From 2a38c76c6b3bc111246625c340682b9d5298d5a9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 09:03:04 +0900 Subject: [PATCH 1/9] AR_PosControl: fix PSC_VEL_I param range --- libraries/APM_Control/AR_PosControl.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/APM_Control/AR_PosControl.cpp b/libraries/APM_Control/AR_PosControl.cpp index 9cf414831acf7..12eee4b7ce4a4 100644 --- a/libraries/APM_Control/AR_PosControl.cpp +++ b/libraries/APM_Control/AR_PosControl.cpp @@ -56,7 +56,7 @@ const AP_Param::GroupInfo AR_PosControl::var_info[] = { // @Param: _VEL_I // @DisplayName: Velocity (horizontal) I gain // @Description: Velocity (horizontal) I gain. Corrects long-term difference between desired and actual velocity to a target acceleration - // @Range: 0.02 1.00 + // @Range: 0.00 1.00 // @Increment: 0.01 // @User: Advanced From 90b5087445e65214d1ff2f4cacfbb08bae5e911a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 10:43:59 +0900 Subject: [PATCH 2/9] RC_Channel: Rover circle mode aux function param desc --- libraries/RC_Channel/RC_Channel.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index fac080b717a4e..fb85273f26ecc 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -171,7 +171,7 @@ const AP_Param::GroupInfo RC_Channel::var_info[] = { // @Values{Copter}: 69:POSHOLD Mode // @Values{Copter}: 70:ALTHOLD Mode // @Values{Copter}: 71:FLOWHOLD Mode - // @Values{Copter,Plane}: 72:CIRCLE Mode + // @Values{Copter,Rover,Plane}: 72:CIRCLE Mode // @Values{Copter}: 73:DRIFT Mode // @Values{Rover}: 74:Sailboat motoring 3pos // @Values{Copter}: 75:SurfaceTrackingUpDown From 379b89bde11c547c686057972fead13e2f3df0fa Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 26 Nov 2023 12:05:04 +0900 Subject: [PATCH 3/9] Rover: circle mode aux function support --- Rover/RC_Channel.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/Rover/RC_Channel.cpp b/Rover/RC_Channel.cpp index e799f38a70fd2..9a89b66d61376 100644 --- a/Rover/RC_Channel.cpp +++ b/Rover/RC_Channel.cpp @@ -33,6 +33,7 @@ void RC_Channel_Rover::init_aux_function(const aux_func_t ch_option, const AuxSw // the following functions do not need initialising: case AUX_FUNC::ACRO: case AUX_FUNC::AUTO: + case AUX_FUNC::CIRCLE: case AUX_FUNC::FOLLOW: case AUX_FUNC::GUIDED: case AUX_FUNC::HOLD: @@ -226,6 +227,10 @@ bool RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const AuxSwit do_aux_function_change_mode(rover.mode_simple, ch_flag); break; + case AUX_FUNC::CIRCLE: + do_aux_function_change_mode(rover.g2.mode_circle, ch_flag); + break; + // trigger sailboat tack case AUX_FUNC::SAILBOAT_TACK: // any switch movement interpreted as request to tack From c91900bb033ce3280160f175151e3b18fb826b93 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sun, 26 Nov 2023 12:10:14 +0900 Subject: [PATCH 4/9] Rover: SYSID_MYGCS param increment --- Rover/Parameters.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp index 313cec0c21dc6..5d4a84fc9b08b 100644 --- a/Rover/Parameters.cpp +++ b/Rover/Parameters.cpp @@ -42,6 +42,7 @@ const AP_Param::Info Rover::var_info[] = { // @DisplayName: MAVLink ground station ID // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match. // @Range: 1 255 + // @Increment: 1 // @User: Advanced GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), From ec4b55ecbf8e2d676cdf27ee28cb6e610fb4dc3f Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 13:53:34 +0900 Subject: [PATCH 5/9] Blimp: SYSID_MYGCS param increment --- Blimp/Parameters.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/Blimp/Parameters.cpp b/Blimp/Parameters.cpp index 26971ef2e6539..593e9f26687f7 100644 --- a/Blimp/Parameters.cpp +++ b/Blimp/Parameters.cpp @@ -41,6 +41,7 @@ const AP_Param::Info Blimp::var_info[] = { // @DisplayName: My ground station number // @Description: Allows restricting radio overrides to only come from my ground station // @Range: 1 255 + // @Increment: 1 // @User: Advanced GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), From ef854c807e852813f3b8872f733bbf34717a910d Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 13:53:48 +0900 Subject: [PATCH 6/9] Sub: SYSID_MYGCS param increment Also add range --- ArduSub/Parameters.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/ArduSub/Parameters.cpp b/ArduSub/Parameters.cpp index 73ce3dbcb02f5..83ce1933c3028 100644 --- a/ArduSub/Parameters.cpp +++ b/ArduSub/Parameters.cpp @@ -47,6 +47,8 @@ const AP_Param::Info Sub::var_info[] = { // @Param: SYSID_MYGCS // @DisplayName: My ground station number // @Description: Allows restricting radio overrides to only come from my ground station + // @Range: 1 255 + // @Increment: 1 // @User: Advanced GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), From 34fd2bcdcc7740443c2601d2a8cf9bec4dac4fe9 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 13:53:56 +0900 Subject: [PATCH 7/9] Plane: SYSID_MYGCS param increment --- ArduPlane/Parameters.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp index 720eed4c27369..fbecd0ee40b6c 100644 --- a/ArduPlane/Parameters.cpp +++ b/ArduPlane/Parameters.cpp @@ -23,6 +23,7 @@ const AP_Param::Info Plane::var_info[] = { // @DisplayName: Ground station MAVLink system ID // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match. // @Range: 1 255 + // @Increment: 1 // @User: Advanced GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), From 9dc63c2bad8f061a576a741035c5ae563427345d Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 13:54:03 +0900 Subject: [PATCH 8/9] Copter: SYSID_MYGCS param increment --- ArduCopter/Parameters.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 7c09a42b07f7c..b449b18e146fc 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -46,6 +46,7 @@ const AP_Param::Info Copter::var_info[] = { // @DisplayName: My ground station number // @Description: Allows restricting radio overrides to only come from my ground station // @Range: 1 255 + // @Increment: 1 // @User: Advanced GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255), From e9717d946f2065f7da9e05ce23ae0fb536d7dde1 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Sat, 25 Nov 2023 13:54:14 +0900 Subject: [PATCH 9/9] Tracker: SYSID_MYGCS param increment --- AntennaTracker/Parameters.cpp | 1 + 1 file changed, 1 insertion(+) diff --git a/AntennaTracker/Parameters.cpp b/AntennaTracker/Parameters.cpp index 79d1739ed21f0..2d20396ecfc69 100644 --- a/AntennaTracker/Parameters.cpp +++ b/AntennaTracker/Parameters.cpp @@ -23,6 +23,7 @@ const AP_Param::Info Tracker::var_info[] = { // @DisplayName: Ground station MAVLink system ID // @Description: The identifier of the ground station in the MAVLink protocol. Don't change this unless you also modify the ground station to match. // @Range: 1 255 + // @Increment: 1 // @User: Advanced GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),