,26 +1495,32 @@ void ConfigInputWidget::updatePositionSlider()
|
||||
case 6:
|
||||
ui->fmsModePos6->setEnabled(true);
|
||||
ui->pidBankSs1_5->setEnabled(true);
|
||||
ui->assistControlPos6->setEnabled(true);
|
||||
// pass through
|
||||
case 5:
|
||||
ui->fmsModePos5->setEnabled(true);
|
||||
ui->pidBankSs1_4->setEnabled(true);
|
||||
ui->assistControlPos5->setEnabled(true);
|
||||
// pass through
|
||||
case 4:
|
||||
ui->fmsModePos4->setEnabled(true);
|
||||
ui->pidBankSs1_3->setEnabled(true);
|
||||
ui->assistControlPos4->setEnabled(true);
|
||||
// pass through
|
||||
case 3:
|
||||
ui->fmsModePos3->setEnabled(true);
|
||||
ui->pidBankSs1_2->setEnabled(true);
|
||||
ui->assistControlPos3->setEnabled(true);
|
||||
// pass through
|
||||
case 2:
|
||||
ui->fmsModePos2->setEnabled(true);
|
||||
ui->pidBankSs1_1->setEnabled(true);
|
||||
ui->assistControlPos2->setEnabled(true);
|
||||
// pass through
|
||||
case 1:
|
||||
ui->fmsModePos1->setEnabled(true);
|
||||
ui->pidBankSs1_0->setEnabled(true);
|
||||
ui->assistControlPos1->setEnabled(true);
|
||||
// pass through
|
||||
case 0:
|
||||
break;
|
||||
@ -1523,26 +1530,32 @@ void ConfigInputWidget::updatePositionSlider()
|
||||
case 0:
|
||||
ui->fmsModePos1->setEnabled(false);
|
||||
ui->pidBankSs1_0->setEnabled(false);
|
||||
ui->assistControlPos1->setEnabled(false);
|
||||
// pass through
|
||||
case 1:
|
||||
ui->fmsModePos2->setEnabled(false);
|
||||
ui->pidBankSs1_1->setEnabled(false);
|
||||
ui->assistControlPos2->setEnabled(false);
|
||||
// pass through
|
||||
case 2:
|
||||
ui->fmsModePos3->setEnabled(false);
|
||||
ui->pidBankSs1_2->setEnabled(false);
|
||||
ui->assistControlPos3->setEnabled(false);
|
||||
// pass through
|
||||
case 3:
|
||||
ui->fmsModePos4->setEnabled(false);
|
||||
ui->pidBankSs1_3->setEnabled(false);
|
||||
ui->assistControlPos4->setEnabled(false);
|
||||
// pass through
|
||||
case 4:
|
||||
ui->fmsModePos5->setEnabled(false);
|
||||
ui->pidBankSs1_4->setEnabled(false);
|
||||
ui->assistControlPos5->setEnabled(false);
|
||||
// pass through
|
||||
case 5:
|
||||
ui->fmsModePos6->setEnabled(false);
|
||||
ui->pidBankSs1_5->setEnabled(false);
|
||||
ui->assistControlPos6->setEnabled(false);
|
||||
// pass through
|
||||
case 6:
|
||||
default:
|
||||
@ -1702,7 +1715,7 @@ void ConfigInputWidget::resetActuatorSettings()
|
||||
// 1500 = servo middle, can be applied to all outputs because board is 'Alwaysdisarmed'
|
||||
for (unsigned int output = 0; output < 12; output++) {
|
||||
actuatorSettingsData.ChannelMax[output] = 1500;
|
||||
actuatorSettingsData.ChannelMin[output] = 1500;
|
||||
actuatorSettingsData.ChannelMin[output] = 1000;
|
||||
actuatorSettingsData.ChannelNeutral[output] = 1500;
|
||||
actuatorSettingsObj->setData(actuatorSettingsData);
|
||||
}
|
||||
|
||||
@ -6,8 +6,8 @@
|
||||
<rect>
|
||||
<x>0</x>
|
||||
<y>0</y>
|
||||
<width>796</width>
|
||||
<height>591</height>
|
||||
<width>1250</width>
|
||||
<height>755</height>
|
||||
</rect>
|
||||
</property>
|
||||
<property name="windowTitle">
|
||||
@ -234,6 +234,29 @@
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0">
|
||||
<widget class="QLabel" name="labelAssistedControlDeadband">
|
||||
<property name="text">
|
||||
<string>Assisted Control stick deadband </string>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<widget class="QDoubleSpinBox" name="assistedControlDeadband">
|
||||
<property name="toolTip">
|
||||
<string>Assisted Control stick deadband in percents of full range (2-12) for use with GPSAssist. This can not be disabled.</string>
|
||||
</property>
|
||||
<property name="decimals">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<double>2.000000000000000</double>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<double>12.000000000000000</double>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</item>
|
||||
<item>
|
||||
@ -1206,197 +1229,6 @@ font:bold;</string>
|
||||
<property name="horizontalSpacing">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<item row="0" column="6">
|
||||
<widget class="QLabel" name="label_111">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>80</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Settings Bank</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="10">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>138</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Flight Mode Count</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="10">
|
||||
<widget class="QSpinBox" name="fmsPosNum">
|
||||
<property name="toolTip">
|
||||
<string>Number of positions your FlightMode switch has.
|
||||
|
||||
Default is 3.
|
||||
|
||||
It will be 2 or 3 for most of setups, but it also can be up to 6.
|
||||
In that case you have to configure your radio mixers so the whole range
|
||||
from min to max is split into N equal intervals, and you may set arbitrary
|
||||
channel value for each flight mode.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="10">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Ignored" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>10</pointsize>
|
||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><html><head/><body><p>Avoid &quot;Manual&quot; for multirotors! Never select &quot;Altitude&quot;, &quot;VelocityControl&quot; or &quot;CruiseControl&quot; on a fixed wing!</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<spacer name="horizontalSpacer_6">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="7">
|
||||
<spacer name="horizontalSpacer_16">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="8" rowspan="3">
|
||||
<widget class="Line" name="line">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>138</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Flight Mode</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="0" rowspan="2">
|
||||
<widget class="QFrame" name="frame">
|
||||
<property name="minimumSize">
|
||||
@ -1941,6 +1773,418 @@ Setup the flight mode channel on the RC Input tab if you have not done so alread
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="6">
|
||||
<widget class="QLabel" name="label_111">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>138</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Settings Bank</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="12">
|
||||
<widget class="QLabel" name="label_16">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>138</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Flight Mode Count</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="12">
|
||||
<widget class="QSpinBox" name="fmsPosNum">
|
||||
<property name="toolTip">
|
||||
<string>Number of positions your FlightMode switch has.
|
||||
|
||||
Default is 3.
|
||||
|
||||
It will be 2 or 3 for most of setups, but it also can be up to 6.
