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https://bitbucket.org/librepilot/librepilot.git
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1.0 Featur Freeze -
Removing some Experimental and Incomplete Modules and their UAVObjects not suited for 1.0 - they will be moved into an experimental branch: Navigation : experimental code only FlightSituation: experimental code only Guidance : preliminary draft - possibly to be replaced by peabody124 position hold code if finished in time. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1729 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
corvus
corvus
parent
e5c8c2129f
commit
1472b342c1
@ -177,9 +177,6 @@ SRC += $(OPUAVOBJ)/baroaltitude.c
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SRC += $(OPUAVOBJ)/ahrscalibration.c
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SRC += $(OPUAVOBJ)/attitudeactual.c
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SRC += $(OPUAVOBJ)/ahrssettings.c
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SRC += $(OPUAVOBJ)/flightsituationactual.c
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SRC += $(OPUAVOBJ)/navigationsettings.c
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SRC += $(OPUAVOBJ)/navigationdesired.c
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SRC += $(OPUAVOBJ)/flightbatterystate.c
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SRC += $(OPUAVOBJ)/attituderaw.c
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SRC += $(OPUAVOBJ)/homelocation.c
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@ -188,8 +185,6 @@ SRC += $(OPUAVOBJ)/vtolsettings.c
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SRC += $(OPUAVOBJ)/vtolstatus.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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SRC += $(OPUAVOBJ)/guidancesettings.c
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SRC += $(OPUAVOBJ)/positiondesired.c
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#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
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endif
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@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD
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USE_THUMB_MODE = YES
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# List of modules to include
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MODULES = Telemetry Stabilization/experimental/Stabilization ManualControl Guidance
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MODULES = Telemetry Stabilization/experimental/Stabilization ManualControl
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#MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
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#MODULES = Telemetry Example
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#MODULES = Telemetry MK/MKSerial
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@ -149,9 +149,6 @@ SRC += $(OPUAVOBJ)/stabilizationsettings.c
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SRC += $(OPUAVOBJ)/ahrsstatus.c
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SRC += $(OPUAVOBJ)/baroaltitude.c
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SRC += $(OPUAVOBJ)/attitudeactual.c
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SRC += $(OPUAVOBJ)/flightsituationactual.c
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SRC += $(OPUAVOBJ)/navigationsettings.c
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SRC += $(OPUAVOBJ)/navigationdesired.c
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SRC += $(OPUAVOBJ)/flightbatterystate.c
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SRC += $(OPUAVOBJ)/attituderaw.c
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SRC += $(OPUAVOBJ)/homelocation.c
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@ -164,8 +161,6 @@ SRC += $(OPUAVOBJ)/vtolsettings.c
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SRC += $(OPUAVOBJ)/vtolstatus.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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SRC += $(OPUAVOBJ)/guidancesettings.c
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SRC += $(OPUAVOBJ)/positiondesired.c
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endif
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## PIOS Hardware (posix)
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@ -1,160 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup FlightSituationModule FlightSituation Module
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* @brief Sensor Merge of all Flight data into most likely situation
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* @note This object updates the @ref FlightSituationActual UAVObject
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* @{
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*
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* @file flightsituation.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude stabilization module.
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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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#include "openpilot.h"
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#include "flightsituation.h"
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#include "flightsituationactual.h"
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#include "attitudeactual.h"
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#include "altitudeactual.h"
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#include "headingactual.h"
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#include "positionactual.h"
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#include "systemsettings.h"
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// Private constants
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void flightSituationTask(void* parameters);
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/**
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* Module initialization
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*/
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int32_t FlightSituationInitialize()
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{
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// Initialize variables
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// Start main task
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xTaskCreate(flightSituationTask, (signed char*)"FlightSituation", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* Module task
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*/
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static void flightSituationTask(void* parameters)
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{
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AttitudeActualData attitudeActual;
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AltitudeActualData altitudeActual;
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HeadingActualData headingActual;
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PositionActualData positionActual;
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SystemSettingsData systemSettings;
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FlightSituationActualData flightSituationActual;
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portTickType lastSysTime;
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// private variables
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float altitudeLast=0.0;
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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// Read settings and other objects
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SystemSettingsGet(&systemSettings);
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AttitudeActualGet(&attitudeActual);
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AltitudeActualGet(&altitudeActual);
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HeadingActualGet(&headingActual);
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PositionActualGet(&positionActual);
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FlightSituationActualGet(&flightSituationActual);
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// TODO: plausibility check of GPS data,
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// innertial navigation with kalman feed-in of GPS data
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// sensor fusion
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// STUB code:
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flightSituationActual.Latitude = positionActual.Latitude;
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flightSituationActual.Longitude = positionActual.Longitude;
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// TODO: fuse altitude information with GPS data plus
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// plausibility check
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// STUB Code:
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flightSituationActual.Altitude = altitudeActual.Altitude;
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// TODO: get altitude over ground from somewhere:
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// method 1: reflection sensor
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// method 2: crude database with ground hight information
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// method 3: manual setting of ground hight at start pos
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// STUB code:
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flightSituationActual.ATG = altitudeActual.Altitude;
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// TODO: use some more sophisticated Kalman filtering
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// and several sources (including speed and pitch!)
