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Commit Graph

119 Commits

Author SHA1 Message Date
James Cotton
5211176f15 ManualControl: Cover the case for PathPlanner to avoid setting an alarm. No functional change. 2012-09-10 20:12:23 -05:00
James Cotton
38e9d105aa Merge branch 'pidt1' into test2
Conflicts:
	flight/Modules/ManualControl/inc/manualcontrol.h
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
	shared/uavobjectdefinition/flightstatus.xml
	shared/uavobjectdefinition/hwsettings.xml
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/taskinfo.xml
2012-09-10 14:37:52 -05:00
James Cotton
2f65fc1e8e Merge branch 'next' into relay_tuning
Conflicts:
	shared/uavobjectdefinition/manualcontrolsettings.xml
	shared/uavobjectdefinition/taskinfo.xml
2012-09-04 10:43:04 -05:00
James Cotton
c4b82fa1fd Disable transmitter updating PH location while using a tablet. 2012-08-12 17:51:52 -05:00
James Cotton
44dc01126e Merge branch 'next' into revo 2012-08-12 16:12:54 -05:00
Stacey Sheldon
49c153003c hid joystick: use linearly scaled channels
Scales each channel only based on max and min calibrated values.
The neutral value is now ignored so the joystick sees a linear
range between min and max.

This is particularly useful to allow the full range of values for
throttle to be passed through to the joystick.
2012-08-10 23:36:06 -04:00
Stacey Sheldon
ef0c12b1b6 hid joystick: emulate a USB HID joystick using RC Transmitter
Adds a new RCTransmitter setting for the USB HID interface which
emulates a USB HID joystick.  The scaled RC receiver channels
from any RCVR protocol are passed through to the various emulated
joystick controls.

The main use for this feature is to allow you to use your own RC
transmitter with any RC simulator on a PC.

This is known to work with CRRCsim but should work with any simulator
that supports joystick input.
2012-08-05 21:45:27 -04:00
James Cotton
fc2f8376bc Prevent an alarm from ManualControlCommand when using autotuning mode. 2012-08-03 09:37:47 -05:00
James Cotton
2ccd6605a4 Now the stabilization refactor is in we can make swapping between tuning the
system in rate or attitude mode software configurable.
2012-08-03 09:37:45 -05:00
James Cotton
17a0d3ebb4 Add a relay stabilization mode 2012-08-03 09:37:44 -05:00
James Cotton
d150fd5331 Merge branch 'next' into revo
Conflicts:
	flight/Modules/ManualControl/manualcontrol.c
	ground/openpilotgcs/src/plugins/config/input.ui
	ground/openpilotgcs/src/plugins/uavtalk/telemetry.cpp
	shared/uavobjectdefinition/manualcontrolsettings.xml
2012-07-13 10:40:14 -05:00
Oleg Semyonov
727e67d7fd Even more optimize FlightMode switch position calculation
This runs in a high frequency loop and should use as little of
floating point as possible. Thanks to Kenn for the idea.
2012-06-25 11:41:42 +03:00
Oleg Semyonov
2c896c9e91 Do not care about FlightMode channel if only one flight mode configured 2012-06-25 01:52:06 +03:00
Oleg Semyonov
02fa6fde09 Optimize FlightMode switch position calculation 2012-06-25 00:30:42 +03:00
Oleg Semyonov
cd6387d0a6 Add support for more than 3-pos FlightMode switches
It is now possible to have 1 to 6 flight mode switch positions
(usefull for guidance, position hold and similar use).

The input channel range is divided into N (1 to 6) zones and each
zone represents a flight mode. Default is 3 zones (backward compatible),
but more can be chosen.

How to use: configure Tx mixers in a way they provide required number
of different values for the same FlightMode channel. For instance,
using Turnigy 9X radio with ER9X firmware, one can create a mixer like
this:

     -100 MAX ID0   Manual
   R  -50 MAX ID1   Stabilized1 (Rate)
   R    0 MAX ID2   Stabilized2 (Attitude)
   R   50 MAX RUD   PositionHold
   R  100 MAX ELE   ReturnToBase

And set number of flight mode positions to 5. As a result, the 3-pos
switch (ID0, ID1, ID2) will provide first three flight modes, the rudder
D/R switch will override those and enable the 4th flight mode, and
elevator D/R switch will have highest precedence and activate the 5th
flight mode.

