Exemple #1
0
/**
 * Initialise the module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
static int32_t comUsbBridgeInitialize(void)
{
    // TODO: Get from settings object
    usart_port     = PIOS_COM_BRIDGE;
    vcp_port       = PIOS_COM_VCP;

#ifdef MODULE_COMUSBBRIDGE_BUILTIN
    bridge_enabled = true;
#else
    HwSettingsInitialize();
    HwSettingsOptionalModulesData optionalModules;

    HwSettingsOptionalModulesGet(&optionalModules);

    if (usart_port && vcp_port) {
        bridge_enabled = true;
    } else {
        bridge_enabled = false;
    }
#endif

    if (bridge_enabled) {
        com2usb_buf = pios_malloc(BRIDGE_BUF_LEN);
        PIOS_Assert(com2usb_buf);
        usb2com_buf = pios_malloc(BRIDGE_BUF_LEN);
        PIOS_Assert(usb2com_buf);
        HwSettingsConnectCallback(&updateSettings);
        updateSettings(0);
    }

    return 0;
}
Exemple #2
0
/**
 * Initialise the overosync module
 * \return -1 if initialisation failed
 * \return 0 on success
 */
int32_t OveroSyncInitialize(void)
{
#ifdef MODULE_OVEROSYNC_BUILTIN
    overoEnabled = true;
#else

    HwSettingsInitialize();
    uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
    HwSettingsOptionalModulesGet(optionalModules);

    if (optionalModules[HWSETTINGS_OPTIONALMODULES_OVERO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
        overoEnabled = true;

        // Create object queues
        queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
    } else {
        overoEnabled = false;
        return -1;
    }
#endif


    OveroSyncStatsInitialize();


    // Initialise UAVTalk
    uavTalkCon = UAVTalkInitialize(&packData);

    return 0;
}
Exemple #3
0
/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t BatteryInitialize(void)
{

	
#ifdef MODULE_BATTERY_BUILTIN
	batteryEnabled = true;
#else
	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];

	HwSettingsOptionalModulesGet(optionalModules);

	if ((optionalModules[HWSETTINGS_OPTIONALMODULES_BATTERY] == HWSETTINGS_OPTIONALMODULES_ENABLED))
		batteryEnabled = true;
	else
		batteryEnabled = false;
#endif

	uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];	
	HwSettingsADCRoutingGet(adcRouting);
	
	//Determine if the battery sensors are routed to ADC pins 
	for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
		if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYVOLTAGE) {
			voltageADCPin = i;
		}
		if (adcRouting[i] == HWSETTINGS_ADCROUTING_BATTERYCURRENT) {
			currentADCPin = i;
		}
	}
	
	//Don't enable module if no ADC pins are routed to the sensors
	if (voltageADCPin <0 && currentADCPin <0)
		batteryEnabled = false;

	//Start module
	if (batteryEnabled) {
		FlightBatteryStateInitialize();
		FlightBatterySettingsInitialize();
	
		static UAVObjEvent ev;

		memset(&ev,0,sizeof(UAVObjEvent));
		EventPeriodicCallbackCreate(&ev, onTimer, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
	}

	return 0;
}
Exemple #4
0
/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t AutotuneInitialize(void)
{
    // Create a queue, connect to manual control command and flightstatus
#ifdef MODULE_AUTOTUNE_BUILTIN
    autotuneEnabled = true;
#else
    HwSettingsInitialize();
    uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];

    HwSettingsOptionalModulesGet(optionalModules);

    if (optionalModules[HWSETTINGS_OPTIONALMODULES_AUTOTUNE] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
        autotuneEnabled = true;
    } else {
        autotuneEnabled = false;
    }
#endif

    return 0;
}
Exemple #5
0
/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t AltitudeInitialize()
{
#ifdef MODULE_Altitude_BUILTIN
	altitudeEnabled = 1;
#else
	HwSettingsInitialize();
	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
	HwSettingsOptionalModulesGet(optionalModules);
	if (optionalModules[HWSETTINGS_OPTIONALMODULES_ALTITUDE] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
		altitudeEnabled = 1;
	} else {
		altitudeEnabled = 0;
	}
#endif