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// to get this one right
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flightSituationActual.Climbrate = 0.9*flightSituationActual.Climbrate + 0.1*((flightSituationActual.Altitude-altitudeLast)*10);
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// the times 10 is because timescale is 1/10th
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// of a second right now
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altitudeLast = flightSituationActual.Altitude;
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// TODO: heading: sensor fusion from AttitudeActual.yaw
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// and HeadingActual - with plausibility checks
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// BUT ??? what to do with heli- / multicopters
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// that can fly sideways?
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// Maybe the AHRS can give us a movement vector too?
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flightSituationActual.Heading = positionActual.Heading;
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// TODO: airspeed - is THE critical measure to prevent stall
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// and judge which maneuvers are safe.
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// However AFAIK we have no sensor for it yet, do we?
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// Even with moderate winds, a glider or other UAV
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// can easily fly (seemingly) backwards, so airspeed
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// and groundspeed can significantly differ!
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flightSituationActual.Airspeed = positionActual.Groundspeed;
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// TODO: this can possibly be taken from GPS
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// with just a bit of plausibility checking
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// and replacing by above if missing
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flightSituationActual.Course = positionActual.Heading;
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flightSituationActual.Groundspeed = positionActual.Groundspeed;
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FlightSituationActualSet(&flightSituationActual);
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// Clear alarms
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// TODO create a new alarm
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//AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
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// Wait until next update
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// TODO non-hardcoded update rate
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vTaskDelayUntil(&lastSysTime, 100 / portTICK_RATE_MS );
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}
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}
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/**
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* @}
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* @}
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*/
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@ -1,42 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup FlightSituationModule FlightSituation Module
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* @brief Sensor Merge of all Flight data into most likely situation
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* @note This object updates the @ref FlightSituationActual UAVObject
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* @{
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*
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* @file flightsituation.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude stabilization module.
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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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#ifndef FLIGHTSITUATION_H
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#define FLIGHTSITUATION_H
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int32_t FlightSituationInitialize();
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#endif // FLIGHTSITUATION_H
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/**
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* @}
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* @}
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*/
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@ -1,280 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup GuidanceModule Guidance Module
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* @brief Guidance PID loops in an airframe type independent manner
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* @note This object updates the @ref AttitudeDesired "Attitude Desired" based on the
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* PID loops on the craft position, speed and course
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* @{
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*
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* @file guidance.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude guidance module.
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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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#include "openpilot.h"
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#include "guidance.h"
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#include "guidancesettings.h"
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#include "attitudedesired.h"
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#include "positiondesired.h"
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#include "positionactual.h"
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#include "attitudeactual.h"
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#include "manualcontrolcommand.h"
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#include "systemsettings.h"
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// Private constants
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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#define LATERAL_INTEGRAL_LIMIT 0.5
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#define COURSE_INTEGRAL_LIMIT 0.5
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#define ENERGY_INTEGRAL_LIMIT 0.5
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#define SPEED_INTEGRAL_LIMIT 0.5
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#define DEG2RAD ( M_PI / 180.0 )
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#define GEE 9.81
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void guidanceTask(void* parameters);
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static float bound(float val, float min, float max);
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static float angleDifference(float val);
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/**
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* Module initialization
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*/
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int32_t GuidanceInitialize()
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{
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// Initialize variables
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// Start main task
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xTaskCreate(guidanceTask, (signed char*)"Guidance", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* Module task
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*/
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static void guidanceTask(void* parameters)
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{
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GuidanceSettingsData guidanceSettings;
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AttitudeDesiredData attitudeDesired;
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AttitudeActualData attitudeActual;
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PositionActualData positionActual;
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PositionDesiredData positionDesired;
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ManualControlCommandData manualControl;
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SystemSettingsData systemSettings;
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portTickType lastSysTime;
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// declarations...