|
||||
In that case you have to configure your radio mixers so the whole range
|
||||
from min to max is split into N equal intervals, and you may set arbitrary
|
||||
channel value for each flight mode.</string>
|
||||
</property>
|
||||
<property name="minimum">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="maximum">
|
||||
<number>6</number>
|
||||
</property>
|
||||
<property name="value">
|
||||
<number>3</number>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="2" column="12">
|
||||
<widget class="QLabel" name="label_15">
|
||||
<property name="sizePolicy">
|
||||
<sizepolicy hsizetype="Ignored" vsizetype="Preferred">
|
||||
<horstretch>0</horstretch>
|
||||
<verstretch>0</verstretch>
|
||||
</sizepolicy>
|
||||
</property>
|
||||
<property name="font">
|
||||
<font>
|
||||
<pointsize>10</pointsize>
|
||||
<weight>75</weight>
|
||||
<bold>true</bold>
|
||||
</font>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string><html><head/><body><p>Avoid &quot;Manual&quot; for multirotors! Never select &quot;Altitude&quot;, &quot;VelocityControl&quot; or &quot;CruiseControl&quot; on a fixed wing!</p></body></html></string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
<property name="wordWrap">
|
||||
<bool>true</bool>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="3">
|
||||
<spacer name="horizontalSpacer_6">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="7">
|
||||
<spacer name="horizontalSpacer_16">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="1" column="1">
|
||||
<spacer name="horizontalSpacer_4">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Horizontal</enum>
|
||||
</property>
|
||||
<property name="sizeType">
|
||||
<enum>QSizePolicy::Fixed</enum>
|
||||
</property>
|
||||
<property name="sizeHint" stdset="0">
|
||||
<size>
|
||||
<width>10</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
</spacer>
|
||||
</item>
|
||||
<item row="0" column="10" rowspan="3">
|
||||
<widget class="Line" name="line">
|
||||
<property name="orientation">
|
||||
<enum>Qt::Vertical</enum>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="2">
|
||||
<widget class="QLabel" name="label_13">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>138</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="maximumSize">
|
||||
<size>
|
||||
<width>16777215</width>
|
||||
<height>20</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Flight Mode</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="0" column="8">
|
||||
<widget class="QLabel" name="label_20">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>138</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="layoutDirection">
|
||||
<enum>Qt::LeftToRight</enum>
|
||||
</property>
|
||||
<property name="styleSheet">
|
||||
<string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
|
||||
color: rgb(255, 255, 255);
|
||||
border-radius: 5;
|
||||
margin:1px;
|
||||
font:bold;</string>
|
||||
</property>
|
||||
<property name="text">
|
||||
<string>Assisted Control</string>
|
||||
</property>
|
||||
<property name="alignment">
|
||||
<set>Qt::AlignCenter</set>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item row="1" column="8" rowspan="2">
|
||||
<widget class="QFrame" name="frame_4">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="frameShape">
|
||||
<enum>QFrame::NoFrame</enum>
|
||||
</property>
|
||||
<property name="frameShadow">
|
||||
<enum>QFrame::Plain</enum>
|
||||
</property>
|
||||
<layout class="QVBoxLayout" name="verticalLayout_4">
|
||||
<property name="leftMargin">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="topMargin">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="rightMargin">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<property name="bottomMargin">
|
||||
<number>1</number>
|
||||
</property>
|
||||
<item>
|
||||
<widget class="QComboBox" name="assistControlPos1">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:FlightModeAssistMap</string>
|
||||
<string>index:0</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:16</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="assistControlPos2">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:FlightModeAssistMap</string>
|
||||
<string>index:1</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:16</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="assistControlPos3">
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:FlightModeAssistMap</string>
|
||||
<string>index:2</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:16</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="assistControlPos4">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:FlightModeAssistMap</string>
|
||||
<string>index:3</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:16</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="assistControlPos5">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:FlightModeAssistMap</string>
|
||||
<string>index:4</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:16</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
<item>
|
||||
<widget class="QComboBox" name="assistControlPos6">
|
||||
<property name="enabled">
|
||||
<bool>false</bool>
|
||||
</property>
|
||||
<property name="minimumSize">
|
||||
<size>
|
||||
<width>75</width>
|
||||
<height>0</height>
|
||||
</size>
|
||||
</property>
|
||||
<property name="focusPolicy">
|
||||
<enum>Qt::StrongFocus</enum>
|
||||
</property>
|
||||
<property name="toolTip">
|
||||
<string><html><head/><body><p>Assisted Control options augment the primary flight mode. GPSAssist adds brake/hold to Stabilization and PositionHold.</p></body></html></string>
|
||||
</property>
|
||||
<property name="objrelation" stdset="0">
|
||||
<stringlist>
|
||||
<string>objname:StabilizationSettings</string>
|
||||
<string>fieldname:FlightModeAssistMap</string>
|
||||
<string>index:5</string>
|
||||
<string>haslimits:no</string>
|
||||
<string>scale:1</string>
|
||||
<string>buttongroup:16</string>
|
||||
</stringlist>
|
||||
</property>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
</layout>
|
||||
</widget>
|
||||
</item>
|
||||
|
||||
5
ground/openpilotgcs/src/plugins/pfdqml/PfdResources.qrc
Normal file
5
ground/openpilotgcs/src/plugins/pfdqml/PfdResources.qrc
Normal file
@ -0,0 +1,5 @@
|
||||
<RCC>
|
||||
<qresource prefix="/pfdqml">
|
||||
<file>fonts/PTS75F.ttf</file>
|
||||
</qresource>
|
||||
</RCC>
|
||||
BIN
ground/openpilotgcs/src/plugins/pfdqml/fonts/PTS75F.ttf
Normal file
BIN
ground/openpilotgcs/src/plugins/pfdqml/fonts/PTS75F.ttf
Normal file
Binary file not shown.
@ -0,0 +1,26 @@
|
||||
Copyright © 2009 ParaType Ltd.
|
||||
with Reserved Names &quot;PT Sans&quot; and &quot;ParaType&quot;.
|
||||
|
||||
FONT LICENSE
|
||||
|
||||
PERMISSION &amp; CONDITIONS
|
||||
Permission is hereby granted, free of charge, to any person obtaining a copy of the font software, to use, study, copy, merge, embed, modify, redistribute, and sell modified and unmodified copies of the font software, subject to the following conditions:
|
||||
|
||||
1) Neither the font software nor any of its individual components, in original or modified versions, may be sold by itself.
|
||||
|
||||
2) Original or modified versions of the font software may be bundled, redistributed and/or sold with any software, provided that each copy contains the above copyright notice and this license. These can be included either as stand-alone text files, human-readable headers or in the appropriate machine-readable metadata fields within text or binary files as long as those fields can be easily viewed by the user.
|
||||
|
||||
3) No modified version of the font software may use the Reserved Name(s) or combinations of Reserved Names with other words unless explicit written permission is granted by the ParaType. This restriction only applies to the primary font name as presented to the users.
