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AndroidGCS: Update objects to match next
This commit is contained in:
James Cotton
parent
19b5cf4616
commit
0f0e5faba0
@ -123,12 +123,12 @@ public class AltitudeHoldSettings extends UAVDataObject {
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*/
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public void setDefaultFieldValues()
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{
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getField("Kp").setValue(0.03);
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getField("Ki").setValue(0);
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getField("Kd").setValue(0.03);
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getField("Ka").setValue(0.005);
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getField("PressureNoise").setValue(0.4);
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getField("AccelNoise").setValue(5);
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getField("Kp").setValue(0.025);
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getField("Ki").setValue(0.025);
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getField("Kd").setValue(0.25);
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getField("Ka").setValue(0);
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getField("PressureNoise").setValue(0.01);
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getField("AccelNoise").setValue(10);
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getField("AccelDrift").setValue(0.001);
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}
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@ -157,7 +157,7 @@ public class FirmwareIAPObj extends UAVDataObject {
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UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
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1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
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1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
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UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
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UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
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UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
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metadata.flightTelemetryUpdatePeriod = 0;
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metadata.gcsTelemetryUpdatePeriod = 0;
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@ -80,12 +80,9 @@ public class FlightBatterySettings extends UAVDataObject {
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fields.add( new UAVObjectField("NbCells", "", UAVObjectField.FieldType.UINT8, NbCellsElemNames, null) );
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List<String> SensorTypeElemNames = new ArrayList<String>();
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SensorTypeElemNames.add("BatteryCurrent");
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SensorTypeElemNames.add("BatteryVoltage");
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SensorTypeElemNames.add("BoardVoltage");
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SensorTypeElemNames.add("0");
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List<String> SensorTypeEnumOptions = new ArrayList<String>();
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SensorTypeEnumOptions.add("Disabled");
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SensorTypeEnumOptions.add("Enabled");
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SensorTypeEnumOptions.add("None");
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fields.add( new UAVObjectField("SensorType", "", UAVObjectField.FieldType.ENUM, SensorTypeElemNames, SensorTypeEnumOptions) );
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@ -139,9 +136,7 @@ public class FlightBatterySettings extends UAVDataObject {
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getField("SensorCalibrations").setValue(1,1);
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getField("Type").setValue("LiPo");
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getField("NbCells").setValue(3);
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getField("SensorType").setValue("Disabled",0);
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getField("SensorType").setValue("Disabled",1);
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getField("SensorType").setValue("Disabled",2);
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getField("SensorType").setValue("None");
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}
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@ -170,7 +165,7 @@ public class FlightBatterySettings extends UAVDataObject {
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}
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// Constants
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protected static final long OBJID = 0x94AC6AD2l;
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protected static final long OBJID = 0xF172BB18l;
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protected static final String NAME = "FlightBatterySettings";
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protected static String DESCRIPTION = "Flight Battery configuration.";
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protected static final boolean ISSINGLEINST = 1 > 0;
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@ -59,10 +59,6 @@ public class FlightBatteryState extends UAVDataObject {
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CurrentElemNames.add("0");
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fields.add( new UAVObjectField("Current", "A", UAVObjectField.FieldType.FLOAT32, CurrentElemNames, null) );
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List<String> BoardSupplyVoltageElemNames = new ArrayList<String>();
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BoardSupplyVoltageElemNames.add("0");
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fields.add( new UAVObjectField("BoardSupplyVoltage", "V", UAVObjectField.FieldType.FLOAT32, BoardSupplyVoltageElemNames, null) );
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List<String> PeakCurrentElemNames = new ArrayList<String>();
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PeakCurrentElemNames.add("0");
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fields.add( new UAVObjectField("PeakCurrent", "A", UAVObjectField.FieldType.FLOAT32, PeakCurrentElemNames, null) );
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@ -125,7 +121,6 @@ public class FlightBatteryState extends UAVDataObject {
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{
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getField("Voltage").setValue(0);
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getField("Current").setValue(0);
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getField("BoardSupplyVoltage").setValue(0);
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getField("PeakCurrent").setValue(0);
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getField("AvgCurrent").setValue(0);
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getField("ConsumedEnergy").setValue(0);
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@ -158,7 +153,7 @@ public class FlightBatteryState extends UAVDataObject {
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}
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// Constants
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protected static final long OBJID = 0xD2083596l;
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protected static final long OBJID = 0x8C0D756l;
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protected static final String NAME = "FlightBatteryState";
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protected static String DESCRIPTION = "Battery status information.";
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protected static final boolean ISSINGLEINST = 1 > 0;
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@ -69,8 +69,6 @@ public class FlightStatus extends UAVDataObject {
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FlightModeEnumOptions.add("AltitudeHold");
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FlightModeEnumOptions.add("VelocityControl");
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FlightModeEnumOptions.add("PositionHold");
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FlightModeEnumOptions.add("PathPlanner");
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FlightModeEnumOptions.add("RTH");
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fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) );
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@ -146,7 +144,7 @@ public class FlightStatus extends UAVDataObject {
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}
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// Constants
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protected static final long OBJID = 0x884FEF66l;
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protected static final long OBJID = 0xE7A476DAl;
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protected static final String NAME = "FlightStatus";
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protected static String DESCRIPTION = "Contains major flight status information for other modules.";
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protected static final boolean ISSINGLEINST = 1 > 0;
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@ -0,0 +1,210 @@
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/**
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******************************************************************************
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*
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* @file uavobjecttemplate.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Template for an uavobject in java
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* This is a autogenerated file!! Do not modify and expect a result.