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float lateralError, lateralErrorLast, lateralDerivative, lateralIntegralLimit, lateralIntegral;
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float courseError, courseErrorLast, courseDerivative, courseIntegralLimit, courseIntegral;
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float speedError, speedErrorLast, speedDerivative, speedIntegralLimit, speedIntegral;
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float energyError, energyErrorLast, energyDerivative, energyIntegralLimit, energyIntegral;
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float sinAlpha, cosAlpha;
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// Initialize
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lateralIntegral = 0.0;
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courseIntegral = 0.0;
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speedIntegral = 0.0;
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energyIntegral = 0.0;
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lateralErrorLast = 0.0;
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courseErrorLast = 0.0;
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speedErrorLast = 0.0;
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energyErrorLast = 0.0;
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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// Read settings and other objects
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GuidanceSettingsGet(&guidanceSettings);
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SystemSettingsGet(&systemSettings);
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ManualControlCommandGet(&manualControl);
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PositionDesiredGet(&positionDesired);
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PositionActualGet(&positionActual);
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AttitudeActualGet(&attitudeActual);
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// lateral PID Loop
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// error is the distance between the current position and the imaginary line going through PositionDesired.NED
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// at PositionDesired.Heading degrees course
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sinAlpha = sin(positionDesired.Heading);
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cosAlpha = cos(positionDesired.Heading);
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lateralError = (
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- sinAlpha * ( positionDesired.NED[0] - positionActual.NED[0] )
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+ cosAlpha * ( positionDesired.NED[1] - positionActual.NED[1] )
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) / ( sinAlpha*sinAlpha + cosAlpha*cosAlpha );
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lateralDerivative = lateralError - lateralErrorLast;
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lateralErrorLast = lateralError;
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lateralIntegralLimit = LATERAL_INTEGRAL_LIMIT / guidanceSettings.LateralKi;
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lateralIntegral = bound(lateralIntegral+lateralError*guidanceSettings.UpdatePeriod,
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-lateralIntegralLimit,lateralIntegralLimit);
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attitudeDesired.Yaw = angleDifference( bound( ( guidanceSettings.LateralKp*lateralError +
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guidanceSettings.LateralKi*lateralIntegral +
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guidanceSettings.LateralKd*lateralDerivative
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),-90,90
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) + positionDesired.Heading
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);
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if (attitudeDesired.Yaw<0) attitudeDesired.Yaw+=360;
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// course PID Loop
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// very straighforward
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courseError = angleDifference( attitudeDesired.Yaw - positionActual.Heading );
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courseDerivative = courseError - courseErrorLast;
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courseErrorLast = courseError;
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courseIntegralLimit = COURSE_INTEGRAL_LIMIT / guidanceSettings.CourseKi;
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courseIntegral = bound(courseIntegral+courseError*guidanceSettings.UpdatePeriod,
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-courseIntegralLimit,courseIntegralLimit);
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attitudeDesired.Roll = bound( ( guidanceSettings.CourseKp*courseError +
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guidanceSettings.CourseKi*courseIntegral +
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guidanceSettings.CourseKd*courseDerivative
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),-guidanceSettings.RollMax,guidanceSettings.RollMax
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);
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// speed PID loop
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// since desired value is given as groundspeed, but our limits affect airspeed, translation is necessary
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// we assume a constant (wind) offset between the two