|
||||
|
||||
4) The name of ParaType or the author(s) of the font software shall not be used to promote, endorse or advertise any modified version, except to acknowledge the contribution(s) of ParaType and the author(s) or with explicit written permission of ParaType.
|
||||
|
||||
5) The font software, modified or unmodified, in part or in whole, must be distributed entirely under this license, and must not be distributed under any other license. The requirement for fonts to remain under this license does not apply to any document created using the Font Software.
|
||||
|
||||
TERMINATION &amp; TERRITORY
|
||||
This license has no limits on time and territory, but it becomes null and void if any of the above conditions are not met.
|
||||
|
||||
DISCLAIMER
|
||||
THE FONT SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL PARATYPE BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF THE USE OR INABILITY TO USE THE FONT SOFTWARE OR FROM OTHER DEALINGS IN THE FONT SOFTWARE.
|
||||
|
||||
ParaType Ltd
|
||||
http://www.paratype.ru
|
||||
@ -40,3 +40,6 @@ OTHER_FILES += PfdQml.pluginspec
|
||||
|
||||
FORMS += pfdqmlgadgetoptionspage.ui
|
||||
|
||||
RESOURCES += \
|
||||
PfdResources.qrc
|
||||
|
||||
|
||||
@ -5,9 +5,13 @@
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Attitude: Critical</h1>
|
||||
<h1>Attitude : Critical</h1>
|
||||
<p>
|
||||
This alarm will remain set until data is received from the accelerometer.
|
||||
One of the following conditions may be present:
|
||||
<ul>
|
||||
<li>No data is received from the accelerometer</li>
|
||||
<li>Waiting for good data from Magnetometer or GPS lock to perform module initialization.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
|
||||
@ -5,9 +5,13 @@
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Attitude: Error</h1>
|
||||
<h1>Attitude : Error</h1>
|
||||
<p>
|
||||
Failed to get an update from the accelerometer or gyros.
|
||||
One of the following conditions may be present:
|
||||
<ul>
|
||||
<li>Failed to get an update from the accelerometer or gyros.</li>
|
||||
<li>Attitude Estimation Algorithm set to "GPS Navigation (INS13)" and no Magnetometer : please set HomeLocation.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
|
||||
@ -10,4 +10,4 @@
|
||||
CPU load has exceeded 95%
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
@ -10,4 +10,4 @@
|
||||
CPU load has exceeded 80%
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
@ -0,0 +1,18 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Magnetometer : Critical</h1>
|
||||
<p>
|
||||
Data is coming from the magnetometer, but the readings are off by over 15%. This can be caused by various reasons:
|
||||
</p>
|
||||
<ul>
|
||||
<li>Magnetometer has not been calibrated.</li>
|
||||
<li>Something is interfering with the magnetometer. (High current)</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -5,9 +5,9 @@
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Stack: Critical</h1>
|
||||
<h1>Magnetometer : Warning</h1>
|
||||
<p>
|
||||
Stack overflow
|
||||
Magnetometer readings are off by over 5%
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
@ -7,7 +7,11 @@
|
||||
<body>
|
||||
<h1>Memory: Critical</h1>
|
||||
<p>
|
||||
Either the remaining heap space or the IRQ stack has fallen below the <b>critical</b> limit (1000 bytes heap, 80 entries IRQ stack).
|
||||
Either the remaining heap space or the IRQ stack has fallen below the <b>critical</b> limit.
|
||||
</p>
|
||||
<ul>
|
||||
<li>Revo : 500 bytes heap, 80 entries IRQ stack.</li>
|
||||
<li>CC/CC3D : 40 bytes heap, 60 entries IRQ stack.</li>
|
||||
<ul>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
@ -9,8 +9,12 @@
|
||||
<p>
|
||||
Either the remaining heap space or the IRQ stack has fallen below the <b>warning</b> limit (4000 bytes heap, 150 entries IRQ stack).
|
||||
</p>
|
||||
<ul>
|
||||
<li>Revo : 1000 bytes heap, 150 entries IRQ stack.</li>
|
||||
<li>CC/CC3D : 220 bytes heap, 100 entries IRQ stack.</li>
|
||||
<ul>
|
||||
<p>
|
||||
<b>Note:</b> if this is an original CC board (not CC3D or Revo), this condition is normal.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
@ -0,0 +1,13 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Pathplanner : Warning</h1>
|
||||
<p>
|
||||
No path plan has been uploaded. Not a problem if you don't intend to do autonomous missions right now.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,17 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Stabilization : Critical</h1>
|
||||
<p>
|
||||
One of the following conditions may be present:
|
||||
<ul>
|
||||
<li>Something is wrong with the Stabilization module</li>
|
||||
<li>Waiting for good data from the Magnetometer or for GPS lock to perform module initialization.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -7,7 +7,7 @@
|
||||
<body>
|
||||
<h1>Stack: Critical</h1>
|
||||
<p>
|
||||
Stack overflow
|
||||
Stack overflow, stack alarms are due to module memory allocation being exceeded.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
@ -0,0 +1,19 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>System Configuration : Critical</h1>
|
||||
<p>
|
||||
One of the following conditions may be present:
|
||||
<ul>
|
||||
<li>
|
||||
<p>You have set up a GPS mode (PosHold, RTB) to the flight mode switch, and you may have selected "Basic (Complementary)" fusion algorithm.</p>
|
||||
<p> Select "GPS Navigation (INS13)" in Config -> Attitude Tab -> Parameters -> Attitude Estimation Algorithm.</p>
|
||||
</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -7,7 +7,11 @@
|
||||
<body>
|
||||
<h1>Attitude : Critique</h1>
|
||||
<p>
|
||||
Cette alarme reste activée jusqu'à ce que des données soient reçues de l'accéléromètre.
|
||||
Une des conditions suivantes semble présente :
|
||||
<ul>
|
||||
<li>Pas de données reçues en provenance des accéléromètres</li>
|
||||
<li>En attente de données correctes du Magnétomètre ou d'une position GPS pour initialiser le module.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -7,7 +7,11 @@
|
||||
<body>
|
||||
<h1>Attitude : Erreur</h1>
|
||||
<p>
|
||||
Echec de la récupération d'une mise à jour des accéléromètres ou des gyros.