	// init down-sampling data
	alt_ds_temp = 0;
	alt_ds_pres = 0;
	alt_ds_count = 0;

	return 0;
}
Exemple #6
0
/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t TxPIDInitialize(void)
{
    bool txPIDEnabled;
    HwSettingsOptionalModulesData optionalModules;

#ifdef REVOLUTION
    AltitudeHoldSettingsInitialize();
#endif

    HwSettingsInitialize();
    HwSettingsOptionalModulesGet(&optionalModules);

    if (optionalModules.TxPID == HWSETTINGS_OPTIONALMODULES_ENABLED) {
        txPIDEnabled = true;
    } else {
        txPIDEnabled = false;
    }

    if (txPIDEnabled) {
        TxPIDSettingsInitialize();
        TxPIDStatusInitialize();
        AccessoryDesiredInitialize();

        UAVObjEvent ev = {
            .obj    = AccessoryDesiredHandle(),
            .instId = 0,
            .event  = 0,
            .lowPriority = false,
        };
        EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);

#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
        // Change StabilizationSettings update rate from OnChange to periodic
        // to prevent telemetry link flooding with frequent updates in case of
        // control channel jitter.
        // Warning: saving to flash with this code active will change the
        // StabilizationSettings update rate permanently. Use Metadata via
        // browser to reset to defaults (telemetryAcked=true, OnChange).
        UAVObjMetadata metadata;
        StabilizationSettingsInitialize();
        StabilizationSettingsGetMetadata(&metadata);
        metadata.telemetryAcked = 0;
        metadata.telemetryUpdateMode   = UPDATEMODE_PERIODIC;
        metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
        StabilizationSettingsSetMetadata(&metadata);

        AttitudeSettingsInitialize();
        AttitudeSettingsGetMetadata(&metadata);
        metadata.telemetryAcked = 0;
        metadata.telemetryUpdateMode   = UPDATEMODE_PERIODIC;
        metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
        AttitudeSettingsSetMetadata(&metadata);
#endif /* if (TELEMETRY_UPDATE_PERIOD_MS != 0) */

        return 0;
    }

    return -1;
}

/* stub: module has no module thread */
int32_t TxPIDStart(void)
{
    return 0;
}

MODULE_INITCALL(TxPIDInitialize, TxPIDStart);

/**
 * Update PIDs callback function
 */
static void updatePIDs(UAVObjEvent *ev)
{
    if (ev->obj != AccessoryDesiredHandle()) {
        return;
    }

    TxPIDSettingsData inst;
    TxPIDSettingsGet(&inst);

    if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER) {
        return;
    }

    uint8_t armed;
    FlightStatusArmedGet(&armed);
    if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
        (armed == FLIGHTSTATUS_ARMED_DISARMED)) {
        return;
    }

    StabilizationBankData bank;
    switch (inst.BankNumber) {
    case 0:
        StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank);
        break;

    case 1:
        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
        break;

    case 2:
        StabilizationSettingsBank3Get((StabilizationSettingsBank3Data *)&bank);
        break;

    default:
        return;
    }
    StabilizationSettingsData stab;
    StabilizationSettingsGet(&stab);

    AttitudeSettingsData att;
    AttitudeSettingsGet(&att);

#ifdef REVOLUTION
    AltitudeHoldSettingsData altitude;
    AltitudeHoldSettingsGet(&altitude);
#endif
    AccessoryDesiredData accessory;

    TxPIDStatusData txpid_status;
    TxPIDStatusGet(&txpid_status);

    bool easyTuneEnabled        = false;

    uint8_t needsUpdateBank     = 0;
    uint8_t needsUpdateStab     = 0;
    uint8_t needsUpdateAtt      = 0;
#ifdef REVOLUTION
    uint8_t needsUpdateAltitude = 0;
#endif