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* Settings for the @ref GuidanceModule
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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package org.openpilot.uavtalk.uavobjects;
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import java.nio.ByteBuffer;
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import java.util.ArrayList;
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import java.util.List;
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import java.util.ListIterator;
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import org.openpilot.uavtalk.UAVObjectManager;
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import org.openpilot.uavtalk.UAVObject;
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import org.openpilot.uavtalk.UAVDataObject;
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import org.openpilot.uavtalk.UAVObjectField;
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/**
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Settings for the @ref GuidanceModule
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generated from guidancesettings.xml
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**/
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public class GuidanceSettings extends UAVDataObject {
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public GuidanceSettings() {
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super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
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List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
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List<String> HorizontalPosPIElemNames = new ArrayList<String>();
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HorizontalPosPIElemNames.add("Kp");
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HorizontalPosPIElemNames.add("Ki");
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HorizontalPosPIElemNames.add("ILimit");
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fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) );
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List<String> HorizontalVelPIDElemNames = new ArrayList<String>();
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HorizontalVelPIDElemNames.add("Kp");
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HorizontalVelPIDElemNames.add("Ki");
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HorizontalVelPIDElemNames.add("Kd");
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HorizontalVelPIDElemNames.add("ILimit");
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fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) );
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List<String> VerticalPosPIElemNames = new ArrayList<String>();
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VerticalPosPIElemNames.add("Kp");
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VerticalPosPIElemNames.add("Ki");
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VerticalPosPIElemNames.add("ILimit");
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fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) );
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List<String> VerticalVelPIDElemNames = new ArrayList<String>();
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VerticalVelPIDElemNames.add("Kp");
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VerticalVelPIDElemNames.add("Ki");
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VerticalVelPIDElemNames.add("Kd");
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VerticalVelPIDElemNames.add("ILimit");
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fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) );
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List<String> MaxRollPitchElemNames = new ArrayList<String>();
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MaxRollPitchElemNames.add("0");
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fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) );
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List<String> UpdatePeriodElemNames = new ArrayList<String>();
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UpdatePeriodElemNames.add("0");
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fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) );
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List<String> HorizontalVelMaxElemNames = new ArrayList<String>();
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HorizontalVelMaxElemNames.add("0");
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fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) );
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List<String> VerticalVelMaxElemNames = new ArrayList<String>();
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VerticalVelMaxElemNames.add("0");
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fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) );
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List<String> GuidanceModeElemNames = new ArrayList<String>();
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GuidanceModeElemNames.add("0");
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List<String> GuidanceModeEnumOptions = new ArrayList<String>();
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GuidanceModeEnumOptions.add("DUAL_LOOP");
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GuidanceModeEnumOptions.add("VELOCITY_CONTROL");
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fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) );
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List<String> ThrottleControlElemNames = new ArrayList<String>();
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ThrottleControlElemNames.add("0");
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List<String> ThrottleControlEnumOptions = new ArrayList<String>();
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ThrottleControlEnumOptions.add("FALSE");
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ThrottleControlEnumOptions.add("TRUE");
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fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) );
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// Compute the number of bytes for this object
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int numBytes = 0;
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ListIterator<UAVObjectField> li = fields.listIterator();
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while(li.hasNext()) {
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numBytes += li.next().getNumBytes();
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}
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NUMBYTES = numBytes;
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// Initialize object
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initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
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// Set the default field values
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setDefaultFieldValues();
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// Set the object description
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setDescription(DESCRIPTION);
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}
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/**
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* Create a Metadata object filled with default values for this object
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* @return Metadata object with default values
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*/
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public Metadata getDefaultMetadata() {
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UAVObject.Metadata metadata = new UAVObject.Metadata();
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metadata.flags =
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UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
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UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
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1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
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1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
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UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
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UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
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metadata.flightTelemetryUpdatePeriod = 0;
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metadata.gcsTelemetryUpdatePeriod = 0;
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metadata.loggingUpdatePeriod = 0;
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return metadata;
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}
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/**
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* Initialize object fields with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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*/
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public void setDefaultFieldValues()
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{
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getField("HorizontalPosPI").setValue(0.1,0);
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getField("HorizontalPosPI").setValue(0.001,1);
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getField("HorizontalPosPI").setValue(300,2);
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getField("HorizontalVelPID").setValue(0.05,0);
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getField("HorizontalVelPID").setValue(0.002,1);
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getField("HorizontalVelPID").setValue(0,2);
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getField("HorizontalVelPID").setValue(1000,3);
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getField("VerticalPosPI").setValue(0.1,0);
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getField("VerticalPosPI").setValue(0.001,1);
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getField("VerticalPosPI").setValue(200,2);
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getField("VerticalVelPID").setValue(0.1,0);
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getField("VerticalVelPID").setValue(0,1);
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getField("VerticalVelPID").setValue(0,2);
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getField("VerticalVelPID").setValue(0,3);
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getField("MaxRollPitch").setValue(10);
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getField("UpdatePeriod").setValue(100);
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getField("HorizontalVelMax").setValue(300);
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getField("VerticalVelMax").setValue(150);
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getField("GuidanceMode").setValue("DUAL_LOOP");
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getField("ThrottleControl").setValue("FALSE");
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}
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/**
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* Create a clone of this object, a new instance ID must be specified.