|
||||
Une des conditions suivantes semble présente :
|
||||
<ul>
|
||||
<li>Échec de l'acquisition en provenance des accéléromètres ou gyroscopes.</li>
|
||||
<li>Algorithme d'évaluation de l'attitude réglé à "GPS Navigation (INS13)" et pas de magnétomètre : veuillez fixer la position Home.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -5,9 +5,9 @@
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Event System: Warning</h1>
|
||||
<h1>Event System: Avertissement</h1>
|
||||
<p>
|
||||
There were problems with UAVObject events or callbacks
|
||||
Il y a des problèmes avec un événement UAVObject ou des rappels
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
</html>
|
||||
|
||||
@ -7,7 +7,7 @@
|
||||
<body>
|
||||
<h1>GPS: Avertissement</h1>
|
||||
<p>
|
||||
Le GPS a un fix et la navigation peut être utilisée. Cependant, la précision de la position est très faible (l'indication est < à 7 satellites)
|
||||
Le GPS a un fix et la navigation peut être utilisee. Cependant, la précision de la position est très faible (l'indication est < 7 satellites)
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
|
||||
@ -0,0 +1,18 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Magnétomètre : Critique</h1>
|
||||
<p>
|
||||
Des donnés proviennent du magnétomètre mais l'erreur est d'au moins 15%. Ceci peut être causé par :
|
||||
</p>
|
||||
<ul>
|
||||
<li>Un magnétomètre qui n'a pas été calibré.</li>
|
||||
<li>Quelque chose perturbe le magnétomètre. (Fort courant)</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,13 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Magnétomètre : Avertissement</h1>
|
||||
<p>
|
||||
Le magnétomètre a une erreur de 5%
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -1,13 +0,0 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Mémoire : Critique</h1>
|
||||
<p>
|
||||
Either the remaining heap space or the IRQ stack has fallen below the <b>critical</b> limit (1000 bytes heap, 80 entries IRQ stack).
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -1,16 +0,0 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Mémoire : Avertissement</h1>
|
||||
<p>
|
||||
Either the remaining heap space or the IRQ stack has fallen below the <b>warning</b> limit (4000 bytes heap, 150 entries IRQ stack).
|
||||
</p>
|
||||
<p>
|
||||
<b>Note:</b> if this is an original CC board (not CC3D or Revo), this condition is normal.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,17 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Mémoire : Critique</h1>
|
||||
<p>
|
||||
Soit l'espace mémoire ou la pile IRQ est passé en dessous de la limite <b>critique</b>.
|
||||
</p>
|
||||
<ul>
|
||||
<li>Revo : 500 bytes heap, 80 entries IRQ stack.</li>
|
||||
<li>CC/CC3D : 40 bytes heap, 60 entries IRQ stack.</li>
|
||||
<ul>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,20 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Mémoire : Avertissement</h1>
|
||||
<p>
|
||||
Soit l'espace mémoire ou la pile IRQ est passé en dessous de la limite d'<b>avertissement</b>.
|
||||
</p>
|
||||
<ul>
|
||||
<li>Revo : 1000 bytes heap, 150 entries IRQ stack.</li>
|
||||
<li>CC/CC3D : 220 bytes heap, 100 entries IRQ stack.</li>
|
||||
<ul>
|
||||
<p>
|
||||
<b>Note :</b> si vous avez une carte CC originale (pas CC3D ou Revo), cette situation est normale.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,13 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Pathplanner : Avertissement</h1>
|
||||
<p>
|
||||
Aucun chemin prédéfini téléversé. Ce n'est pas un problème si vous n'essayez pas de faire une mission automatique actuellement.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -10,7 +10,7 @@
|
||||
Une des conditions suivantes semble présente :
|
||||
<ul>
|
||||
<li>Le système est en mode failsafe.</li>
|
||||
<li>Echec de la mise à jour d'un ou plusieurs des canaux d'accessoires.</li>
|
||||
<li>Échec de la mise à jour d'un ou plusieurs des canaux d'accessoires.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
|
||||
@ -0,0 +1,17 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Stabilisation : Critique</h1>
|
||||
<p>
|
||||
Une des conditions suivantes semble présente :
|
||||
<ul>
|
||||
<li>Quelque chose ne va pas avec le module de stabilisation</li>
|
||||
<li>En attente de données correctes du Magnétomètre ou d'une position GPS pour initialiser le module.</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,13 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Stack : Critique</h1>
|
||||
<p>
|
||||
Débordement de pile : cette alarme correspond à un dépassement de la mémoire allouée sur un module.
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -0,0 +1,19 @@
|
||||
<html>
|
||||
<head>
|
||||
<title></title>
|
||||
<meta content="">
|
||||
<style></style>
|
||||
</head>
|
||||
<body>
|
||||
<h1>Configuration Système : Critique</h1>
|
||||
<p>
|
||||
Une des conditions suivantes semble présente :
|
||||
<ul>
|
||||
<li>
|
||||
<p>Vous avez réglé un mode GPS (PosHold, RTB) l'interrupteur de mode de vol, et vous avez sélectionné "Basic (Complementary)" comme algorithme d'estimation de l'attitude.</p>
|
||||
<p>Sélectionnez "GPS Navigation (INS13)" dans l'onglet Config -> Attitude -> Paramètres -> Algorithme d'Estimation de l'Attitude.</p>
|
||||
</li>
|
||||
</ul>
|
||||
</p>
|
||||
</body>
|
||||
</html>
|
||||
@ -3,8 +3,8 @@
|
||||
<file>html/Actuator-Critical.html</file>
|
||||
<file>html/Receiver-Critical.html</file>
|
||||
<file>html/Receiver-Warning.html</file>
|
||||
<file>html/CPU-Critical.html</file>
|
||||
<file>html/CPU-Warning.html</file>
|
||||
<file>html/CPUOverload-Critical.html</file>
|
||||
<file>html/CPUOverload-Warning.html</file>
|
||||
<file>html/FlightTime-Error.html</file>
|
||||
<file>html/Battery-Warning.html</file>
|
||||
<file>html/BootFault-Critical.html</file>
|
||||
@ -20,19 +20,24 @@
|
||||
<file>html/GPS-Error.html</file>
|
||||
<file>html/GPS-Warning.html</file>
