From 0f0e5faba05bd24a9d3076f9ee9461f36ae34774 Mon Sep 17 00:00:00 2001 From: James Cotton Date: Mon, 6 Aug 2012 16:58:56 -0500 Subject: [PATCH] AndroidGCS: Update objects to match next --- .../uavobjects/AltitudeHoldSettings.java | 12 +- .../uavtalk/uavobjects/FirmwareIAPObj.java | 2 +- .../uavobjects/FlightBatterySettings.java | 13 +- .../uavobjects/FlightBatteryState.java | 7 +- .../uavtalk/uavobjects/FlightStatus.java | 4 +- .../uavtalk/uavobjects/GuidanceSettings.java | 210 ++++++++++++++++++ .../uavtalk/uavobjects/HomeLocation.java | 32 ++- .../uavtalk/uavobjects/HwSettings.java | 12 +- .../uavobjects/ManualControlSettings.java | 29 +-- .../uavtalk/uavobjects/OveroSyncStats.java | 14 +- .../uavtalk/uavobjects/PositionActual.java | 4 +- .../uavtalk/uavobjects/PositionDesired.java | 146 ++++++++++++ .../uavtalk/uavobjects/RevoCalibration.java | 39 +--- .../uavtalk/uavobjects/SystemAlarms.java | 6 +- .../uavtalk/uavobjects/TaskInfo.java | 14 +- .../uavobjects/UAVObjectsInitialize.java | 13 -- 16 files changed, 435 insertions(+), 122 deletions(-) create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java create mode 100644 androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java index afe2ec487..6b5c6d2a6 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/AltitudeHoldSettings.java @@ -123,12 +123,12 @@ public class AltitudeHoldSettings extends UAVDataObject { */ public void setDefaultFieldValues() { - getField("Kp").setValue(0.03); - getField("Ki").setValue(0); - getField("Kd").setValue(0.03); - getField("Ka").setValue(0.005); - getField("PressureNoise").setValue(0.4); - getField("AccelNoise").setValue(5); + getField("Kp").setValue(0.025); + getField("Ki").setValue(0.025); + getField("Kd").setValue(0.25); + getField("Ka").setValue(0); + getField("PressureNoise").setValue(0.01); + getField("AccelNoise").setValue(10); getField("AccelDrift").setValue(0.001); } diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java index 48d211ae9..90a9e8893 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FirmwareIAPObj.java @@ -157,7 +157,7 @@ public class FirmwareIAPObj extends UAVDataObject { UAVObject.Metadata.AccessModeNum(UAVObject.AccessMode.ACCESS_READWRITE) << UAVOBJ_GCS_ACCESS_SHIFT | 1 << UAVOBJ_TELEMETRY_ACKED_SHIFT | 1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT | - UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_MANUAL) << UAVOBJ_TELEMETRY_UPDATE_MODE_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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java index 69a17e773..4baefffac 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatterySettings.java @@ -80,12 +80,9 @@ public class FlightBatterySettings extends UAVDataObject { fields.add( new UAVObjectField("NbCells", "", UAVObjectField.FieldType.UINT8, NbCellsElemNames, null) ); List SensorTypeElemNames = new ArrayList(); - SensorTypeElemNames.add("BatteryCurrent"); - SensorTypeElemNames.add("BatteryVoltage"); - SensorTypeElemNames.add("BoardVoltage"); + SensorTypeElemNames.add("0"); List SensorTypeEnumOptions = new ArrayList(); - SensorTypeEnumOptions.add("Disabled"); - SensorTypeEnumOptions.add("Enabled"); + SensorTypeEnumOptions.add("None"); fields.add( new UAVObjectField("SensorType", "", UAVObjectField.FieldType.ENUM, SensorTypeElemNames, SensorTypeEnumOptions) ); @@ -139,9 +136,7 @@ public class FlightBatterySettings extends UAVDataObject { getField("SensorCalibrations").setValue(1,1); getField("Type").setValue("LiPo"); getField("NbCells").setValue(3); - getField("SensorType").setValue("Disabled",0); - getField("SensorType").setValue("Disabled",1); - getField("SensorType").setValue("Disabled",2); + getField("SensorType").setValue("None"); } @@ -170,7 +165,7 @@ public class FlightBatterySettings extends UAVDataObject { } // Constants - protected static final long OBJID = 0x94AC6AD2l; + protected static final long OBJID = 0xF172BB18l; protected static final String NAME = "FlightBatterySettings"; protected static String DESCRIPTION = "Flight Battery configuration."; protected static final boolean ISSINGLEINST = 1 > 0; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java index 796da0c18..7a8f895f2 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightBatteryState.java @@ -59,10 +59,6 @@ public class FlightBatteryState extends UAVDataObject { CurrentElemNames.add("0"); fields.add( new UAVObjectField("Current", "A", UAVObjectField.FieldType.FLOAT32, CurrentElemNames, null) ); - List BoardSupplyVoltageElemNames = new ArrayList(); - BoardSupplyVoltageElemNames.add("0"); - fields.add( new UAVObjectField("BoardSupplyVoltage", "V", UAVObjectField.FieldType.FLOAT32, BoardSupplyVoltageElemNames, null) ); - List PeakCurrentElemNames = new ArrayList(); PeakCurrentElemNames.add("0"); fields.add( new UAVObjectField("PeakCurrent", "A", UAVObjectField.FieldType.FLOAT32, PeakCurrentElemNames, null) ); @@ -125,7 +121,6 @@ public class FlightBatteryState extends UAVDataObject { { getField("Voltage").setValue(0); getField("Current").setValue(0); - getField("BoardSupplyVoltage").setValue(0); getField("PeakCurrent").setValue(0); getField("AvgCurrent").setValue(0); getField("ConsumedEnergy").setValue(0); @@ -158,7 +153,7 @@ public class FlightBatteryState extends UAVDataObject { } // Constants - protected static final long OBJID = 0xD2083596l; + protected static final long OBJID = 0x8C0D756l; protected static final String NAME = "FlightBatteryState"; protected static String DESCRIPTION = "Battery status information."; protected static final boolean ISSINGLEINST = 1 > 0; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java index 6497e45a9..cdf2f39f2 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/FlightStatus.java @@ -69,8 +69,6 @@ public class FlightStatus extends UAVDataObject { FlightModeEnumOptions.add("AltitudeHold"); FlightModeEnumOptions.add("VelocityControl"); FlightModeEnumOptions.add("PositionHold"); - FlightModeEnumOptions.add("PathPlanner"); - FlightModeEnumOptions.add("RTH"); fields.add( new UAVObjectField("FlightMode", "", UAVObjectField.FieldType.ENUM, FlightModeElemNames, FlightModeEnumOptions) ); @@ -146,7 +144,7 @@ public class FlightStatus extends UAVDataObject { } // Constants - protected static final long OBJID = 0x884FEF66l; + protected static final long OBJID = 0xE7A476DAl; protected static final String NAME = "FlightStatus"; protected static String DESCRIPTION = "Contains major flight status information for other modules."; protected static final boolean ISSINGLEINST = 1 > 0; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java new file mode 100644 index 000000000..7bf3f5a02 --- /dev/null +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/GuidanceSettings.java @@ -0,0 +1,210 @@ +/** + ****************************************************************************** + * + * @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. + * Settings for the @ref GuidanceModule + * + * @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; + +/** +Settings for the @ref GuidanceModule + +generated from guidancesettings.xml + **/ +public class GuidanceSettings extends UAVDataObject { + + public GuidanceSettings() { + super(OBJID, ISSINGLEINST, ISSETTINGS, NAME); + + List fields = new ArrayList(); + + + List HorizontalPosPIElemNames = new ArrayList(); + HorizontalPosPIElemNames.add("Kp"); + HorizontalPosPIElemNames.add("Ki"); + HorizontalPosPIElemNames.add("ILimit"); + fields.add( new UAVObjectField("HorizontalPosPI", "(m/s)/m", UAVObjectField.FieldType.FLOAT32, HorizontalPosPIElemNames, null) ); + + List HorizontalVelPIDElemNames = new ArrayList(); + HorizontalVelPIDElemNames.add("Kp"); + HorizontalVelPIDElemNames.add("Ki"); + HorizontalVelPIDElemNames.add("Kd"); + HorizontalVelPIDElemNames.add("ILimit"); + fields.add( new UAVObjectField("HorizontalVelPID", "deg/(m/s)", UAVObjectField.FieldType.FLOAT32, HorizontalVelPIDElemNames, null) ); + + List VerticalPosPIElemNames = new ArrayList(); + VerticalPosPIElemNames.add("Kp"); + VerticalPosPIElemNames.add("Ki"); + VerticalPosPIElemNames.add("ILimit"); + fields.add( new UAVObjectField("VerticalPosPI", "", UAVObjectField.FieldType.FLOAT32, VerticalPosPIElemNames, null) ); + + List VerticalVelPIDElemNames = new ArrayList(); + VerticalVelPIDElemNames.add("Kp"); + VerticalVelPIDElemNames.add("Ki"); + VerticalVelPIDElemNames.add("Kd"); + VerticalVelPIDElemNames.add("ILimit"); + fields.add( new