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// (this is not completely correct since there might be an air pressure dependent linear relationship, too
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// but this puts only a linear multiplication factor on our error)
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speedError = bound(
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positionDesired.Groundspeed +
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(positionActual.Airspeed-positionActual.Groundspeed)
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,guidanceSettings.SpeedMin,guidanceSettings.SpeedMax
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) - positionActual.Airspeed;
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speedDerivative = speedError - speedErrorLast;
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speedErrorLast = speedError;
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speedIntegralLimit = SPEED_INTEGRAL_LIMIT / guidanceSettings.SpeedKi;
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speedIntegral = bound(speedIntegral+speedError*guidanceSettings.UpdatePeriod,
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-speedIntegralLimit,speedIntegralLimit);
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attitudeDesired.Pitch = bound( -( guidanceSettings.SpeedKp*speedError +
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guidanceSettings.SpeedKi*speedIntegral +
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guidanceSettings.SpeedKd*speedDerivative
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),guidanceSettings.PitchMin,guidanceSettings.PitchMax
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);
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// energy PID loop - flight energy = mass_factor*(speed^2+g*altitude) - using mass_factor=1
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// the desired energy is calculated from the desired airspeed (which has been calculated above)
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// and the desired altitude
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energyError = (
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( speedError + positionActual.Airspeed ) * ( speedError + positionActual.Airspeed )
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+ GEE * -positionDesired.NED[3]
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) - (
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positionActual.Airspeed * positionActual.Airspeed + positionActual.Climbrate * positionActual.Climbrate
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+ GEE * -positionActual.NED[3]
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);
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energyDerivative = energyError - energyErrorLast;
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energyErrorLast = energyError;
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energyIntegralLimit = SPEED_INTEGRAL_LIMIT / guidanceSettings.EnergyKi;
|
||||
energyIntegral = bound(energyIntegral+energyError*guidanceSettings.UpdatePeriod,
|
||||
-energyIntegralLimit,energyIntegralLimit);
|
||||
attitudeDesired.Throttle = bound( ( guidanceSettings.EnergyKp*energyError +
|
||||
guidanceSettings.EnergyKi*energyIntegral +
|
||||
guidanceSettings.EnergyKd*energyDerivative
|
||||
),guidanceSettings.ThrottleMin,guidanceSettings.ThrottleMax
|
||||
);
|
||||
|
||||
|
||||
// adapt roll in case of negative pitch demand
|
||||
if (attitudeDesired.Pitch < attitudeActual.Pitch) {
|
||||
if (attitudeDesired.Pitch <= attitudeActual.Pitch - guidanceSettings.PitchRollEpsilon) {
|
||||
// in case of heavy push, reverse roll
|
||||
attitudeDesired.Roll = -attitudeDesired.Roll;
|
||||
} else {
|
||||
// otherwise linear interpolation between Roll and -Roll
|
||||
attitudeDesired.Roll -= 2.0 * attitudeDesired.Roll *
|
||||
( attitudeActual.Pitch - attitudeDesired.Pitch )
|
||||
/ guidanceSettings.PitchRollEpsilon;
|
||||
}
|
||||
}
|
||||
|
||||
// Write actuator desired (if not in manual mode)
|
||||
if ( manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO )
|
||||
{
|
||||
AttitudeDesiredSet(&attitudeDesired);
|
||||
}
|
||||
else
|
||||
{
|
||||
lateralIntegral = 0.0;
|
||||
courseIntegral = 0.0;
|
||||
speedIntegral = 0.0;
|
||||
energyIntegral = 0.0;
|
||||
|
||||
lateralErrorLast = 0.0;
|
||||
courseErrorLast = 0.0;
|
||||
speedErrorLast = 0.0;
|
||||
energyErrorLast = 0.0;
|
||||
}
|
||||
|
||||
// Clear alarms
|
||||
AlarmsClear(SYSTEMALARMS_ALARM_GUIDANCE);
|
||||
|
||||
// Wait until next update
|
||||
vTaskDelayUntil(&lastSysTime, guidanceSettings.UpdatePeriod / portTICK_RATE_MS );
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Bound input value between limits
|
||||
*/
|
||||
static float bound(float val, float min, float max)
|
||||
{
|
||||
if ( val < min )
|
||||
{
|
||||
val = min;
|
||||
}
|
||||
else if ( val > max )
|
||||
{
|
||||
val = max;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* Fix result of angular differences
|
||||
*/
|
||||
static float angleDifference(float val)
|
||||
{
|
||||
while ( val < -180.0 )
|
||||
{
|
||||
val += 360.0;
|
||||
}
|
||||
while ( val > 180.0 )
|
||||
{
|
||||
val -= 360.0;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,43 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup GuidanceModule Guidance Module
|
||||
* @brief Guidance PID loops in an airframe type independent manner
|
||||
* @note This object updates the @ref AttitudeDesired "Attitude Desired" based on the
|
||||
* PID loops on the craft position, speed and course
|
||||
* @{
|
||||
*
|
||||
* @file guidance.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief guidance module.
