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LibrePilot/flight/OpenPilot/UAVObjects/stabilizationsettings.c

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/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup StabilizationSettings StabilizationSettings
* @brief PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
*
* Autogenerated files and functions for StabilizationSettings Object
* @{
*
* @file stabilizationsettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the StabilizationSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: stabilizationsettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "stabilizationsettings.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t StabilizationSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(STABILIZATIONSETTINGS_OBJID, STABILIZATIONSETTINGS_NAME, STABILIZATIONSETTINGS_METANAME, 0,
STABILIZATIONSETTINGS_ISSINGLEINST, STABILIZATIONSETTINGS_ISSETTINGS, STABILIZATIONSETTINGS_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
StabilizationSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(StabilizationSettingsData));
data.RollMax = 35;
data.PitchMax = 35;
data.YawMax = 35;
data.YawMode = 0;
data.ThrottleMax = 1;
data.ThrottleMin = -1;
data.RollIntegralLimit = 0.5;
data.PitchIntegralLimit = 0.5;
data.YawIntegralLimit = 0.5;
data.PitchKp = 0.04;
data.PitchKi = 4e-06;
data.PitchKd = 0.01;
data.RollKp = 0.02;
data.RollKi = 4e-06;
data.RollKd = 0.01;
data.YawKp = 0.04;
data.YawKi = 4e-06;
data.YawKd = 0.01;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle StabilizationSettingsHandle()
{
return handle;
}
/**
* @}
*/