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* Do not use this function directly to create new instances, the
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* UAVObjectManager should be used instead.
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*/
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public UAVDataObject clone(long instID) {
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// TODO: Need to get specific instance to clone
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try {
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GuidanceSettings obj = new GuidanceSettings();
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obj.initialize(instID, this.getMetaObject());
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return obj;
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} catch (Exception e) {
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return null;
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}
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}
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/**
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* Static function to retrieve an instance of the object.
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*/
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public GuidanceSettings GetInstance(UAVObjectManager objMngr, long instID)
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{
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return (GuidanceSettings)(objMngr.getObject(GuidanceSettings.OBJID, instID));
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}
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// Constants
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protected static final long OBJID = 0x6EA79FB4l;
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protected static final String NAME = "GuidanceSettings";
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protected static String DESCRIPTION = "Settings for the @ref GuidanceModule";
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protected static final boolean ISSINGLEINST = 1 > 0;
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protected static final boolean ISSETTINGS = 1 > 0;
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protected static int NUMBYTES = 0;
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}
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@ -63,6 +63,24 @@ public class HomeLocation extends UAVDataObject {
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AltitudeElemNames.add("0");
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fields.add( new UAVObjectField("Altitude", "m over geoid", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) );
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List<String> ECEFElemNames = new ArrayList<String>();
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ECEFElemNames.add("0");
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ECEFElemNames.add("1");
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ECEFElemNames.add("2");
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fields.add( new UAVObjectField("ECEF", "cm", UAVObjectField.FieldType.INT32, ECEFElemNames, null) );
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List<String> RNEElemNames = new ArrayList<String>();
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RNEElemNames.add("0");
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RNEElemNames.add("1");
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RNEElemNames.add("2");
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RNEElemNames.add("3");
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RNEElemNames.add("4");
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RNEElemNames.add("5");
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RNEElemNames.add("6");
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RNEElemNames.add("7");
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RNEElemNames.add("8");
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fields.add( new UAVObjectField("RNE", "", UAVObjectField.FieldType.FLOAT32, RNEElemNames, null) );
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List<String> BeElemNames = new ArrayList<String>();
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BeElemNames.add("0");
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BeElemNames.add("1");
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@ -127,6 +145,18 @@ public class HomeLocation extends UAVDataObject {
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getField("Latitude").setValue(0);
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getField("Longitude").setValue(0);
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getField("Altitude").setValue(0);
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getField("ECEF").setValue(0,0);
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getField("ECEF").setValue(0,1);
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getField("ECEF").setValue(0,2);
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getField("RNE").setValue(0,0);
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getField("RNE").setValue(0,1);
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getField("RNE").setValue(0,2);
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getField("RNE").setValue(0,3);
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getField("RNE").setValue(0,4);
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getField("RNE").setValue(0,5);
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getField("RNE").setValue(0,6);
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getField("RNE").setValue(0,7);
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getField("RNE").setValue(0,8);
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getField("Be").setValue(0,0);
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getField("Be").setValue(0,1);
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getField("Be").setValue(0,2);
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@ -160,7 +190,7 @@ public class HomeLocation extends UAVDataObject {
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}
