Merge pull request #72 from flixr/rc_settings

Rc settings

conf/airframes/flixr_discovery.xml

@@ -32,6 +32,7 @@ http://paparazzi.enac.fr/w/index.php?title=Theory_of_Operation
     <!-- Communication -->
     <subsystem name="telemetry" type="transparent"/>
     <subsystem name="radio_control" type="ppm"/>
+    <!--subsystem name="settings" type="rc"/-->
 
     <!-- Control -->
     <subsystem name="control" type="new"/>

conf/autopilot/subsystems/fixedwing/settings_rc.makefile

@@ -0,0 +1,6 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# change settings via Remote Control, e.g. tune your aircraft
+
+$(TARGET).srcs += rc_settings.c
+$(TARGET).CFLAGS += -DRADIO_CONTROL_SETTINGS

conf/settings/tuning_ins_rc.xml

@@ -0,0 +1,18 @@
+<!--<!DOCTYPE settings SYSTEM "settings.dtd">-->
+
+<!-- A conf to use to tune an A/C using only the rc -->
+
+<settings>
+
+  <rc_settings>
+    <rc_mode NAME="AUTO1">
+      <rc_setting VAR="ins_pitch_neutral" RANGE="0.2" RC="gain_1_up"    TYPE="float"/>
+      <rc_setting VAR="ins_roll_neutral"  RANGE="-0.2" RC="gain_1_down" TYPE="float"/>
+    </rc_mode>
+    <rc_mode NAME="AUTO2">
+      <rc_setting VAR="h_ctl_course_pgain" RANGE="0.5" RC="gain_1_up" TYPE="float"/>
+      <rc_setting VAR="flight_altitude" RANGE="-100" RC="gain_1_down" TYPE="float"/>
+    </rc_mode>
+  </rc_settings>
+
+</settings>

conf/telemetry/default.xml

@@ -20,6 +20,7 @@
       <message name="CALIBRATION"         period="2.1"/>
       <message name="NAVIGATION_REF"      period="9."/>
       <message name="PPRZ_MODE"           period="5."/>
+      <message name="SETTINGS"            period="5."/>
       <message name="STATE_FILTER_STATUS" period="5."/>
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>

conf/telemetry/default_fixedwing_imu.xml

@@ -20,6 +20,7 @@
       <message name="CALIBRATION"         period="2.1"/>
       <message name="NAVIGATION_REF"      period="9."/>
       <message name="PPRZ_MODE"           period="5."/>
+      <message name="SETTINGS"            period="5."/>
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>

conf/telemetry/default_fixedwing_imu_9k6.xml

@@ -20,6 +20,7 @@
       <message name="CALIBRATION"         period="2.1"/>
       <message name="NAVIGATION_REF"      period="9."/>
       <message name="PPRZ_MODE"           period="5."/>
+      <message name="SETTINGS"            period="5."/>
       <message name="STATE_FILTER_STATUS" period="2.2"/>
       <message name="DOWNLINK"            period="5.1"/>
       <message name="DL_VALUE"            period="1.5"/>

sw/airborne/rc_settings.c

@@ -25,8 +25,8 @@
 
 
 #include <inttypes.h>
-#include "rc_settings.h"
 #include "generated/radio.h"
+#include "rc_settings.h"
 #include "autopilot.h"
 #include "subsystems/nav.h"
 #include "subsystems/sensors/infrared.h"

sw/airborne/rc_settings.h

@@ -28,11 +28,8 @@
  *
  * The 'rc_control' section of a XML flight plan allows the user to change the
  * value of an autopilot internal variable through the rc transmitter.
- * C code is generated from this XML code (var/AC/inflight_calib.h). This
+ * This module handles the control of this setting mode.
- * module handles the control of this setting mode.
  *
- * Note that this functionnality is deprecated since datalink use is a lot more
- * easier ('dl_settings' section)
  */
 
 #ifndef RC_SETTINGS_H
@@ -46,6 +43,10 @@
 #define RC_SETTINGS_MODE_DOWN      1
 #define RC_SETTINGS_MODE_UP        2
 
+extern uint8_t rc_settings_mode;
+
+void rc_settings(bool_t mode_changed);
+
 #define RcSettingsOff() (rc_settings_mode==RC_SETTINGS_MODE_NONE)
 
 #define RC_SETTINGS_MODE_OF_PULSE(pprz) (pprz < TRESHOLD1 ? RC_SETTINGS_MODE_DOWN : \
@@ -55,9 +56,6 @@
 #define RcSettingsModeUpdate(_rc_channels) \
   ModeUpdate(rc_settings_mode, RC_SETTINGS_MODE_OF_PULSE(_rc_channels[RADIO_CALIB]))
 