    // Loop through every enabled instance
    for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
        if (TxPIDSettingsPIDsToArray(inst.PIDs)[i] != TXPIDSETTINGS_PIDS_DISABLED) {
            float value;
            if (TxPIDSettingsInputsToArray(inst.Inputs)[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
                ManualControlCommandThrottleGet(&value);
                value = scale(value,
                              inst.ThrottleRange.Min,
                              inst.ThrottleRange.Max,
                              TxPIDSettingsMinPIDToArray(inst.MinPID)[i],
                              TxPIDSettingsMaxPIDToArray(inst.MaxPID)[i]);
            } else if (AccessoryDesiredInstGet(
                           TxPIDSettingsInputsToArray(inst.Inputs)[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0,
                           &accessory) == 0) {
                value = scale(accessory.AccessoryVal, -1.0f, 1.0f,
                              TxPIDSettingsMinPIDToArray(inst.MinPID)[i],
                              TxPIDSettingsMaxPIDToArray(inst.MaxPID)[i]);
            } else {
                continue;
            }

            TxPIDStatusCurPIDToArray(txpid_status.CurPID)[i] = value;

            switch (TxPIDSettingsPIDsToArray(inst.PIDs)[i]) {
            case TXPIDSETTINGS_PIDS_ROLLRATEKP:
                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_EASYTUNERATEROLL:
                easyTuneEnabled  = true;
                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                needsUpdateBank |= update(&bank.RollRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
                needsUpdateBank |= update(&bank.RollRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
                break;
            case TXPIDSETTINGS_PIDS_EASYTUNERATEPITCH:
                easyTuneEnabled  = true;
                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value * inst.EasyTunePitchRollRateFactors.I);
                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value * inst.EasyTunePitchRollRateFactors.D);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATEKI:
                needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATEKD:
                needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
                needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATERESP:
                needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
                needsUpdateBank |= update(&bank.RollPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
                needsUpdateBank |= update(&bank.RollPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.RollPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDERESP:
                needsUpdateBank |= updateUint8(&bank.RollMax, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEKP:
                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEKI:
                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEKD:
                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
                needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATERESP:
                needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
                needsUpdateBank |= update(&bank.PitchPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
                needsUpdateBank |= update(&bank.PitchPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDERESP:
                needsUpdateBank |= updateUint8(&bank.PitchMax, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
                needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
                needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
                needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
                needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATERESP:
                needsUpdateBank |= updateUint16(&bank.ManualRate.Roll, value);
                needsUpdateBank |= updateUint16(&bank.ManualRate.Pitch, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
                needsUpdateBank |= update(&bank.RollPI.Kp, value);
                needsUpdateBank |= update(&bank.PitchPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
                needsUpdateBank |= update(&bank.RollPI.Ki, value);
                needsUpdateBank |= update(&bank.PitchPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.RollPI.ILimit, value);
                needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDERESP:
                needsUpdateBank |= updateUint8(&bank.RollMax, value);
                needsUpdateBank |= updateUint8(&bank.PitchMax, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEKP:
                needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEKI:
                needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEKD:
                needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
                needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATERESP:
                needsUpdateBank |= updateUint16(&bank.ManualRate.Yaw, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
                needsUpdateBank |= update(&bank.YawPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
                needsUpdateBank |= update(&bank.YawPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.YawPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDERESP:
                needsUpdateBank |= updateUint8(&bank.YawMax, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLEXPO:
                needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHEXPO:
                needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHEXPO:
                needsUpdateBank |= updateInt8(&bank.StickExpo.Roll, value);
                needsUpdateBank |= updateInt8(&bank.StickExpo.Pitch, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWEXPO:
                needsUpdateBank |= updateInt8(&bank.StickExpo.Yaw, value);
                break;
            case TXPIDSETTINGS_PIDS_GYROTAU:
                needsUpdateStab |= update(&stab.GyroTau, value);
                break;
            case TXPIDSETTINGS_PIDS_ACROROLLFACTOR:
                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
                break;
            case TXPIDSETTINGS_PIDS_ACROPITCHFACTOR:
                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
                break;
            case TXPIDSETTINGS_PIDS_ACROROLLPITCHFACTOR:
                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Roll, value);
                needsUpdateBank |= updateUint8(&bank.AcroInsanityFactor.Pitch, value);
                break;
            case TXPIDSETTINGS_PIDS_ACCELTAU:
                needsUpdateAtt  |= update(&att.AccelTau, value);
                break;
            case TXPIDSETTINGS_PIDS_ACCELKP:
                needsUpdateAtt  |= update(&att.AccelKp, value);
                break;
            case TXPIDSETTINGS_PIDS_ACCELKI:
                needsUpdateAtt  |= update(&att.AccelKi, value);
                break;