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// Constants
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protected static final long OBJID = 0x6185DC6El;
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protected static final long OBJID = 0x5BB3AEFCl;
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protected static final String NAME = "HomeLocation";
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protected static String DESCRIPTION = "HomeLocation setting which contains the constants to tranlate from longitutde and latitude to NED reference frame. Automatically set by @ref GPSModule after acquiring a 3D lock. Used by @ref AHRSCommsModule.";
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protected static final boolean ISSINGLEINST = 1 > 0;
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@ -211,12 +211,7 @@ public class HwSettings extends UAVDataObject {
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OptionalModulesElemNames.add("ComUsbBridge");
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OptionalModulesElemNames.add("Fault");
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OptionalModulesElemNames.add("Altitude");
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OptionalModulesElemNames.add("Airspeed");
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OptionalModulesElemNames.add("TxPID");
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OptionalModulesElemNames.add("VtolPathFollower");
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OptionalModulesElemNames.add("FixedWingPathFollower");
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OptionalModulesElemNames.add("Battery");
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OptionalModulesElemNames.add("Overo");
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List<String> OptionalModulesEnumOptions = new ArrayList<String>();
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OptionalModulesEnumOptions.add("Disabled");
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OptionalModulesEnumOptions.add("Enabled");
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@ -290,11 +285,6 @@ public class HwSettings extends UAVDataObject {
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getField("OptionalModules").setValue("Disabled",3);
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getField("OptionalModules").setValue("Disabled",4);
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getField("OptionalModules").setValue("Disabled",5);
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getField("OptionalModules").setValue("Disabled",6);
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getField("OptionalModules").setValue("Disabled",7);
|
||||
getField("OptionalModules").setValue("Disabled",8);
|
||||
getField("OptionalModules").setValue("Disabled",9);
|
||||
getField("OptionalModules").setValue("Disabled",10);
|
||||
getField("DSMxBind").setValue(0);
|
||||
|
||||
}
|
||||
@ -324,7 +314,7 @@ public class HwSettings extends UAVDataObject {
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0x5D950E50l;
|
||||
protected static final long OBJID = 0x9408E9F0l;
|
||||
protected static final String NAME = "HwSettings";
|
||||
protected static String DESCRIPTION = "Selection of optional hardware configurations.";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
|
||||
@ -179,10 +179,17 @@ public class ManualControlSettings extends UAVDataObject {
|
||||
Stabilization3SettingsEnumOptions.add("VirtualBar");
|
||||
fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) );
|
||||
|
||||
List<String> FlightModeNumberElemNames = new ArrayList<String>();
|
||||
FlightModeNumberElemNames.add("0");
|
||||
fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
|
||||
|
||||
List<String> FlightModePositionElemNames = new ArrayList<String>();
|
||||
FlightModePositionElemNames.add("0");
|
||||
FlightModePositionElemNames.add("1");
|
||||
FlightModePositionElemNames.add("2");
|
||||
FlightModePositionElemNames.add("3");
|
||||
FlightModePositionElemNames.add("4");
|
||||
FlightModePositionElemNames.add("5");
|
||||
List<String> FlightModePositionEnumOptions = new ArrayList<String>();
|
||||
FlightModePositionEnumOptions.add("Manual");
|
||||
FlightModePositionEnumOptions.add("Stabilized1");
|
||||
@ -191,22 +198,8 @@ public class ManualControlSettings extends UAVDataObject {
|
||||
FlightModePositionEnumOptions.add("AltitudeHold");
|
||||
FlightModePositionEnumOptions.add("VelocityControl");
|
||||
FlightModePositionEnumOptions.add("PositionHold");
|
||||
FlightModePositionEnumOptions.add("PathPlanner");
|
||||
FlightModePositionEnumOptions.add("RTH");
|
||||
FlightModePositionEnumOptions.add("Land");
|
||||
fields.add( new UAVObjectField("FlightModePosition", "", UAVObjectField.FieldType.ENUM, FlightModePositionElemNames, FlightModePositionEnumOptions) );
|
||||
|
||||
List<String> FlightModeNumberElemNames = new ArrayList<String>();
|
||||
FlightModeNumberElemNames.add("0");
|
||||
fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) );
|
||||
|
||||
List<String> FailsafeBehaviorElemNames = new ArrayList<String>();
|
||||
FailsafeBehaviorElemNames.add("0");
|
||||
List<String> FailsafeBehaviorEnumOptions = new ArrayList<String>();
|
||||
FailsafeBehaviorEnumOptions.add("None");
|
||||
FailsafeBehaviorEnumOptions.add("RTH");
|
||||
fields.add( new UAVObjectField("FailsafeBehavior", "", UAVObjectField.FieldType.ENUM, FailsafeBehaviorElemNames, FailsafeBehaviorEnumOptions) );
|
||||
|
||||
|
||||
// Compute the number of bytes for this object
|
||||
int numBytes = 0;
|
||||
@ -308,11 +301,13 @@ public class ManualControlSettings extends UAVDataObject {
|
||||
getField("Stabilization3Settings").setValue("Attitude",0);
|
||||
getField("Stabilization3Settings").setValue("Attitude",1);
|
||||
getField("Stabilization3Settings").setValue("Rate",2);
|
||||
getField("FlightModeNumber").setValue(3);
|
||||
getField("FlightModePosition").setValue("Manual",0);
|
||||
getField("FlightModePosition").setValue("Stabilized1",1);
|
||||
getField("FlightModePosition").setValue("Stabilized2",2);
|
||||
getField("FlightModeNumber").setValue(3);
|
||||
getField("FailsafeBehavior").setValue("None");
|
||||
getField("FlightModePosition").setValue("Stabilized3",3);
|
||||