This will change the ManualControlSettings objectID.
2012-06-23 22:10:19 +03:00
James Cotton
980111d246 Make RTH mode default to 2 m/s. This needs to be in a UAVO somewhere
(ManualControlSettings?)
2012-06-08 11:44:00 -05:00
James Cotton
574ab3fcaa Make the VtolPathFollower an optional module
Note that RTH mode right now checks that throttle control is enabled, but this
should only occur if the system is a VTOL.
2012-06-08 10:46:38 -05:00
James Cotton
1972470dcb Manualcontrolcommand needs a bit more stack space now 2012-06-07 10:07:52 -05:00
James Cotton
ed2fb5cb09 Merge branch 'next' into revo 2012-06-04 12:23:58 -05:00
James Cotton
46a52fc5ce Apply the virtual flybar stick scaling in stabilization.c because we need to
know the true stick position to dampen the gyros appropriately.
2012-06-04 12:22:39 -05:00
James Cotton
bda3f301cb Rename VBar mode to VirtualBar 2012-06-04 12:22:39 -05:00
James Cotton
fe978504bc Add friendly settings for the vbar mode including the VbarTau which acts like
the time constant.
2012-06-04 12:22:39 -05:00
James Cotton
1b55df733d Create virtual flybar setting for stabilization modes 2012-06-04 12:22:38 -05:00
James Cotton
b11b606ddc Fix RTH mode. Now works in simulation when GCSReceiver goes invalid.
There is a small issue that when it is in RTH failsafe mode and you regain
signal and your throttle is low you will disarm due to the timeout.  That
means you'd suddenly get it back and plumet ouf of the sky.  If you are
still holding throttle (which most people might do?) you will have control.

The timeout needs to probably start when you regain signal.
2012-06-04 10:25:43 -05:00
James Cotton
10aa31a57f When ManualControlSettings.FailsafeBehavior is set to RTH and no valid input is
detected and the aircraft is armed enter RTH mode.
2012-06-04 09:48:05 -05:00
James Cotton
21eb48c58c Add a RTH flight mode and remove it from the waypoint actions as that is
redundant with flying to (0,0,0)
2012-06-03 22:14:11 -05:00
James Cotton
a89b880609 Fix compilation error on CopterControl because it doesn't support some of the
path functionality.  These configurations that could result in
updatePathDesired or altitudeHoldDesired being called should result in an error
on startup to block arming.
2012-05-28 20:33:49 -05:00
James Cotton
37bb2cfb77 Finish getting rid of PositionDesired in favor of PathDesired and add the
ability to move the magic waypoint with the transmitter
2012-05-08 02:42:58 -05:00
James Cotton
0f2c41ac5d Merge branch 'revolution' into navigation
Conflicts:
	flight/Modules/ManualControl/manualcontrol.c
	flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
2012-05-07 21:53:10 -05:00
James Cotton
a40a0b0e31 Small fix to be able to build CC for Revo branch and to include revo in
package.
2012-05-07 01:55:52 -05:00
James Cotton
3155324384 Merge branch 'next' into cc3d
Conflicts:
	Makefile
	ground/openpilotgcs/src/plugins/config/configahrswidget.cpp
	shared/uavobjectdefinition/ahrscalibration.xml
	shared/uavobjectdefinition/ahrssettings.xml
	shared/uavobjectdefinition/attituderaw.xml
2012-05-03 16:31:49 -05:00
James Cotton
cfd92de87a Add explicit casts in manualcontrol to avoid compiler warnings/errors 2012-04-03 09:16:24 -05:00
James Cotton
337d5b7079 Enable guidance in revo. Update manual control to set the position desired
when the switch is flipped.
2012-04-03 03:42:25 -05:00
Brian Webb
df0a1c2ac1 Upgraded Brian-Metadata-Mods to current next. 2012-04-01 12:25:13 -07:00
James Cotton
61d59828dc Disable the new features if not revolution and set an error flag. Fixes
compilation errors.
2012-03-05 00:24:11 -06:00
James Cotton
7961aba83c Clean up a few more compiler warnings
Conflicts:

	flight/PiOS/Common/pios_ms5611.c
2012-03-03 13:32:56 -06:00
Brian Webb
43f6458f86 Reduced the sizeof the UAVObject metadata by:
1) Combining all binary or mode values into a single byte
  2) Adding accessor functions to read/write the flag bits
  3) Reduced the size of the time values from 32 bits to 16 bits
2012-02-20 18:45:18 -07:00
Oleg Semyonov
c721d001c0 Subtract deadband offset from then input to still have fine control 2012-02-18 10:21:51 +02:00
James Cotton
3026527801 Now the desired altitude is relative to when the switch was flipped so that the
baro altitude module can use a smoothed altitude estimate for the starting
point.
2012-02-08 23:02:29 -06:00
James Cotton
c6b1d6b8df Rework the altitude hold code a bit 2012-02-08 09:42:10 -06:00
Oleg Semyonov
912bea559f Add stick deadband option for Roll/Pitch/Yaw inputs to firmware 2012-01-15 21:13:22 +02:00
James Cotton
ef05cafaca Merge branch 'revolution' into altitudehold
Conflicts:
	flight/Libraries/insgps13state.c
	flight/OpenPilot/Makefile
	ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
2012-01-01 10:50:35 -06:00
James Cotton
33a12d829e Merge branch 'next' into revolution
Conflicts:
	flight/PiOS/Common/pios_flashfs_objlist.c
2011-12-11 22:55:54 -06:00
Corvus Corax
a0cd71abe6 UAVObjects ; Modules/ManualControl: Fixed metadata interface and segfault when retrieving it 2011-11-30 09:20:46 +01:00
James Cotton
c33816dd79 Force mode switch to be floating point so F4 works 2011-11-28 09:10:26 -06:00
James Cotton
57e7126979 Increase stack size for manualcontrol. This might need to be applied to main
code.
2011-11-27 01:51:23 -06:00
Oleg Semyonov
0116e6a007 spektrum: rework DSM2/DSMJ/DSMX driver for explicit DSMX resolution support
- both CC serial ports are now disabled by default (no telemetry);
- serial ports now have DSM2, DSMX (10bit) and DSMX (11bit) options;
- ReceiverGroups now have DSM (MainPort) and DSM (FlexiPort) options.

For DSM2 protocol there is an explicit resolution bit in the stream, so
the DSM2 should be selected. For DSMX there is no such bit, and user
should choose the resolution from the list configuring the spektrum port.
ReceiverGroups have single DSM option which is handled by the same driver.

Downside: this implementation saves received frame first, unrolls by the
end of frame. This should be ok, but may be improved by unrolling channels
on the fly in the rx callback.

Another minor difference is that a ChannelGroup is now bound to port:
DSM (MainPort) or DSM (FlexiPort). This was considered as acceptable
solution in order to not have 6 DSM options for each ChannelGroup and
even more in case of new DSM protocol variations.

Known problem: it is not possible to choose same protocols like
DSM2/DSM2 for two ports. It can be enabled by adding an exception to
common rule, though.

The DSMX throttle channel misbehavior (zero value) is not treated
specially yet. It should trigger the failsafe being out of bounds.
More info and data dumps are required to handle this properly.
2011-10-30 19:29:03 +02:00
Corvus Corax
425bc5abbe PiOS.posix: PIOS_RCVR : fix posix port of pios_rcvr to allow compilation on 64bit systems 2011-10-11 18:07:04 +02:00
James Cotton
06190d1d95 Fix altitude hold dead band range 2011-09-13 10:34:56 -05:00
James Cotton
1783817b96 INS: First pass at altitude hold code 2011-09-13 01:44:53 -05:00