UAVObjectField("VerticalVelPID", "", UAVObjectField.FieldType.FLOAT32, VerticalVelPIDElemNames, null) ); + + List MaxRollPitchElemNames = new ArrayList(); + MaxRollPitchElemNames.add("0"); + fields.add( new UAVObjectField("MaxRollPitch", "deg", UAVObjectField.FieldType.FLOAT32, MaxRollPitchElemNames, null) ); + + List UpdatePeriodElemNames = new ArrayList(); + UpdatePeriodElemNames.add("0"); + fields.add( new UAVObjectField("UpdatePeriod", "", UAVObjectField.FieldType.INT32, UpdatePeriodElemNames, null) ); + + List HorizontalVelMaxElemNames = new ArrayList(); + HorizontalVelMaxElemNames.add("0"); + fields.add( new UAVObjectField("HorizontalVelMax", "m/s", UAVObjectField.FieldType.UINT16, HorizontalVelMaxElemNames, null) ); + + List VerticalVelMaxElemNames = new ArrayList(); + VerticalVelMaxElemNames.add("0"); + fields.add( new UAVObjectField("VerticalVelMax", "m/s", UAVObjectField.FieldType.UINT16, VerticalVelMaxElemNames, null) ); + + List GuidanceModeElemNames = new ArrayList(); + GuidanceModeElemNames.add("0"); + List GuidanceModeEnumOptions = new ArrayList(); + GuidanceModeEnumOptions.add("DUAL_LOOP"); + GuidanceModeEnumOptions.add("VELOCITY_CONTROL"); + fields.add( new UAVObjectField("GuidanceMode", "", UAVObjectField.FieldType.ENUM, GuidanceModeElemNames, GuidanceModeEnumOptions) ); + + List ThrottleControlElemNames = new ArrayList(); + ThrottleControlElemNames.add("0"); + List ThrottleControlEnumOptions = new ArrayList(); + ThrottleControlEnumOptions.add("FALSE"); + ThrottleControlEnumOptions.add("TRUE"); + fields.add( new UAVObjectField("ThrottleControl", "", UAVObjectField.FieldType.ENUM, ThrottleControlElemNames, ThrottleControlEnumOptions) ); + + + // Compute the number of bytes for this object + int numBytes = 0; + ListIterator 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 | + 1 << UAVOBJ_TELEMETRY_ACKED_SHIFT | + 1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT | + UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT | + UAVObject.Metadata.UpdateModeNum(UAVObject.UpdateMode.UPDATEMODE_ONCHANGE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT; + metadata.flightTelemetryUpdatePeriod = 0; + metadata.gcsTelemetryUpdatePeriod = 0; + metadata.loggingUpdatePeriod = 0; + + 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() + { + getField("HorizontalPosPI").setValue(0.1,0); + getField("HorizontalPosPI").setValue(0.001,1); + getField("HorizontalPosPI").setValue(300,2); + getField("HorizontalVelPID").setValue(0.05,0); + getField("HorizontalVelPID").setValue(0.002,1); + getField("HorizontalVelPID").setValue(0,2); + getField("HorizontalVelPID").setValue(1000,3); + getField("VerticalPosPI").setValue(0.1,0); + getField("VerticalPosPI").setValue(0.001,1); + getField("VerticalPosPI").setValue(200,2); + getField("VerticalVelPID").setValue(0.1,0); + getField("VerticalVelPID").setValue(0,1); + getField("VerticalVelPID").setValue(0,2); + getField("VerticalVelPID").setValue(0,3); + getField("MaxRollPitch").setValue(10); + getField("UpdatePeriod").setValue(100); + getField("HorizontalVelMax").setValue(300); + getField("VerticalVelMax").setValue(150); + getField("GuidanceMode").setValue("DUAL_LOOP"); + getField("ThrottleControl").setValue("FALSE"); + + } + + /** + * 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 { + GuidanceSettings obj = new GuidanceSettings(); + obj.initialize(instID, this.getMetaObject()); + return obj; + } catch (Exception e) { + return null; + } + } + + /** + * Static function to retrieve an instance of the object. + */ + public GuidanceSettings GetInstance(UAVObjectManager objMngr, long instID) + { + return (GuidanceSettings)(objMngr.getObject(GuidanceSettings.OBJID, instID)); + } + + // Constants + protected static final long OBJID = 0x6EA79FB4l; + protected static final String NAME = "GuidanceSettings"; + protected static String DESCRIPTION = "Settings for the @ref GuidanceModule"; + protected static final boolean ISSINGLEINST = 1 > 0; + protected static final boolean ISSETTINGS = 1 > 0; + protected static int NUMBYTES = 0; + + +} diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java index f4f976fa0..1b340f64d 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HomeLocation.java @@ -63,6 +63,24 @@ public class HomeLocation