getField("FlightModePosition").setValue("AltitudeHold",4);
|
||||
getField("FlightModePosition").setValue("PositionHold",5);
|
||||
|
||||
}
|
||||
|
||||
@ -341,7 +336,7 @@ public class ManualControlSettings extends UAVDataObject {
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0x6C188320l;
|
||||
protected static final long OBJID = 0x7672339El;
|
||||
protected static final String NAME = "ManualControlSettings";
|
||||
protected static String DESCRIPTION = "Settings to indicate how to decode receiver input by @ref ManualControlModule.";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
|
||||
@ -59,22 +59,10 @@ public class OveroSyncStats extends UAVDataObject {
|
||||
ReceivedElemNames.add("0");
|
||||
fields.add( new UAVObjectField("Received", "B/s", UAVObjectField.FieldType.UINT32, ReceivedElemNames, null) );
|
||||
|
||||
List<String> FramesyncErrorsElemNames = new ArrayList<String>();
|
||||
FramesyncErrorsElemNames.add("0");
|
||||
fields.add( new UAVObjectField("FramesyncErrors", "count", UAVObjectField.FieldType.UINT32, FramesyncErrorsElemNames, null) );
|
||||
|
||||
List<String> UnderrunErrorsElemNames = new ArrayList<String>();
|
||||
UnderrunErrorsElemNames.add("0");
|
||||
fields.add( new UAVObjectField("UnderrunErrors", "count", UAVObjectField.FieldType.UINT32, UnderrunErrorsElemNames, null) );
|
||||
|
||||
List<String> DroppedUpdatesElemNames = new ArrayList<String>();
|
||||
DroppedUpdatesElemNames.add("0");
|
||||
fields.add( new UAVObjectField("DroppedUpdates", "", UAVObjectField.FieldType.UINT32, DroppedUpdatesElemNames, null) );
|
||||
|
||||
List<String> PacketsElemNames = new ArrayList<String>();
|
||||
PacketsElemNames.add("0");
|
||||
fields.add( new UAVObjectField("Packets", "", UAVObjectField.FieldType.UINT32, PacketsElemNames, null) );
|
||||
|
||||
List<String> ConnectedElemNames = new ArrayList<String>();
|
||||
ConnectedElemNames.add("0");
|
||||
List<String> ConnectedEnumOptions = new ArrayList<String>();
|
||||
@ -154,7 +142,7 @@ public class OveroSyncStats extends UAVDataObject {
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0xD2085FACl;
|
||||
protected static final long OBJID = 0x388468B8l;
|
||||
protected static final String NAME = "OveroSyncStats";
|
||||
protected static String DESCRIPTION = "Maintains statistics on transfer rate to and from over";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
|
||||
@ -92,9 +92,9 @@ public class PositionActual extends UAVDataObject {
|
||||
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
|
||||
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
|
||||
UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
|
||||
UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_PERIODIC) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
|
||||
UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
|
||||
metadata.flightTelemetryUpdatePeriod = 1000;
|
||||
metadata.gcsTelemetryUpdatePeriod = 1000;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdatePeriod = 1000;
|
||||
|
||||
return metadata;
|
||||
|
||||
@ -0,0 +1,146 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file uavobjecttemplate.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Template for an uavobject in java
|
||||
* This is a autogenerated file!! Do not modify and expect a result.
|
||||
* The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner
|
||||
*
|
||||
* @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
|
||||
*/
|
||||
|
||||
package org.openpilot.uavtalk.uavobjects;
|
||||
|
||||
import java.nio.ByteBuffer;
|
||||
import java.util.ArrayList;
|
||||
import java.util.List;
|
||||
import java.util.ListIterator;
|
||||
|
||||
import org.openpilot.uavtalk.UAVObjectManager;
|
||||
import org.openpilot.uavtalk.UAVObject;
|
||||
import org.openpilot.uavtalk.UAVDataObject;
|
||||
import org.openpilot.uavtalk.UAVObjectField;
|
||||
|
||||
/**
|
||||
The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner
|
||||
|
||||
generated from positiondesired.xml
|
||||
**/
|
||||
public class PositionDesired extends UAVDataObject {
|
||||
|
||||
public PositionDesired() {
|
||||
super(OBJID, ISSINGLEINST, ISSETTINGS, NAME);
|
||||
|
||||
List<UAVObjectField> fields = new ArrayList<UAVObjectField>();
|
||||
|
||||
|
||||
List<String> NorthElemNames = new ArrayList<String>();
|
||||
NorthElemNames.add("0");
|
||||
fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) );
|
||||
|
||||
List<String> EastElemNames = new ArrayList<String>();
|
||||
EastElemNames.add("0");
|
||||
fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) );
|
||||
|
||||
List<String> DownElemNames = new ArrayList<String>();
|
||||
DownElemNames.add("0");
|
||||
fields.add( new UAVObjectField("Down", "m", UAVObjectField.FieldType.FLOAT32, DownElemNames, null) );
|
||||
|
||||
|
||||
// Compute the number of bytes for this object
|
||||
int numBytes = 0;
|
||||
ListIterator<UAVObjectField> li = fields.listIterator();
|
||||
while(li.hasNext()) {
|
||||
numBytes += li.next().getNumBytes();
|
||||
}
|
||||
NUMBYTES = numBytes;
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, ByteBuffer.allocate(NUMBYTES), NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
// Set the object description
|
||||
setDescription(DESCRIPTION);
|
||||
}
|
||||
|
||||
/**
|
||||
* Create a Metadata object filled with default values for this object
|
||||
* @return Metadata object with default values
|
||||
*/
|
||||
public Metadata getDefaultMetadata() {
|
||||
UAVObject.Metadata metadata = new UAVObject.Metadata();
|
||||
metadata.flags =
|
||||
UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_ACCESS_SHIFT |
|
||||
UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT |
|
||||
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
|
||||
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
|
||||
UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
|
||||
UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
|
||||
metadata.flightTelemetryUpdatePeriod = 0;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdatePeriod = 1000;
|
||||
|
||||
return metadata;
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
public void setDefaultFieldValues()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Create a clone of this object, a new instance ID must be specified.