#ifdef REVOLUTION
            case TXPIDSETTINGS_PIDS_ALTITUDEPOSKP:
                needsUpdateAltitude |= update(&altitude.VerticalPosP, value);
                break;
            case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKP:
                needsUpdateAltitude |= update(&altitude.VerticalVelPID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKI:
                needsUpdateAltitude |= update(&altitude.VerticalVelPID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYKD:
                needsUpdateAltitude |= update(&altitude.VerticalVelPID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_ALTITUDEVELOCITYBETA:
                needsUpdateAltitude |= update(&altitude.VerticalVelPID.Beta, value);
                break;
#endif
            default:
                PIOS_Assert(0);
            }
        }
    }
    if (needsUpdateStab) {
        StabilizationSettingsSet(&stab);
    }
    if (needsUpdateAtt) {
        AttitudeSettingsSet(&att);
    }
#ifdef REVOLUTION
    if (needsUpdateAltitude) {
        AltitudeHoldSettingsSet(&altitude);
    }
#endif
    if (easyTuneEnabled && (inst.EasyTuneRatePIDRecalculateYaw != TXPIDSETTINGS_EASYTUNERATEPIDRECALCULATEYAW_FALSE)) {
        float newKp = (bank.RollRatePID.Kp + bank.PitchRatePID.Kp) * .5f * inst.EasyTuneYawRateFactors.P;
        needsUpdateBank |= update(&bank.YawRatePID.Kp, newKp);
        needsUpdateBank |= update(&bank.YawRatePID.Ki, newKp * inst.EasyTuneYawRateFactors.I);
        needsUpdateBank |= update(&bank.YawRatePID.Kd, newKp * inst.EasyTuneYawRateFactors.D);
    }
    if (needsUpdateBank) {
        switch (inst.BankNumber) {
        case 0:
            StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank);
            break;

        case 1:
            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank);
            break;

        case 2:
            StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *)&bank);
            break;

        default:
            return;
        }
    }

    if (needsUpdateStab ||
        needsUpdateAtt ||
#ifdef REVOLUTION
        needsUpdateAltitude ||
#endif /* REVOLUTION */
        needsUpdateBank) {
        TxPIDStatusSet(&txpid_status);;
    }
}

/**
 * Scales input val from [inMin..inMax] range to [outMin..outMax].
 * If val is out of input range (inMin <= inMax), it will be bound.
 * (outMin > outMax) is ok, in that case output will be decreasing.
 *
 * \returns scaled value
 */
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
    // bound input value
    if (val > inMax) {
        val = inMax;
    }
    if (val < inMin) {
        val = inMin;
    }

    // normalize input value to [0..1]
    if (inMax <= inMin) {
        val = 0.0f;
    } else {
        val = (val - inMin) / (inMax - inMin);
    }

    // update output bounds
    if (outMin > outMax) {
        float t = outMin;
        outMin = outMax;
        outMax = t;
        val    = 1.0f - val;
    }

    return (outMax - outMin) * val + outMin;
}

/**
 * Updates var using val if needed.
 * \returns 1 if updated, 0 otherwise
 */
static uint8_t update(float *var, float val)
{
    /* FIXME: this is not an entirely correct way
     * to check if the two floating point
     * numbers are 'not equal'.
     * Epsilon of 1e-9 is probably okay for the range
     * of numbers we see here*/
    if (fabsf(*var - val) > 1e-9f) {
        *var = val;
        return 1;
    }
    return 0;
}