|
||||
<file>html/Guidance-Warning.html</file>
|
||||
<file>html/Memory-Critical.html</file>
|
||||
<file>html/Memory-Warning.html</file>
|
||||
<file>html/OutOfMemory-Critical.html</file>
|
||||
<file>html/OutOfMemory-Warning.html</file>
|
||||
<file>html/Sensors-Critical.html</file>
|
||||
<file>html/Stabilization-Warning.html</file>
|
||||
<file>html/Stack-Critical.html</file>
|
||||
<file>html/StackOverflow-Critical.html</file>
|
||||
<file>html/Telemetry-Error.html</file>
|
||||
<file>html/SystemConfiguration-Critical.html</file>
|
||||
<file>html/PathPlan-Warning.html</file>
|
||||
<file>html/Magnetometer-Critical.html</file>
|
||||
<file>html/Magnetometer-Warning.html</file>
|
||||
<file>html/Stabilization-Critical.html</file>
|
||||
</qresource>
|
||||
<qresource prefix="/systemhealth" lang="fr">
|
||||
<file alias="html/Actuator-Critical.html">html/fr/Actuator-Critical.html</file>
|
||||
<file alias="html/Receiver-Critical.html">html/fr/Receiver-Critical.html</file>
|
||||
<file alias="html/Receiver-Warning.html">html/fr/Receiver-Warning.html</file>
|
||||
<file alias="html/CPU-Critical.html">html/fr/CPU-Critical.html</file>
|
||||
<file alias="html/CPU-Warning.html">html/fr/CPU-Warning.html</file>
|
||||
<file alias="html/CPUOverload-Critical.html">html/fr/CPUOverload-Critical.html</file>
|
||||
<file alias="html/CPUOverload-Warning.html">html/fr/CPUOverload-Critical.html</file>
|
||||
<file alias="html/FlightTime-Error.html">html/fr/FlightTime-Error.html</file>
|
||||
<file alias="html/Battery-Warning.html">html/fr/Battery-Warning.html</file>
|
||||
<file alias="html/BootFault-Critical.html">html/fr/BootFault-Critical.html</file>
|
||||
@ -48,12 +53,17 @@
|
||||
<file alias="html/GPS-Error.html">html/fr/GPS-Error.html</file>
|
||||
<file alias="html/GPS-Warning.html">html/fr/GPS-Warning.html</file>
|
||||
<file alias="html/Guidance-Warning.html">html/fr/Guidance-Warning.html</file>
|
||||
<file alias="html/Memory-Critical.html">html/fr/Memory-Critical.html</file>
|
||||
<file alias="html/Memory-Warning.html">html/fr/Memory-Warning.html</file>
|
||||
<file alias="html/OutOfMemory-Critical.html">html/fr/OutOfMemory-Critical.html</file>
|
||||
<file alias="html/OutOfMemory-Warning.html">html/fr/OutOfMemory-Warning.html</file>
|
||||
<file alias="html/Sensors-Critical.html">html/fr/Sensors-Critical.html</file>
|
||||
<file alias="html/Stabilization-Warning.html">html/fr/Stabilization-Warning.html</file>
|
||||
<file alias="html/Stack-Critical.html">html/fr/Stack-Critical.html</file>
|
||||
<file alias="html/StackOverflow-Critical.html">html/fr/StackOverflow-Critical.html</file>
|
||||
<file alias="html/Telemetry-Error.html">html/fr/Telemetry-Error.html</file>
|
||||
<file alias="html/SystemConfiguration-Critical.html">html/fr/SystemConfiguration-Critical.html</file>
|
||||
<file alias="html/PathPlan-Warning.html">html/fr/PathPlan-Warning.html</file>
|
||||
<file alias="html/Magnetometer-Warning.html">html/fr/Magnetometer-Warning.html</file>
|
||||
<file alias="html/Magnetometer-Critical.html">html/fr/Magnetometer-Critical.html</file>
|
||||
<file alias="html/Stabilization-Critical.html">html/fr/Stabilization-Critical.html</file>
|
||||
</qresource>
|
||||
|
||||
</RCC>
|
||||
|
||||
@ -255,6 +255,7 @@ void SystemHealthGadgetWidget::showAlarmDescriptionForItemId(const QString itemI
|
||||
|
||||
if (alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||||
QTextStream textStream(&alarmDescription);
|
||||
textStream.setCodec("UTF-8");
|
||||
QWhatsThis::showText(location, textStream.readAll());
|
||||
}
|
||||
}
|
||||
@ -278,6 +279,7 @@ void SystemHealthGadgetWidget::showAllAlarmDescriptions(const QPoint & location)
|
||||
QFile alarmDescription(":/systemhealth/html/" + elementId + ".html");
|
||||
if (alarmDescription.open(QIODevice::ReadOnly | QIODevice::Text)) {
|
||||
QTextStream textStream(&alarmDescription);
|
||||
textStream.setCodec("UTF-8");
|
||||
alarmsText.append(textStream.readAll());
|
||||
}
|
||||
}
|
||||
|
||||
@ -86,7 +86,7 @@ while (1)
|
||||
if (bufferlen < headerIdx + 12); break; end
|
||||
sync = buffer(headerIdx);
|
||||
% printf('%x ', sync);
|
||||
headerIdx += 1;
|
||||
headerIdx = headerIdx + 1;
|
||||
if sync ~= correctSyncByte
|
||||
wrongSyncByte = wrongSyncByte + 1;
|
||||
continue
|
||||
@ -99,7 +99,7 @@ while (1)
|
||||
|
||||
% get msg type (quint8 1 byte ) should be 0x20/0xA0, ignore the rest
|
||||
msgType = buffer(headerIdx);
|
||||
headerIdx += 1;
|
||||
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);
|
||||
@ -108,16 +108,16 @@ while (1)
|
||||
|
||||
% get msg size (quint16 2 bytes) excludes crc, include msg header and data payload
|
||||
msgSize = uint32(typecast(buffer(headerIdx:headerIdx + 1), 'uint16'));
|
||||
headerIdx += 2;
|
||||
headerIdx = headerIdx + 2;
|
||||
|
||||
% get obj id (quint32 4 bytes)
|
||||
objID = typecast(uint8(buffer(headerIdx:headerIdx + 3)), 'uint32');
|
||||
headerIdx += 4;
|
||||
headerIdx = 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;
|
||||
headerIdx = headerIdx + 2;
|
||||
|
||||
% get timestamp if needed (quint32 4 bytes)
|
||||
if msgType == correctMsgByte
|
||||
@ -125,12 +125,12 @@ while (1)
|
||||
elseif msgType == correctTimestampedByte
|
||||
timestamp = typecast(uint8(buffer(headerIdx:headerIdx + 3)), 'uint32');
|
||||
% printf('ts %u');
|
||||
headerIdx += 4;
|
||||
headerIdx = headerIdx + 4;
|
||||
datasize = msgSize - headerLen - timestampLen;
|
||||
end
|
||||
% printf('\n');
|
||||
bufferIdx = headerIdx;
|
||||
headerIdx += datasize + crcLen + oplHeaderLen;
|
||||
headerIdx = headerIdx + datasize + crcLen + oplHeaderLen;
|
||||
|
||||
%% Read object
|
||||
|
||||
|
||||
@ -27,6 +27,7 @@ OTHER_FILES += UAVObjects.pluginspec
|
||||
|
||||
# Add in all of the synthetic/generated uavobject files
|
||||
HEADERS += \
|
||||
$$UAVOBJECT_SYNTHETICS/vtolselftuningstats.h \
|
||||
$$UAVOBJECT_SYNTHETICS/accelgyrosettings.h \