|
||||
* Do not use this function directly to create new instances, the
|
||||
* UAVObjectManager should be used instead.
|
||||
*/
|
||||
public UAVDataObject clone(long instID) {
|
||||
// TODO: Need to get specific instance to clone
|
||||
try {
|
||||
PositionDesired obj = new PositionDesired();
|
||||
obj.initialize(instID, this.getMetaObject());
|
||||
return obj;
|
||||
} catch (Exception e) {
|
||||
return null;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
public PositionDesired GetInstance(UAVObjectManager objMngr, long instID)
|
||||
{
|
||||
return (PositionDesired)(objMngr.getObject(PositionDesired.OBJID, instID));
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0x778DBE24l;
|
||||
protected static final String NAME = "PositionDesired";
|
||||
protected static String DESCRIPTION = "The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner ";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
protected static final boolean ISSETTINGS = 0 > 0;
|
||||
protected static int NUMBYTES = 0;
|
||||
|
||||
|
||||
}
|
||||
@ -111,24 +111,11 @@ public class RevoCalibration extends UAVDataObject {
|
||||
mag_varElemNames.add("Z");
|
||||
fields.add( new UAVObjectField("mag_var", "mGau^2", UAVObjectField.FieldType.FLOAT32, mag_varElemNames, null) );
|
||||
|
||||
List<String> gps_varElemNames = new ArrayList<String>();
|
||||
gps_varElemNames.add("Pos");
|
||||
gps_varElemNames.add("Vel");
|
||||
fields.add( new UAVObjectField("gps_var", "m^2", UAVObjectField.FieldType.FLOAT32, gps_varElemNames, null) );
|
||||
|
||||
List<String> baro_varElemNames = new ArrayList<String>();
|
||||
baro_varElemNames.add("0");
|
||||
fields.add( new UAVObjectField("baro_var", "m^2", UAVObjectField.FieldType.FLOAT32, baro_varElemNames, null) );
|
||||
|
||||
List<String> MagBiasNullingRateElemNames = new ArrayList<String>();
|
||||
MagBiasNullingRateElemNames.add("0");
|
||||
fields.add( new UAVObjectField("MagBiasNullingRate", "", UAVObjectField.FieldType.FLOAT32, MagBiasNullingRateElemNames, null) );
|
||||
|
||||
List<String> BiasCorrectedRawElemNames = new ArrayList<String>();
|
||||
BiasCorrectedRawElemNames.add("0");
|
||||
List<String> BiasCorrectedRawEnumOptions = new ArrayList<String>();
|
||||
BiasCorrectedRawEnumOptions.add("FALSE");
|
||||
BiasCorrectedRawEnumOptions.add("TRUE");
|
||||
BiasCorrectedRawEnumOptions.add("FALSE");
|
||||
fields.add( new UAVObjectField("BiasCorrectedRaw", "", UAVObjectField.FieldType.ENUM, BiasCorrectedRawElemNames, BiasCorrectedRawEnumOptions) );
|
||||
|
||||
|
||||
@ -181,18 +168,18 @@ public class RevoCalibration extends UAVDataObject {
|
||||
getField("accel_scale").setValue(1,0);
|
||||
getField("accel_scale").setValue(1,1);
|
||||
getField("accel_scale").setValue(1,2);
|
||||
getField("accel_var").setValue(0.01,0);
|
||||
getField("accel_var").setValue(0.01,1);
|
||||
getField("accel_var").setValue(0.01,2);
|
||||
getField("accel_var").setValue(1,0);
|
||||
getField("accel_var").setValue(1,1);
|
||||
getField("accel_var").setValue(1,2);
|
||||
getField("gyro_bias").setValue(0,0);
|
||||
getField("gyro_bias").setValue(0,1);
|
||||
getField("gyro_bias").setValue(0,2);
|
||||
getField("gyro_scale").setValue(1,0);
|
||||
getField("gyro_scale").setValue(1,1);
|
||||
getField("gyro_scale").setValue(1,2);
|
||||
getField("gyro_var").setValue(0.01,0);
|
||||
getField("gyro_var").setValue(0.01,1);
|
||||
getField("gyro_var").setValue(0.01,2);
|
||||
getField("gyro_var").setValue(1,0);
|
||||
getField("gyro_var").setValue(1,1);
|
||||
getField("gyro_var").setValue(1,2);
|
||||
getField("gyro_tempcoeff").setValue(1,0);
|
||||
getField("gyro_tempcoeff").setValue(1,1);
|
||||
getField("gyro_tempcoeff").setValue(1,2);
|
||||
@ -202,13 +189,9 @@ public class RevoCalibration extends UAVDataObject {
|
||||
getField("mag_scale").setValue(1,0);
|
||||
getField("mag_scale").setValue(1,1);
|
||||
getField("mag_scale").setValue(1,2);
|
||||