/**
 * Updates var using val if needed.
 * \returns 1 if updated, 0 otherwise
 */
static uint8_t updateUint16(uint16_t *var, float val)
{
    uint16_t roundedVal = (uint16_t)roundf(val);

    if (*var != roundedVal) {
        *var = roundedVal;
        return 1;
    }
    return 0;
}
Exemple #7
0
/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t TxPIDInitialize(void)
{
    bool txPIDEnabled;
    HwSettingsOptionalModulesData optionalModules;

    HwSettingsInitialize();
    HwSettingsOptionalModulesGet(&optionalModules);

    if (optionalModules.TxPID == HWSETTINGS_OPTIONALMODULES_ENABLED) {
        txPIDEnabled = true;
    } else {
        txPIDEnabled = false;
    }

    if (txPIDEnabled) {
        TxPIDSettingsInitialize();
        AccessoryDesiredInitialize();

        UAVObjEvent ev = {
            .obj    = AccessoryDesiredHandle(),
            .instId = 0,
            .event  = 0,
            .lowPriority = false,
        };
        EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS / portTICK_RATE_MS);

#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
        // Change StabilizationSettings update rate from OnChange to periodic
        // to prevent telemetry link flooding with frequent updates in case of
        // control channel jitter.
        // Warning: saving to flash with this code active will change the
        // StabilizationSettings update rate permanently. Use Metadata via
        // browser to reset to defaults (telemetryAcked=true, OnChange).
        UAVObjMetadata metadata;
        StabilizationSettingsInitialize();
        StabilizationSettingsGetMetadata(&metadata);
        metadata.telemetryAcked = 0;
        metadata.telemetryUpdateMode   = UPDATEMODE_PERIODIC;
        metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
        StabilizationSettingsSetMetadata(&metadata);
#endif

        return 0;
    }

    return -1;
}

/* stub: module has no module thread */
int32_t TxPIDStart(void)
{
    return 0;
}

MODULE_INITCALL(TxPIDInitialize, TxPIDStart);

/**
 * Update PIDs callback function
 */
static void updatePIDs(UAVObjEvent *ev)
{
    if (ev->obj != AccessoryDesiredHandle()) {
        return;
    }

    TxPIDSettingsData inst;
    TxPIDSettingsGet(&inst);

    if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER) {
        return;
    }

    uint8_t armed;
    FlightStatusArmedGet(&armed);
    if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
        (armed == FLIGHTSTATUS_ARMED_DISARMED)) {
        return;
    }

    StabilizationBankData bank;
    switch (inst.BankNumber) {
    case 0:
        StabilizationSettingsBank1Get((StabilizationSettingsBank1Data *)&bank);
        break;

    case 1:
        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
        break;

    case 2:
        StabilizationSettingsBank2Get((StabilizationSettingsBank2Data *)&bank);
        break;

    default:
        return;
    }
    StabilizationSettingsData stab;
    StabilizationSettingsGet(&stab);
    AccessoryDesiredData accessory;

    uint8_t needsUpdateBank = 0;
    uint8_t needsUpdateStab = 0;

    // Loop through every enabled instance
    for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
        if (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i] != TXPIDSETTINGS_PIDS_DISABLED) {
            float value;
            if (cast_struct_to_array(inst.Inputs, inst.Inputs.Instance1)[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
                ManualControlCommandThrottleGet(&value);
                value = scale(value,
                              inst.ThrottleRange.Min,
                              inst.ThrottleRange.Max,
                              cast_struct_to_array(inst.MinPID, inst.MinPID.Instance1)[i],
                              cast_struct_to_array(inst.MaxPID, inst.MaxPID.Instance1)[i]);
            } else if (AccessoryDesiredInstGet(
                           cast_struct_to_array(inst.Inputs, inst.Inputs.Instance1)[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0,
                           &accessory) == 0) {
                value = scale(accessory.AccessoryVal, -1.0f, 1.0f,
                              cast_struct_to_array(inst.MinPID, inst.MinPID.Instance1)[i],
                              cast_struct_to_array(inst.MaxPID, inst.MaxPID.Instance1)[i]);
            } else {
                continue;
            }

