LibrePilot/shared/uavobjectdefinition/velocityactual.xml

<xml>
    <object name="VelocityActual" singleinstance="true" settings="false">
        <description>Updated by @ref AHRSCommsModule and used within @ref GuidanceModulefor velocity control</description>
        <field name="North" units="cm/s" type="int32" elements="1"/>
        <field name="East" units="cm/s" type="int32" elements="1"/>
        <field name="Down" units="cm/s" type="int32" elements="1"/>
        <access gcs="readwrite" flight="readwrite"/>
        <telemetrygcs acked="false" updatemode="manual" period="0"/>
        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
        <logging updatemode="periodic" period="1000"/>
    </object>
</xml>
Flight/Guidance: Initial template for guidance module Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba 2010-09-26 05:06:27 +02:00			`<xml>`
			`<object name="VelocityActual" singleinstance="true" settings="false">`
			`<description>Updated by @ref AHRSCommsModule and used within @ref GuidanceModulefor velocity control</description>`
			`<field name="North" units="cm/s" type="int32" elements="1"/>`
			`<field name="East" units="cm/s" type="int32" elements="1"/>`
			`<field name="Down" units="cm/s" type="int32" elements="1"/>`
			`<access gcs="readwrite" flight="readwrite"/>`
			`<telemetrygcs acked="false" updatemode="manual" period="0"/>`
			`<telemetryflight acked="false" updatemode="periodic" period="1000"/>`
			`<logging updatemode="periodic" period="1000"/>`
			`</object>`
			`</xml>`