getField("mag_var").setValue(0.01,0);
|
||||
getField("mag_var").setValue(0.01,1);
|
||||
getField("mag_var").setValue(10,2);
|
||||
getField("gps_var").setValue(1,0);
|
||||
getField("gps_var").setValue(1,1);
|
||||
getField("baro_var").setValue(1);
|
||||
getField("MagBiasNullingRate").setValue(0);
|
||||
getField("mag_var").setValue(50,0);
|
||||
getField("mag_var").setValue(50,1);
|
||||
getField("mag_var").setValue(50,2);
|
||||
getField("BiasCorrectedRaw").setValue("TRUE");
|
||||
|
||||
}
|
||||
@ -238,7 +221,7 @@ public class RevoCalibration extends UAVDataObject {
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0xA2A63C7Cl;
|
||||
protected static final long OBJID = 0xC26D37B2l;
|
||||
protected static final String NAME = "RevoCalibration";
|
||||
protected static String DESCRIPTION = "Settings for the INS to control the algorithm and what is updated";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
|
||||
@ -56,6 +56,7 @@ public class SystemAlarms extends UAVDataObject {
|
||||
AlarmElemNames.add("StackOverflow");
|
||||
AlarmElemNames.add("CPUOverload");
|
||||
AlarmElemNames.add("EventSystem");
|
||||
AlarmElemNames.add("SDCard");
|
||||
AlarmElemNames.add("Telemetry");
|
||||
AlarmElemNames.add("ManualControl");
|
||||
AlarmElemNames.add("Actuator");
|
||||
@ -63,12 +64,12 @@ public class SystemAlarms extends UAVDataObject {
|
||||
AlarmElemNames.add("Sensors");
|
||||
AlarmElemNames.add("Stabilization");
|
||||
AlarmElemNames.add("Guidance");
|
||||
AlarmElemNames.add("AHRSComms");
|
||||
AlarmElemNames.add("Battery");
|
||||
AlarmElemNames.add("FlightTime");
|
||||
AlarmElemNames.add("I2C");
|
||||
AlarmElemNames.add("GPS");
|
||||
AlarmElemNames.add("BootFault");
|
||||
AlarmElemNames.add("Power");
|
||||
List<String> AlarmEnumOptions = new ArrayList<String>();
|
||||
AlarmEnumOptions.add("Uninitialised");
|
||||
AlarmEnumOptions.add("OK");
|
||||
@ -138,6 +139,7 @@ public class SystemAlarms extends UAVDataObject {
|
||||
getField("Alarm").setValue("Uninitialised",14);
|
||||
getField("Alarm").setValue("Uninitialised",15);
|
||||
getField("Alarm").setValue("Uninitialised",16);
|
||||
getField("Alarm").setValue("Uninitialised",17);
|
||||
|
||||
}
|
||||
|
||||
@ -166,7 +168,7 @@ public class SystemAlarms extends UAVDataObject {
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0x737ADCF2l;
|
||||
protected static final long OBJID = 0x9C7CBFEl;
|
||||
protected static final String NAME = "SystemAlarms";
|
||||
protected static String DESCRIPTION = "Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
|
||||
@ -62,11 +62,9 @@ public class TaskInfo extends UAVDataObject {
|
||||
StackRemainingElemNames.add("GPS");
|
||||
StackRemainingElemNames.add("ManualControl");
|
||||
StackRemainingElemNames.add("Altitude");
|
||||
StackRemainingElemNames.add("Airspeed");
|
||||
StackRemainingElemNames.add("Stabilization");
|
||||
StackRemainingElemNames.add("AltitudeHold");
|
||||
StackRemainingElemNames.add("PathPlanner");
|
||||
StackRemainingElemNames.add("PathFollower");
|
||||
StackRemainingElemNames.add("Guidance");
|
||||
StackRemainingElemNames.add("FlightPlan");
|
||||
StackRemainingElemNames.add("Com2UsbBridge");
|
||||
StackRemainingElemNames.add("Usb2ComBridge");
|
||||
@ -84,11 +82,9 @@ public class TaskInfo extends UAVDataObject {
|
||||
RunningElemNames.add("GPS");
|
||||
RunningElemNames.add("ManualControl");
|
||||
RunningElemNames.add("Altitude");
|
||||
RunningElemNames.add("Airspeed");
|
||||
RunningElemNames.add("Stabilization");
|
||||
RunningElemNames.add("AltitudeHold");
|
||||
RunningElemNames.add("PathPlanner");
|
||||
RunningElemNames.add("PathFollower");
|
||||
RunningElemNames.add("Guidance");
|
||||
RunningElemNames.add("FlightPlan");
|
||||
RunningElemNames.add("Com2UsbBridge");
|
||||
RunningElemNames.add("Usb2ComBridge");
|
||||
@ -109,11 +105,9 @@ public class TaskInfo extends UAVDataObject {
|
||||
RunningTimeElemNames.add("GPS");