|
||||
$$UAVOBJECT_SYNTHETICS/accessorydesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/barosensor.h \
|
||||
@ -82,6 +83,7 @@ HEADERS += \
|
||||
$$UAVOBJECT_SYNTHETICS/pathdesired.h \
|
||||
$$UAVOBJECT_SYNTHETICS/pathplan.h \
|
||||
$$UAVOBJECT_SYNTHETICS/pathstatus.h \
|
||||
$$UAVOBJECT_SYNTHETICS/pathsummary.h \
|
||||
$$UAVOBJECT_SYNTHETICS/gpsvelocitysensor.h \
|
||||
$$UAVOBJECT_SYNTHETICS/positionstate.h \
|
||||
$$UAVOBJECT_SYNTHETICS/flightbatterystate.h \
|
||||
@ -131,6 +133,7 @@ HEADERS += \
|
||||
$$UAVOBJECT_SYNTHETICS/perfcounter.h
|
||||
|
||||
SOURCES += \
|
||||
$$UAVOBJECT_SYNTHETICS/vtolselftuningstats.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/accelgyrosettings.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/barosensor.cpp \
|
||||
@ -186,6 +189,7 @@ SOURCES += \
|
||||
$$UAVOBJECT_SYNTHETICS/pathdesired.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/pathplan.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/pathstatus.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/pathsummary.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/gpsvelocitysensor.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/positionstate.cpp \
|
||||
$$UAVOBJECT_SYNTHETICS/flightbatterystate.cpp \
|
||||
|
||||
@ -74,12 +74,12 @@ ifeq ($(UNAME), Linux)
|
||||
else ifeq ($(UNAME), Darwin)
|
||||
ARM_SDK_URL := https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-mac.tar.bz2
|
||||
ARM_SDK_MD5_URL:= https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q1-update/+download/gcc-arm-none-eabi-4_8-2014q1-20140314-mac.tar.bz2/+md5
|
||||
QT_SDK_URL := http://download.qt-project.org/official_releases/qt/5.3/5.3.1/qt-opensource-mac-x64-clang-5.3.1.dmg
|
||||
QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.3/5.3.1/qt-opensource-mac-x64-clang-5.3.1.dmg.md5
|
||||
QT_SDK_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-mac-x64-clang-5.4.0.dmg
|
||||
QT_SDK_MD5_URL := http://download.qt-project.org/official_releases/qt/5.4/5.4.0/qt-opensource-mac-x64-clang-5.4.0.dmg.md5
|
||||
QT_SDK_ARCH := clang_64
|
||||
QT_SDK_MAINTENANCE_TOOL := /Volumes/qt-opensource-mac-x64-clang-5.3.1/qt-opensource-mac-x64-clang-5.3.1.app/Contents/MacOS/qt-opensource-mac-x64-clang-5.3.1
|
||||
QT_SDK_MOUNT_DIR := /Volumes/qt-opensource-mac-x64-clang-5.3.1
|
||||
QT_SDK_INSTALLER_DAT := /Volumes/qt-opensource-mac-x64-clang-5.3.1/qt-opensource-mac-x64-clang-5.3.1.app/Contents/Resources/installer.dat
|
||||
QT_SDK_MAINTENANCE_TOOL := /Volumes/qt-opensource-mac-x64-clang-5.4.0/qt-opensource-mac-x64-clang-5.4.0.app/Contents/MacOS/qt-opensource-mac-x64-clang-5.4.0
|
||||
QT_SDK_MOUNT_DIR := /Volumes/qt-opensource-mac-x64-clang-5.4.0
|
||||
QT_SDK_INSTALLER_DAT := /Volumes/qt-opensource-mac-x64-clang-5.4.0/qt-opensource-mac-x64-clang-5.4.0.app/Contents/Resources/installer.dat
|
||||
UNCRUSTIFY_URL := http://wiki.openpilot.org/download/attachments/18612236/uncrustify-0.60.tar.gz
|
||||
DOXYGEN_URL := http://wiki.openpilot.org/download/attachments/18612236/doxygen-1.8.3.1.src.tar.gz
|
||||
else ifeq ($(UNAME), Windows)
|
||||
@ -491,13 +491,15 @@ qt_sdk_install: qt_sdk_clean | $(DL_DIR) $(TOOLS_DIR)
|
||||
$(V1) $(QT_SDK_MAINTENANCE_TOOL) --dump-binary-data -i $(QT_SDK_INSTALLER_DAT) -o $(1)
|
||||
# Extract packages under tool directory
|
||||
$(V1) $(MKDIR) -p $$(call toprel, $(dir $(2)))
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.readme/1.0.0-0qt-project-url.7z" | grep -v Extracting
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt/5.3.1ThirdPartySoftware_Listing.7z" | grep -v Extracting
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.readme/1.0.0-0readme.7z" | grep -v Extracting
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.53.$(6)/5.3.1-0qt5_essentials.7z" | grep -v Extracting
|
||||
# $(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.53.$(6).essentials/5.3.1icu_path_patcher.sh.7z" | grep -v Extracting
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.53.$(6)/5.3.1-0qt5_addons.7z" | grep -v Extracting
|
||||
# go to OpenPilot/tools/5.3.1/gcc_64 and call patcher.sh
|
||||
#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.readme/1.0.0-0qt-project-url.7z" | grep -v Extracting
|
||||
#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt/5.4.0ThirdPartySoftware_Listing.7z" | grep -v Extracting
|
||||
#$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.readme/1.0.0-0readme.7z" | grep -v Extracting
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1qt5_essentials.7z" | grep -v Extracting
|
||||
# $(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6).essentials/5.4.0icu_path_patcher.sh.7z" | grep -v Extracting
|
||||
$(V1) $(SEVENZIP) -y -o$(2) x "$(1)/qt.54.$(6)/5.4.0-1qt5_addons.7z" | grep -v Extracting
|
||||
|
||||
|
||||
# go to OpenPilot/tools/5.4/gcc_64 and call patcher.sh
|
||||
@$(ECHO)
|
||||
@$(ECHO) "Running patcher in" $$(call toprel, $(QT_SDK_PREFIX))
|
||||
$(V1) $(CD) $(QT_SDK_PREFIX)
|
||||
@ -599,7 +601,7 @@ QT_BUILD_DIR := $(BUILD_DIR)/QT_BUILD
|
||||
|
||||
else ifeq ($(UNAME), Darwin)
|
||||
|
||||
QT_SDK_PREFIX := "$(QT_SDK_DIR)/5.3/$(QT_SDK_ARCH)"
|
||||
QT_SDK_PREFIX := "$(QT_SDK_DIR)/5.4/$(QT_SDK_ARCH)"
|
||||
QT_BUILD_DIR := $(BUILD_DIR)/QT_BUILD
|
||||
$(eval $(call MAC_QT_INSTALL_TEMPLATE,$(QT_BUILD_DIR),$(QT_SDK_DIR),$(QT_SDK_URL),$(QT_SDK_MD5_URL),$(notdir $(QT_SDK_URL)),$(QT_SDK_ARCH)))
|
||||
|
||||
|
||||
@ -6,8 +6,6 @@ ifndef OPENPILOT_IS_COOL
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
FW_DIR := $(PACKAGE_DIR)/firmware
|
||||
|
||||
.PHONY: package
|
||||
package:
|
||||
( \
|
||||
@ -17,6 +15,5 @@ package:
|
||||
PACKAGE_DIR="$(PACKAGE_DIR)" \
|
||||
PACKAGE_NAME="$(PACKAGE_NAME)" \
|
||||
PACKAGE_SEP="$(PACKAGE_SEP)" \
|
||||
FW_DIR="$(FW_DIR)" \
|
||||
"$(ROOT_DIR)/package/osx/package" \
|
||||
)
|
||||
|
||||
@ -6,8 +6,6 @@ ifndef OPENPILOT_IS_COOL
|
||||
$(error Top level Makefile must be used to build this target)