-extern uint8_t rc_settings_mode;
-void rc_settings(bool_t mode_changed);
-
 
 #else /*  RADIO_CALIB && defined RADIO_CONTROL_SETTINGS */
 

sw/ground_segment/tmtc/aircraft.ml

@@ -61,6 +61,12 @@ let svinfo_init = fun () ->
      age = 0
    }
 
+type inflight_calib = {
+     mutable if_mode : int; (* DOWN|OFF|UP *)
+     mutable if_val1 : float;
+     mutable if_val2 : float
+   }
+
 type horiz_mode =
     Circle of Latlong.geographic * int
   | Segment of Latlong.geographic * Latlong.geographic
@@ -151,7 +157,8 @@ type aircraft = {
     mutable survey : (Latlong.geographic * Latlong.geographic) option;
     mutable last_msg_date : float;
     mutable time_since_last_survey_msg : float;
-    mutable dist_to_wp : float
+    mutable dist_to_wp : float;
+    inflight_calib : inflight_calib
   }
 
 let max_nb_dl_setting_values = 256 (** indexed iwth an uint8 (messages.xml)  *)
@@ -181,5 +188,6 @@ let new_aircraft = fun id name fp airframe ->
     horiz_mode = UnknownHorizMode;
     horizontal_mode = 0;
     waypoints = Hashtbl.create 3; survey = None; last_msg_date = 0.; dist_to_wp = 0.;
-    time_since_last_survey_msg = 1729.
+    time_since_last_survey_msg = 1729.;
+    inflight_calib = { if_mode = 1 ; if_val1 = 0.; if_val2 = 0.}
   }

sw/ground_segment/tmtc/aircraft.mli

@@ -30,6 +30,12 @@ type ac_cam = {
     mutable target : (float * float) (* meter*meter relative *)
   }
 
+type inflight_calib = {
+    mutable if_mode : int;
+    mutable if_val1 : float;
+    mutable if_val2 : float;
+  }
+
 type rc_status = string
 type rc_mode = string
 type fbw = { mutable rc_status : rc_status; mutable rc_mode : rc_mode; mutable rc_rate : int; mutable pprz_mode_msgs_since_last_fbw_status_msg : int; }
@@ -117,7 +123,8 @@ type aircraft = {
     mutable survey : (Latlong.geographic * Latlong.geographic) option;
     mutable last_msg_date : float;
     mutable time_since_last_survey_msg : float;
-    mutable dist_to_wp : float
+    mutable dist_to_wp : float;
+    inflight_calib : inflight_calib
 }
 
 val new_aircraft : string -> string -> Xml.xml -> Xml.xml -> aircraft

sw/ground_segment/tmtc/fw_server.ml

@@ -206,6 +206,7 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
       a.gaz_mode <- check_index (ivalue "ap_gaz") gaz_modes "AP_GAZ";
       a.lateral_mode <- check_index (ivalue "ap_lateral") lat_modes "AP_LAT";
       a.horizontal_mode <- check_index (ivalue "ap_horizontal") horiz_modes "AP_HORIZ";
+      a.inflight_calib.if_mode <- check_index (ivalue "if_calib_mode") if_modes "IF_MODE";
       let mcu1_status = ivalue "mcu1_status" in
       (** c.f. link_autopilot.h *)
       if a.fbw.pprz_mode_msgs_since_last_fbw_status_msg < 10 then
@@ -263,6 +264,9 @@ let log_and_parse = fun ac_name (a:Aircraft.aircraft) msg values ->
             if !Kml.enabled then Kml.update_horiz_mode a
           | _ -> ()
       end
+  | "SETTINGS" ->
+      a.inflight_calib.if_val1 <- fvalue "slider_1_val";
+      a.inflight_calib.if_val2 <- fvalue "slider_2_val";
   | "SURVEY" ->
       begin
         a.time_since_last_survey_msg <- 0.;

sw/ground_segment/tmtc/server.ml

@@ -182,6 +182,14 @@ let send_cam_status = fun a ->
 			"cam_target_long", Pprz.Float ((Rad>>Deg)twgs84.posn_long)] in
 	  Ground_Pprz.message_send my_id "CAM_STATUS" values
 
+let send_if_calib = fun a ->
+  let if_mode = get_indexed_value if_modes a.inflight_calib.if_mode in
+  let values = ["ac_id", Pprz.String a.id;
+		         "if_mode", Pprz.String if_mode;
+		         "if_value1", Pprz.Float a.inflight_calib.if_val1;
+		         "if_value2", Pprz.Float a.inflight_calib.if_val2] in
+  Ground_Pprz.message_send my_id "INFLIGH_CALIB" values
+
 let send_fbw = fun a ->
   let values = [ "ac_id", Pprz.String a.id;
 		 "rc_mode", Pprz.String a.fbw.rc_mode;
@@ -384,6 +392,7 @@ let send_aircraft_msg = fun ac ->
     Ground_Pprz.message_send my_id "AP_STATUS" values;
 
     send_cam_status a;
+    send_if_calib a;
     send_fbw a;
     send_svsinfo a;
     send_horiz_status a;

sw/ground_segment/tmtc/server_globals.ml

@@ -13,6 +13,7 @@ let state_filter_modes = [|"UNKNOWN";"INIT";"ALIGN";"OK";"GPS_LOST";"IMU_LOST";"
 let _3D = 3
 let gps_hybrid_modes = [|"OFF";"ON"|]
 let horiz_modes = [|"WAYPOINT";"ROUTE";"CIRCLE";"ATTITUDE"|]
+let if_modes = [|"OFF";"DOWN";"UP"|]
 
 let string_of_values = fun values ->
   String.concat " " (List.map (fun (_, v) -> Pprz.string_of_value v) values)