|
||||
*
|
||||
* @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
|
||||
*/
|
||||
#ifndef GUIDANCE_H
|
||||
#define GUIDANCE_H
|
||||
|
||||
int32_t GuidanceInitialize();
|
||||
|
||||
#endif // GUIDANCE_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,44 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup NavigationModule Navigation Module
|
||||
* @brief Feeds Stabilization with input to fly to a given coordinate in space
|
||||
* @note This object updates the @ref AttitudeDesired "Attitude Desired" based on the
|
||||
* comparison on the @ref NavigationDesired "Navigation Desired", @ref AttitudeActual
|
||||
* "Attitude Actual" and @ref FlightSituationActual "FlightSituation Actual"
|
||||
* @{
|
||||
*
|
||||
* @file navigation.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Position stabilization module.
|
||||
*
|
||||
* @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
|
||||
*/
|
||||
#ifndef NAVIGATION_H
|
||||
#define NAVIGATION_H
|
||||
|
||||
int32_t NavigationInitialize();
|
||||
|
||||
#endif // NAVIGATION_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,530 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup OpenPilotModules OpenPilot Modules
|
||||
* @{
|
||||
* @addtogroup NavigationModule Navigation Module
|
||||
* @brief Feeds Stabilization with input to fly to a given coordinate in space
|
||||
* @note This object updates the @ref AttitudeDesired "Attitude Desired" based on the
|
||||
* comparison on the @ref NavigationDesired "Navigation Desired", @ref AttitudeActual
|
||||
* "Attitude Actual" and @ref FlightSituationActual "FlightSituation Actual"
|
||||
* @{
|
||||
*
|
||||
* @file navigation.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Position stabilization module.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "navigation.h"
|
||||
#include "navigationsettings.h"
|
||||
#include "navigationdesired.h"
|
||||
#include "attitudeactual.h"
|
||||
#include "attitudedesired.h"
|
||||
#include "flightsituationactual.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "systemsettings.h"
|
||||
|
||||
|
||||
// Private constants
|
||||
#define STACK_SIZE configMINIMAL_STACK_SIZE
|
||||
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
|
||||
#define DEG2RAD ( M_PI / 180.0 )
|
||||
#define RAD2DEG ( 180.0 / M_PI )
|
||||
#define MIN(a,b) ((a<b)?a:b)
|
||||
#define MAX(a,b) ((a>b)?a:b)
|
||||
#define SSQRT(x) ((x)>=0?sqrt(x):-sqrt(-x)) // signed square root
|
||||
#define EARTHRAD 6378137
|
||||
#define GRAVITY 9.81
|
||||
|
||||
// Private types
|
||||
|
||||
// Private variables
|
||||
static xTaskHandle taskHandle;
|
||||
|
||||
// Private functions
|
||||
static void navigationTask(void* parameters);
|
||||
static float bound(float val, float min, float max);
|
||||
static float angleDifference(float val);
|
||||
static float fixAngle(float val,float min, float max);
|
||||
static float sphereDistance(float lat1,float long1,float lat2,float long2);
|
||||
static float sphereCourse(float lat1,float long1,float lat2,float long2);
|
||||
|
||||
/**
|
||||
* Module initialization
|
||||
*/
|
||||
int32_t NavigationInitialize()
|
||||
{
|
||||
// Initialize variables
|
||||
|
||||
// Start main task
|
||||
xTaskCreate(navigationTask, (signed char*)"Navigation", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Module task
|
||||
*/
|
||||
static void navigationTask(void* parameters)
|
||||
{
|
||||
NavigationSettingsData navSettings;
|
||||
NavigationDesiredData navigationDesired;
|
||||
AttitudeActualData attitudeActual;
|
||||
AttitudeDesiredData attitudeDesired;
|
||||
FlightSituationActualData situationActual;
|
||||
ManualControlCommandData manualControl;
|
||||
SystemSettingsData systemSettings;
|
||||
portTickType lastSysTime;
|
||||
|
||||
// flight safety values
|
||||
float maxPitch;
|
||||
float minPitch;
|
||||
float maxAccel;
|
||||
|
||||
// helper variables
|
||||
float safeAccel;
|
||||
float safeDistance;
|
||||
float aoa,saoa;
|
||||
|
||||
// intended flight direction
|
||||
float targetDistance;
|
||||
float targetVspeed;
|
||||
float targetTruePitch;
|
||||
float targetHeading;
|
||||
float targetPitch;
|
||||
float targetYaw;
|
||||
|
||||
// turn direction
|
||||
float turnDirection;
|
||||
float turnSpeed;
|
||||
float turnAccel;
|
||||
|
||||
|
||||
// Main task loop
|
||||
lastSysTime = xTaskGetTickCount();
|
||||
while (1)
|
||||
{
|
||||
// Read settings and other objects
|
||||
NavigationSettingsGet(&navSettings);
|
||||
SystemSettingsGet(&systemSettings);
|
||||
ManualControlCommandGet(&manualControl);
|
||||
FlightSituationActualGet(&situationActual);
|
||||
NavigationDesiredGet(&navigationDesired);
|
||||
AttitudeActualGet(&attitudeActual);
|
||||
|
||||
// horizontal distance to waypoint
|
||||
// (not 100% exact since the earth is not a perfect sphere, but
|
||||
// close enough for our purpose...)