            switch (cast_struct_to_array(inst.PIDs, inst.PIDs.Instance1)[i]) {
            case TXPIDSETTINGS_PIDS_ROLLRATEKP:
                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATEKI:
                needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATEKD:
                needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
                needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
                needsUpdateBank |= update(&bank.RollPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
                needsUpdateBank |= update(&bank.RollPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.RollPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEKP:
                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEKI:
                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEKD:
                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
                needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
                needsUpdateBank |= update(&bank.PitchPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
                needsUpdateBank |= update(&bank.PitchPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
                needsUpdateBank |= update(&bank.RollRatePID.Kp, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
                needsUpdateBank |= update(&bank.RollRatePID.Ki, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
                needsUpdateBank |= update(&bank.RollRatePID.Kd, value);
                needsUpdateBank |= update(&bank.PitchRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
                needsUpdateBank |= update(&bank.RollRatePID.ILimit, value);
                needsUpdateBank |= update(&bank.PitchRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
                needsUpdateBank |= update(&bank.RollPI.Kp, value);
                needsUpdateBank |= update(&bank.PitchPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
                needsUpdateBank |= update(&bank.RollPI.Ki, value);
                needsUpdateBank |= update(&bank.PitchPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.RollPI.ILimit, value);
                needsUpdateBank |= update(&bank.PitchPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEKP:
                needsUpdateBank |= update(&bank.YawRatePID.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEKI:
                needsUpdateBank |= update(&bank.YawRatePID.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEKD:
                needsUpdateBank |= update(&bank.YawRatePID.Kd, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
                needsUpdateBank |= update(&bank.YawRatePID.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
                needsUpdateBank |= update(&bank.YawPI.Kp, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
                needsUpdateBank |= update(&bank.YawPI.Ki, value);
                break;
            case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
                needsUpdateBank |= update(&bank.YawPI.ILimit, value);
                break;
            case TXPIDSETTINGS_PIDS_GYROTAU:
                needsUpdateStab |= update(&stab.GyroTau, value);
                break;
            default:
                PIOS_Assert(0);
            }
        }
    }
    if (needsUpdateStab) {
        StabilizationSettingsSet(&stab);
    }
    if (needsUpdateBank) {
        switch (inst.BankNumber) {
        case 0:
            StabilizationSettingsBank1Set((StabilizationSettingsBank1Data *)&bank);
            break;

        case 1:
            StabilizationSettingsBank2Set((StabilizationSettingsBank2Data *)&bank);
            break;

        case 2:
            StabilizationSettingsBank3Set((StabilizationSettingsBank3Data *)&bank);
            break;

        default:
            return;
        }
    }
}

/**
 * Scales input val from [inMin..inMax] range to [outMin..outMax].
 * If val is out of input range (inMin <= inMax), it will be bound.
 * (outMin > outMax) is ok, in that case output will be decreasing.
 *
 * \returns scaled value
 */
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
    // bound input value
    if (val > inMax) {
        val = inMax;
    }
    if (val < inMin) {
        val = inMin;
    }

    // normalize input value to [0..1]
    if (inMax <= inMin) {
        val = 0.0f;
    } else {
        val = (val - inMin) / (inMax - inMin);
    }

    // update output bounds
    if (outMin > outMax) {
        float t = outMin;
        outMin = outMax;
        outMax = t;
        val    = 1.0f - val;
    }

    return (outMax - outMin) * val + outMin;
}

/**
 * Updates var using val if needed.
 * \returns 1 if updated, 0 otherwise
 */
static uint8_t update(float *var, float val)
{
    /* FIXME: this is not an entirely correct way
     * to check if the two floating point
     * numbers are 'not equal'.
     * Epsilon of 1e-9 is probably okay for the range
     * of numbers we see here*/
    if (fabsf(*var - val) > 1e-9f) {
        *var = val;
        return 1;
    }
    return 0;
}