extends UAVDataObject { AltitudeElemNames.add("0"); fields.add( new UAVObjectField("Altitude", "m over geoid", UAVObjectField.FieldType.FLOAT32, AltitudeElemNames, null) ); + List ECEFElemNames = new ArrayList(); + ECEFElemNames.add("0"); + ECEFElemNames.add("1"); + ECEFElemNames.add("2"); + fields.add( new UAVObjectField("ECEF", "cm", UAVObjectField.FieldType.INT32, ECEFElemNames, null) ); + + List RNEElemNames = new ArrayList(); + RNEElemNames.add("0"); + RNEElemNames.add("1"); + RNEElemNames.add("2"); + RNEElemNames.add("3"); + RNEElemNames.add("4"); + RNEElemNames.add("5"); + RNEElemNames.add("6"); + RNEElemNames.add("7"); + RNEElemNames.add("8"); + fields.add( new UAVObjectField("RNE", "", UAVObjectField.FieldType.FLOAT32, RNEElemNames, null) ); + List BeElemNames = new ArrayList(); BeElemNames.add("0"); BeElemNames.add("1"); @@ -127,6 +145,18 @@ public class HomeLocation extends UAVDataObject { getField("Latitude").setValue(0); getField("Longitude").setValue(0); getField("Altitude").setValue(0); + getField("ECEF").setValue(0,0); + getField("ECEF").setValue(0,1); + getField("ECEF").setValue(0,2); + getField("RNE").setValue(0,0); + getField("RNE").setValue(0,1); + getField("RNE").setValue(0,2); + getField("RNE").setValue(0,3); + getField("RNE").setValue(0,4); + getField("RNE").setValue(0,5); + getField("RNE").setValue(0,6); + getField("RNE").setValue(0,7); + getField("RNE").setValue(0,8); getField("Be").setValue(0,0); getField("Be").setValue(0,1); getField("Be").setValue(0,2); @@ -160,7 +190,7 @@ public class HomeLocation extends UAVDataObject { } // Constants - protected static final long OBJID = 0x6185DC6El; + protected static final long OBJID = 0x5BB3AEFCl; protected static final String NAME = "HomeLocation"; 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."; protected static final boolean ISSINGLEINST = 1 > 0; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java index b478bcd5b..2d24ffeeb 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/HwSettings.java @@ -211,12 +211,7 @@ public class HwSettings extends UAVDataObject { OptionalModulesElemNames.add("ComUsbBridge"); OptionalModulesElemNames.add("Fault"); OptionalModulesElemNames.add("Altitude"); - OptionalModulesElemNames.add("Airspeed"); OptionalModulesElemNames.add("TxPID"); - OptionalModulesElemNames.add("VtolPathFollower"); - OptionalModulesElemNames.add("FixedWingPathFollower"); - OptionalModulesElemNames.add("Battery"); - OptionalModulesElemNames.add("Overo"); List OptionalModulesEnumOptions = new ArrayList(); OptionalModulesEnumOptions.add("Disabled"); OptionalModulesEnumOptions.add("Enabled"); @@ -290,11 +285,6 @@ public class HwSettings extends UAVDataObject { getField("OptionalModules").setValue("Disabled",3); getField("OptionalModules").setValue("Disabled",4); getField("OptionalModules").setValue("Disabled",5); - getField("OptionalModules").setValue("Disabled",6); - 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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java index 0b47b3e10..afdd204b4 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/ManualControlSettings.java @@ -179,10 +179,17 @@ public class ManualControlSettings extends UAVDataObject { Stabilization3SettingsEnumOptions.add("VirtualBar"); fields.add( new UAVObjectField("Stabilization3Settings", "", UAVObjectField.FieldType.ENUM, Stabilization3SettingsElemNames, Stabilization3SettingsEnumOptions) ); + List FlightModeNumberElemNames = new ArrayList(); + FlightModeNumberElemNames.add("0"); + fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) ); + List FlightModePositionElemNames = new ArrayList(); FlightModePositionElemNames.add("0"); FlightModePositionElemNames.add("1"); FlightModePositionElemNames.add("2"); + FlightModePositionElemNames.add("3"); + FlightModePositionElemNames.add("4"); + FlightModePositionElemNames.add("5"); List FlightModePositionEnumOptions = new ArrayList(); 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 FlightModeNumberElemNames = new ArrayList(); - FlightModeNumberElemNames.add("0"); - fields.add( new UAVObjectField("FlightModeNumber", "", UAVObjectField.FieldType.UINT8, FlightModeNumberElemNames, null) ); - - List FailsafeBehaviorElemNames = new