|
||||
endif
|
||||
|
||||
FW_DIR := $(PACKAGE_DIR)/firmware
|
||||
|
||||
# Update this number for every formal release. The Deb packaging system relies on this to know to update a
|
||||
# package or not. Otherwise, the user has to uninstall first.
|
||||
# Until we do that, package name does NOT include $(VERNUM) and uses $(PACKAGE_LBL) only
|
||||
@ -44,7 +42,6 @@ ALL_DEB_FILES += $(foreach f, $(DEB_MACHINE_FILES), $(DEB_BUILD_DIR)/$(f))
|
||||
package: $(ALL_DEB_FILES)
|
||||
$(V1) echo "Building Linux package, please wait..."
|
||||
$(V1) mkdir -p $(DEB_BUILD_DIR)
|
||||
$(V1)$(shell echo $(FW_DIR) > $(BUILD_DIR)/package_dir)
|
||||
$(V1)sed -i -e "$(SED_SCRIPT)" $(DEB_BUILD_DIR)/changelog
|
||||
$(V1) cd .. && dpkg-buildpackage -b -us -uc
|
||||
$(V1) mv $(ROOT_DIR)/../$(DEB_PACKAGE_NAME).deb $(BUILD_DIR)/$(FULL_PACKAGE_NAME).deb
|
||||
|
||||
@ -7,7 +7,6 @@ ifndef OPENPILOT_IS_COOL
|
||||
endif
|
||||
|
||||
VERSION_CMD := $(VERSION_INFO)
|
||||
FW_DIR := $(PACKAGE_DIR)/firmware
|
||||
|
||||
NSIS_OPTS := /V3
|
||||
NSIS_WINX86 := $(ROOT_DIR)/package/winx86
|
||||
|
||||
@ -2,5 +2,5 @@ etc/xdg/menus/applications-merged
|
||||
usr/share/applications
|
||||
usr/share/pixmaps
|
||||
usr/share/desktop-directories
|
||||
usr/local/OpenPilot/firmware
|
||||
usr/bin
|
||||
usr/local/OpenPilot
|
||||
|
||||
@ -19,8 +19,6 @@ export DH_OPTIONS=-v
|
||||
#%:
|
||||
# dh $@
|
||||
|
||||
PACKAGE_DIR = $(shell cat build/package_dir)
|
||||
|
||||
clean:
|
||||
dh_testdir
|
||||
dh_testroot
|
||||
@ -42,11 +40,6 @@ install:
|
||||
cp -arp package/linux/openpilot_menu.png debian/openpilot/usr/share/pixmaps
|
||||
cp -arp package/linux/openpilot_menu.menu debian/openpilot/etc/xdg/menus/applications-merged
|
||||
cp -arp package/linux/openpilot_menu.directory debian/openpilot/usr/share/desktop-directories
|
||||
ifdef PACKAGE_DIR
|
||||
cp -a $(PACKAGE_DIR)/*.elf debian/openpilot/usr/local/OpenPilot/firmware/
|
||||
else
|
||||
$(error PACKAGE_DIR not defined! $(PACKAGE_DIR))
|
||||
endif
|
||||
ln -s /usr/local/OpenPilot/bin/openpilotgcs `pwd`/debian/openpilot/usr/bin/openpilotgcs
|
||||
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/sounds/sounds
|
||||
rm -rf debian/openpilot/usr/local/OpenPilot/share/openpilotgcs/pfd/pfd
|
||||
|
||||
@ -1,7 +1,7 @@
|
||||
#!/bin/bash
|
||||
|
||||
# the following environment variables must be set
|
||||
: ${ROOT_DIR?} ${BUILD_DIR?} ${PACKAGE_LBL?} ${PACKAGE_DIR?} ${FW_DIR?} ${PACKAGE_NAME?} ${PACKAGE_SEP?}
|
||||
: ${ROOT_DIR?} ${BUILD_DIR?} ${PACKAGE_LBL?} ${PACKAGE_DIR?} ${PACKAGE_NAME?} ${PACKAGE_SEP?}
|
||||
|
||||
# more variables
|
||||
APP_PATH="${BUILD_DIR}/openpilotgcs_release/bin/OpenPilot GCS.app"
|
||||
@ -39,7 +39,6 @@ fi
|
||||
# packaging goes here
|
||||
cp -a "${APP_PATH}" "/Volumes/${mountvolume}"
|
||||
|
||||
#ls "${FW_DIR}" | xargs -n 1 -I {} cp "${FW_DIR}/{}" "/Volumes/${VOL_NAME}/Firmware"
|
||||
cp "${BUILD_DIR}/uavobject-synthetics/matlab/OPLogConvert.m" "/Volumes/${mountvolume}/Utilities"
|
||||
cp "${ROOT_DIR}/WHATSNEW.txt" "/Volumes/${mountvolume}"
|
||||
cp "${ROOT_DIR}/README.txt" "/Volumes/${mountvolume}/Docs"
|
||||
|
||||
@ -57,7 +57,6 @@
|
||||
; !define PACKAGE_LBL "${DATE}-${TAG_OR_HASH8}"
|
||||
; !define PACKAGE_DIR "..\..\build\package-$${PACKAGE_LBL}"
|
||||
; !define OUT_FILE "OpenPilotGCS-$${PACKAGE_LBL}-install.exe"
|
||||
; !define FIRMWARE_DIR "firmware-$${PACKAGE_LBL}"
|
||||
; !define PRODUCT_VERSION "0.0.0.0"
|
||||
; !define FILE_VERSION "${TAG_OR_BRANCH}:${HASH8} ${DATETIME}"
|
||||
; !define BUILD_DESCRIPTION "${TAG_OR_BRANCH}:${HASH8} built from ${ORIGIN}, committed ${DATETIME} as ${HASH}"
|
||||
@ -225,12 +224,6 @@ Section "-Localization" InSecLocalization
|
||||
File /r "${GCS_BUILD_TREE}\share\openpilotgcs\translations\qt_*.qm"
|
||||
SectionEnd
|
||||
|
||||
; Copy firmware files
|
||||
Section /o "-Firmware" InSecFirmware
|
||||
SetOutPath "$INSTDIR\firmware"
|
||||
File /r "${PACKAGE_DIR}\${FIRMWARE_DIR}\*"
|
||||
SectionEnd
|
||||
|
||||
; Copy utility files
|
||||
Section "-Utilities" InSecUtilities
|
||||
SetOutPath "$INSTDIR\utilities"
|
||||
|
||||
@ -5,6 +5,10 @@
|
||||
|
||||
<!-- Note these enumerated values should be the same as ManualControlSettings -->
|
||||
<field name="FlightMode" units="" type="enum" elements="1" options="Manual,Stabilized1,Stabilized2,Stabilized3,Stabilized4,Stabilized5,Stabilized6,PositionHold,CourseLock,PositionRoam,HomeLeash,AbsolutePosition,ReturnToBase,Land,PathPlanner,POI,AutoCruise"/>
|
||||
<!-- the options for FlightModeAssist needs to match the StablizationSettings' assist options -->
|
||||
<field name="FlightModeAssist" units="" type="enum" elements="1" options="None,GPSAssist_PrimaryThrust,GPSAssist"/>
|
||||
<field name="AssistedControlState" units="" type="enum" elements="1" options="Primary,Brake,Hold" defaultvalue="Primary"/>
|
||||
<field name="AssistedThrottleState" units="" type="enum" elements="1" options="Manual,Auto,AutoOverride" defaultvalue="Manual"/>
|
||||
|
||||
<field name="ControlChain" units="bool" type="enum" options="false,true">
|
||||
<elementnames>
|
||||
|
||||
@ -16,6 +16,8 @@
|
||||
elementnames="Roll,Pitch,Yaw,Collective,Accessory0,Accessory1,Accessory2"/>
|
||||
|
||||
<field name="Deadband" units="%" type="float" elements="1" defaultvalue="0.02"/>
