Actuator did not provide an option to completely shutdown selected channels
(set PWM pulse = 0). It is useful for camera stabilization boot delay (we
want few seconds of gimbal servo inactivity to calibrate gyros). It also
might be useful for failsafe on some channels. This option is now available.
It is used to disable camera outputs during fixed 7s delay after boot
instead of setting them to minimum position.
As a side effect, few bugs are fixed (ticks should be multiplied by
portTICK_RATE_MS, not divided, to get time in ms). And few floating point
operations were optimized out as well.
ActuatorCommand.UpdateTime was promoted to uint16 because it is not unusual
to have it 20000ms during flash updates (was seen on the CC after UAV
settings import). So it should be 16bit as well.
This is a partial rework of Cossacs' camera gimbal software.
This patch adds LPF to airframe attitude used for camera stabilisation
and feed forward for camera actuators. Either of options can be
disabled on the compilation level to save flash and RAM if not
required.
Original Cossacs' code was optimized and code flow shortcuts were
added where applicable.
This is a partial rework of Cossacs' camera gimbal software.
This patch adds LPF to some of manual control inputs. Mostly
useful are accessory channels (for camera gimbal control) and
yaw channel (for smooth filming). The code may be used for
stand-alone CC[3D]-based gimbal software, but also should work
for complete FC+camera system.
This new UAVO serves principally to log data for future comparison with
onboard estimation techniques.
Conflicts:
ground/openpilotgcs/src/plugins/hitl/il2simulator.cpp
ground/openpilotgcs/src/plugins/hitl/simulator.h
Previously, when unconnected, only the flighttelemetrystats
UAVO was Tx'd. All other UAVOs were inhibited. This led to
zero telemetry data when the connection to the GCS was gone.
This precluded getting useful telemetry from a receive-only
station.
This commit changes two main areas.
First, UAVO updates are now allowed regardless of the "connected"
state between the GCS/FC.
Second, it makes both the flighttelemetrystats and gcstelemetrystats
UAVOs un-acked. This prevents these objects from blocking all
other UAVOs while they wait for their ack. This is OK since the
real "connection" negotiation happens via the states exchanged in
the Status field of these UAVOs.
The USB VCP Port has a new DebugConsole setting that
routes all output destined for PIOS_COM_DEBUG to the
emulated serial port.
To enable this in your build, you'll have to build like:
- make fw_coptercontrol_clean
- make fw_coptercontrol ENABLE_DEBUG_CONSOLE=YES
You can then output formatted text to the console
like this:
#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
PIOS_COM_SendFormattedString(PIOS_COM_DEBUG,
"foo is %u\r\n",
foo);
#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
Please ensure that all of your debug output is
wrapped with these macros so that your debug
code doesn't bloat the firmware image.
Serial ports now have a new HW setting called DebugConsole
which can be used to dump internal state to a serial port
for debug.
To enable this feature, you need to:
- make fw_coptercontrol_clean
- make fw_coptercontrol ENABLE_DEBUG_CONSOLE=YES
- configure one of the serial ports as DebugConsole in the GCS
- save settings
- power-cycle your board
Things to note:
- The console is at 57600,8N1.
- This is not currently configurable via the GCS.
- You can only have a single console enabled at a time.