|
||||
RunningTimeElemNames.add("ManualControl");
|
||||
RunningTimeElemNames.add("Altitude");
|
||||
RunningTimeElemNames.add("Airspeed");
|
||||
RunningTimeElemNames.add("Stabilization");
|
||||
RunningTimeElemNames.add("AltitudeHold");
|
||||
RunningTimeElemNames.add("PathPlanner");
|
||||
RunningTimeElemNames.add("PathFollower");
|
||||
RunningTimeElemNames.add("Guidance");
|
||||
RunningTimeElemNames.add("FlightPlan");
|
||||
RunningTimeElemNames.add("Com2UsbBridge");
|
||||
RunningTimeElemNames.add("Usb2ComBridge");
|
||||
@ -192,7 +186,7 @@ public class TaskInfo extends UAVDataObject {
|
||||
}
|
||||
|
||||
// Constants
|
||||
protected static final long OBJID = 0xB81CD2AEl;
|
||||
protected static final long OBJID = 0x51172B8Al;
|
||||
protected static final String NAME = "TaskInfo";
|
||||
protected static String DESCRIPTION = "Task information";
|
||||
protected static final boolean ISSINGLEINST = 1 > 0;
|
||||
|
||||
@ -44,15 +44,11 @@ public class UAVObjectsInitialize {
|
||||
objMngr.registerObject( new AltitudeHoldSettings() );
|
||||
objMngr.registerObject( new AttitudeActual() );
|
||||
objMngr.registerObject( new AttitudeSettings() );
|
||||
objMngr.registerObject( new AttitudeSimulated() );
|
||||
objMngr.registerObject( new BaroAirspeed() );
|
||||
objMngr.registerObject( new BaroAltitude() );
|
||||
objMngr.registerObject( new CameraDesired() );
|
||||
objMngr.registerObject( new CameraStabSettings() );
|
||||
objMngr.registerObject( new FaultSettings() );
|
||||
objMngr.registerObject( new FirmwareIAPObj() );
|
||||
objMngr.registerObject( new FixedWingPathFollowerSettings() );
|
||||
objMngr.registerObject( new FixedWingPathFollowerStatus() );
|
||||
objMngr.registerObject( new FlightBatterySettings() );
|
||||
objMngr.registerObject( new FlightBatteryState() );
|
||||
objMngr.registerObject( new FlightPlanControl() );
|
||||
@ -72,26 +68,20 @@ public class UAVObjectsInitialize {
|
||||
objMngr.registerObject( new HomeLocation() );
|
||||
objMngr.registerObject( new HwSettings() );
|
||||
objMngr.registerObject( new I2CStats() );
|
||||
objMngr.registerObject( new MagBias() );
|
||||
objMngr.registerObject( new Magnetometer() );
|
||||
objMngr.registerObject( new ManualControlCommand() );
|
||||
objMngr.registerObject( new ManualControlSettings() );
|
||||
objMngr.registerObject( new MixerSettings() );
|
||||
objMngr.registerObject( new MixerStatus() );
|
||||
objMngr.registerObject( new NedAccel() );
|
||||
objMngr.registerObject( new NEDPosition() );
|
||||
objMngr.registerObject( new ObjectPersistence() );
|
||||
objMngr.registerObject( new OveroSyncSettings() );
|
||||
objMngr.registerObject( new OveroSyncStats() );
|
||||
objMngr.registerObject( new PathDesired() );
|
||||
objMngr.registerObject( new PathPlannerSettings() );
|
||||
objMngr.registerObject( new PipXSettings() );
|
||||
objMngr.registerObject( new PipXStatus() );
|
||||
objMngr.registerObject( new PositionActual() );
|
||||
objMngr.registerObject( new RateDesired() );
|
||||
objMngr.registerObject( new ReceiverActivity() );
|
||||
objMngr.registerObject( new RevoCalibration() );
|
||||
objMngr.registerObject( new RevoSettings() );
|
||||
objMngr.registerObject( new SonarAltitude() );
|
||||
objMngr.registerObject( new StabilizationDesired() );
|
||||
objMngr.registerObject( new StabilizationSettings() );
|
||||
@ -102,10 +92,7 @@ public class UAVObjectsInitialize {
|
||||
objMngr.registerObject( new TxPIDSettings() );
|
||||
objMngr.registerObject( new VelocityActual() );
|
||||
objMngr.registerObject( new VelocityDesired() );
|
||||
objMngr.registerObject( new VtolPathFollowerSettings() );
|
||||
objMngr.registerObject( new WatchdogStatus() );
|
||||
objMngr.registerObject( new Waypoint() );
|
||||
objMngr.registerObject( new WaypointActive() );
|
||||
|
||||
} catch (Exception e) {
|
||||
e.printStackTrace();
|
||||
|
||||
Loading…
Reference in New Issue
Block a user