ArrayList(); - FailsafeBehaviorElemNames.add("0"); - List FailsafeBehaviorEnumOptions = new ArrayList(); - 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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java index 0618c247c..26985df6c 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/OveroSyncStats.java @@ -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 FramesyncErrorsElemNames = new ArrayList(); - FramesyncErrorsElemNames.add("0"); - fields.add( new UAVObjectField("FramesyncErrors", "count", UAVObjectField.FieldType.UINT32, FramesyncErrorsElemNames, null) ); - - List UnderrunErrorsElemNames = new ArrayList(); - UnderrunErrorsElemNames.add("0"); - fields.add( new UAVObjectField("UnderrunErrors", "count", UAVObjectField.FieldType.UINT32, UnderrunErrorsElemNames, null) ); - List DroppedUpdatesElemNames = new ArrayList(); DroppedUpdatesElemNames.add("0"); fields.add( new UAVObjectField("DroppedUpdates", "", UAVObjectField.FieldType.UINT32, DroppedUpdatesElemNames, null) ); - List PacketsElemNames = new ArrayList(); - PacketsElemNames.add("0"); - fields.add( new UAVObjectField("Packets", "", UAVObjectField.FieldType.UINT32, PacketsElemNames, null) ); - List ConnectedElemNames = new ArrayList(); ConnectedElemNames.add("0"); List ConnectedEnumOptions = new ArrayList(); @@ -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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java index 5fe8b497f..bf8837ae9 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionActual.java @@ -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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java new file mode 100644 index 000000000..967e298e6 --- /dev/null +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/PositionDesired.java @@ -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 fields = new ArrayList(); + + + List NorthElemNames = new ArrayList(); + NorthElemNames.add("0"); + fields.add( new UAVObjectField("North", "m", UAVObjectField.FieldType.FLOAT32, NorthElemNames, null) ); + + List EastElemNames = new ArrayList(); + EastElemNames.add("0"); + fields.add( new UAVObjectField("East", "m", UAVObjectField.FieldType.FLOAT32, EastElemNames, null) ); + + List DownElemNames = new ArrayList(); + 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 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; + + +} diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java index 9881cfe14..41ce4a4b6 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/RevoCalibration.java @@ -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 gps_varElemNames = new ArrayList(); - gps_varElemNames.add("Pos"); - gps_varElemNames.add("Vel"); - fields.add( new UAVObjectField("gps_var", "m^2", UAVObjectField.FieldType.FLOAT32, gps_varElemNames, null) ); - - List baro_varElemNames = new ArrayList(); - baro_varElemNames.add("0"); - fields.add( new UAVObjectField("baro_var", "m^2", UAVObjectField.FieldType.FLOAT32, baro_varElemNames, null) ); - - List MagBiasNullingRateElemNames = new ArrayList(); - MagBiasNullingRateElemNames.add("0"); - fields.add( new UAVObjectField("MagBiasNullingRate", "", UAVObjectField.FieldType.FLOAT32, MagBiasNullingRateElemNames, null) ); - List BiasCorrectedRawElemNames = new ArrayList(); BiasCorrectedRawElemNames.add("0"); List BiasCorrectedRawEnumOptions = new ArrayList(); - 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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java index 11d4bc4d5..97505641e 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/SystemAlarms.java @@ -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 AlarmEnumOptions = new ArrayList(); 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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java index 308f0b490..f9baf33de 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/TaskInfo.java @@ -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; diff --git a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java index 9219524c5..88300d54e 100644 --- a/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java +++ b/androidgcs/src/org/openpilot/uavtalk/uavobjects/UAVObjectsInitialize.java @@ -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();