|
||||
<!-- Note the following deadband is used in AssistedControl. Use of deadband with AssistedControl is not optional and will have a hardcoded minimum. -->
|
||||
<field name="DeadbandAssistedControl" units="%" type="float" elements="1" defaultvalue="0.08" description="Stick deadband used for AssistedControl"/>
|
||||
|
||||
|
||||
<!-- Note these options values should be identical to those defined in FlightMode -->
|
||||
|
||||
@ -3,7 +3,7 @@
|
||||
<description>The endpoint or path the craft is trying to achieve. Can come from @ref ManualControl or @ref PathPlanner </description>
|
||||
|
||||
<field name="Start" units="m" type="float" elementnames="North,East,Down" default="0"/>
|
||||
<field name="End" units="m" type="float" elementnames="North,East,Down" default="0"/>
|
||||
<field name="End" units="m" type="float" elementnames="North,East,Down" default="0"/>
|
||||
<field name="StartingVelocity" units="m/s" type="float" elements="1" default="0"/>
|
||||
<field name="EndingVelocity" units="m/s" type="float" elements="1" default="0"/>
|
||||
|
||||
@ -12,7 +12,7 @@
|
||||
FixedAttitude,
|
||||
SetAccessory,
|
||||
Land,
|
||||
DisarmAlarm" default="0"/>
|
||||
DisarmAlarm,Brake" default="0"/>
|
||||
<!-- Endpoint mode - move directly towards endpoint regardless of position -->
|
||||
<!-- Straight Mode - move across linear path through Start towards the waypoint end, adjusting velocity - continue straight -->
|
||||
<!-- Circle Mode - move a circular pattern around End with radius End-Start (straight line in the vertical)-->
|
||||
|
||||
@ -13,6 +13,7 @@
|
||||
<field name="correction_direction_north" units="m" type="float" elements="1"/>
|
||||
<field name="correction_direction_east" units="m" type="float" elements="1"/>
|
||||
<field name="correction_direction_down" units="m" type="float" elements="1"/>
|
||||
<field name="path_time" units="s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
|
||||
19
shared/uavobjectdefinition/pathsummary.xml
Normal file
19
shared/uavobjectdefinition/pathsummary.xml
Normal file
@ -0,0 +1,19 @@
|
||||
<xml>
|
||||
<object name="PathSummary" singleinstance="true" settings="false" category="Navigation">
|
||||
<description>Summary of a completed path segment Can come from any @ref PathFollower module</description>
|
||||
|
||||
<field name="UID" units="" type="int16" elements="1" default="0"/>
|
||||
<!-- unique ID confirmed with pathfollower in pathsummary to acknowledge a completed in PathDesired brake sequence -->
|
||||
<field name="brake_exit_reason" units="" type="enum" elements="1" options="Timeout,PathCompleted,PathError"/>
|
||||
<field name="brake_distance_offset" units="m" type="float" elements="1"/>
|
||||
<field name="time_remaining" units="s" type="float" elements="1"/>
|
||||
<field name="fractional_progress" units="" type="float" elements="1"/>
|
||||
<field name="decelrate" units="m/s2" type="float" elements="1"/>
|
||||
<field name="brakeRateActualDesiredRatio" units="" type="float" elements="1"/>
|
||||
<field name="velocityIntoHold" units="m/s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -46,6 +46,10 @@
|
||||
|
||||
<field name="ScaleToAirspeed" units="m/s" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="ScaleToAirspeedLimits" units="" type="float" elementnames="Min,Max" defaultvalue="0.05,3"/>
|
||||
<field name="FlightModeAssistMap" units="" type="enum"
|
||||
options="None,GPSAssist"
|
||||
elements="6"
|
||||
defaultvalue="None,None,None,None,None,None"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
@ -19,6 +19,10 @@
|
||||
<field name="EmergencyFallbackYawRate" units="(deg/s)/deg" type="float" elementnames="kP,Max" defaultvalue="2.0, 30.0"/>
|
||||
<field name="MaxRollPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
|
||||
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="50"/>
|
||||
<field name="BrakeRate" units="m/s2" type="float" elements="1" defaultvalue="2.5"/>
|
||||
<field name="BrakeMaxPitch" units="deg" type="float" elements="1" defaultvalue="25"/>
|
||||
<field name="BrakeHorizontalVelPID" units="deg/(m/s)" type="float" elementnames="Kp,Ki,Kd,ILimit" defaultvalue="12.0, 0.0, 0.03, 15"/>
|
||||
<field name="BrakeVelocityFeedforward" units="deg/(m/s)" type="float" elements="1" defaultvalue="0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
|
||||
15
shared/uavobjectdefinition/vtolselftuningstats.xml
Normal file
15
shared/uavobjectdefinition/vtolselftuningstats.xml
Normal file
@ -0,0 +1,15 @@
|
||||
<xml>
|
||||
<object name="VtolSelfTuningStats" singleinstance="true" settings="false" category="Navigation">
|
||||
<description>Automatically calculated adjustments to parameters used into vtol auto flight modes. Can come from @ref PathFollower </description>
|
||||
|
||||
<field name="NeutralThrustOffset" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="NeutralThrustCorrection" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="NeutralThrustAccumulator" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="NeutralThrustRange" units="" type="float" elements="1" defaultvalue="0"/>
|
||||
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="manual" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
Loading…
x
Reference in New Issue
Block a user