Merge pull request #2493 from paparazzi/small_features

Small features

conf/Makefile.chibios

@@ -95,7 +95,7 @@ $(TARGET).objs	= $($(TARGET).objso:%.S=$(OBJDIR)/%.o)
 
 # Paparazzi options here.
 ifeq ($(PPRZ_DEFINITION),)
-  PPRZ_DEFINITION = -DUSE_CHIBIOS_RTOS -DUSE_ADC_WATCHDOG
+  PPRZ_DEFINITION = -DUSE_CHIBIOS_RTOS -DUSE_ADC_WATCHDOG -DPPRZLINK_UNALIGNED_ACCESS=1
 endif
 
 # Compiler options here.

conf/settings/power_switch.xml

@@ -4,8 +4,8 @@
     <dl_settings NAME="Power switch control">
        <dl_settings NAME="Power switch">
       <dl_setting MAX="1" MIN="0" STEP="1" VAR="autopilot.power_switch" module="autopilot" handler="SetPowerSwitch">
-        <strip_button name="Switch on" icon="on.png" value="1"/>
-        <strip_button name="Switch off" icon="off.png" value="0"/>
+        <strip_button name="Switch on" icon="on.png" value="1" group="power_switch"/>
+        <strip_button name="Switch off" icon="off.png" value="0" group="power_switch"/>
       </dl_setting>
     </dl_settings>
     </dl_settings>

sw/airborne/boards/apogee/chibios/v1.0/board.h

@@ -149,6 +149,9 @@
 #define LED_8_GPIO_ON gpio_set
 #define LED_8_GPIO_OFF gpio_clear
 
+/* Power Switch, on PB12 */
+#define POWER_SWITCH_GPIO GPIOB,GPIO12
+
 
 /* Pint to set Uart2 RX polarity, on PB13, output high inverts, low doesn't */
 #define RC_POLARITY_GPIO_PORT GPIOB

sw/airborne/subsystems/navigation/common_nav.c

@@ -59,6 +59,41 @@ void compute_dist2_to_home(void)
 #endif
 }
 
+/** Compute time to home
+ * use wind and airspeed when available
+ */
+float get_time_to_home(void)
+{
+  struct FloatVect2 vect_to_home;
+  vect_to_home.x = waypoints[WP_HOME].x - stateGetPositionEnu_f()->x;
+  vect_to_home.y = waypoints[WP_HOME].y - stateGetPositionEnu_f()->y;
+  // get distance to home
+  float dist_to_home = float_vect2_norm(&vect_to_home);
+  if (dist_to_home > 1.f) {
+    // get windspeed or assume no wind
+    struct FloatVect2 wind = { 0.f, 0.f };
+    if (stateIsWindspeedValid()) {
+      wind = *stateGetHorizontalWindspeed_f();
+    }
+    // compute effective windspeed when flying to home point
+    float wind_to_home = (wind.x * vect_to_home.x + wind.y * vect_to_home.y) / dist_to_home;
+    // get airspeed or assume constant nominal airspeed
+    float airspeed = NOMINAL_AIRSPEED;
+    if (stateIsAirspeedValid()) {
+      airspeed = stateGetAirspeed_f();
+    }
+    // get estimated ground speed to home
+    float gspeed_to_home = wind_to_home + airspeed;
+    if (gspeed_to_home > 1.) {
+      return dist_to_home / gspeed_to_home; // estimated time to home in seconds
+    }
+    else {
+      return 999999.f; // this might take a long time to go back home
+    }
+  }
+  return 0.f; // too close to home point
+}
+
 
 static float previous_ground_alt;
 

sw/airborne/subsystems/navigation/common_nav.h

@@ -68,6 +68,7 @@ extern void nav_reset_reference(void) __attribute__((unused));
 extern void nav_reset_alt(void) __attribute__((unused));
 extern void nav_update_waypoints_alt(void) __attribute__((unused));
 extern void common_nav_periodic_task_4Hz(void);
+extern float get_time_to_home(void); /* estimated time to home point in seconds */
 
 
 #define NavSetGroundReferenceHere() ({ nav_reset_reference(); nav_update_waypoints_alt(); false; })

sw/ground_segment/cockpit/page_settings.ml

@@ -231,6 +231,7 @@ let one_setting = fun (i:int) (do_change:int -> float -> unit) ac_id packing dl_
   ignore (commit_but#connect#clicked ~callback);
   tooltips#set_tip commit_but#coerce ~text:"Commit";
   tooltips#set_tip current_value#coerce ~text:"Current value, click to request update.";
+  tooltips#set_tip _l#coerce ~text:text;
 
   (* Undo button *)
   let undo_but = GButton.button ~packing:hbox#pack () in