|
||||
targetDistance = DEG2RAD * EARTHRAD * sphereDistance(
|
||||
situationActual.Latitude,situationActual.Longitude,
|
||||
navigationDesired.Latitude,navigationDesired.Longitude
|
||||
);
|
||||
|
||||
// pitch to climb/sink to target altitude (attempts to reach
|
||||
// target altitude withing SettleTime seconds
|
||||
targetVspeed= (navigationDesired.Altitude - situationActual.Altitude)/navSettings.SettleTime;
|
||||
if ( targetVspeed >= situationActual.Airspeed )
|
||||
{
|
||||
targetTruePitch = 90.0;
|
||||
}
|
||||
else if ( targetVspeed <= -situationActual.Airspeed )
|
||||
{
|
||||
targetTruePitch = -90.0;
|
||||
}
|
||||
else
|
||||
{
|
||||
targetTruePitch = RAD2DEG * asin( targetVspeed / situationActual.Airspeed );
|
||||
}
|
||||
|
||||
// course to target coordinate
|
||||
targetHeading = sphereCourse(
|
||||
situationActual.Latitude,situationActual.Longitude,
|
||||
navigationDesired.Latitude,navigationDesired.Longitude
|
||||
);
|
||||
|
||||
//printf("\n\n\nTarget: Heading: %2f Distance: %2f climbing %2f°\n",targetHeading,targetDistance,targetTruePitch);
|
||||
//printf("distance: %f\n",sphereDistance(situationActual.Latitude,situationActual.Longitude,navigationDesired.Latitude,navigationDesired.Longitude));
|
||||
/**
|
||||
* navigation for fixed wing planes
|
||||
*/
|
||||
if (systemSettings.AirframeType != SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)
|
||||
{
|
||||
|
||||
/**
|
||||
* Fixed wing planes create lift through their airspeed
|
||||
* therefore most maneuver limits depend on the current
|
||||
* speed and situation.
|
||||
*/
|
||||
|
||||
// acceleration:
|
||||
maxAccel=navSettings.AccelerationMax;
|
||||
/**
|
||||
* Idea: at minSpeed, the plane can JUST compensate 1g
|
||||
* safely. The StallSpeed at any load factor is
|
||||
* Vstall=Vs(0) / sqrt(load) so the maximum load for
|
||||
* the current speed is maxLoad = (Vs(0)/V)²
|
||||
*/
|
||||
maxAccel = MIN( maxAccel ,
|
||||
GRAVITY * (situationActual.Airspeed*situationActual.Airspeed)
|
||||
/ (navSettings.SpeedMin * navSettings.SpeedMin)
|
||||
);
|
||||
|
||||
// maximum pitch:
|
||||
maxPitch=85.0;
|
||||
|
||||
/**
|
||||
* Idea: any climb decreases speed. Aside from drag
|
||||
* speed decrease is vertical speed times g (9.81m/s²)
|
||||
* make sure speed stays above min speed within
|
||||
* SettleTime
|
||||
*/
|
||||
safeAccel = ( navSettings.SpeedSafe-situationActual.Airspeed ) / navSettings.SettleTime;
|
||||
if (safeAccel>=0)
|
||||
{
|
||||
// speed is below minimum speed. Do not allow any climbs!
|
||||
maxPitch = MIN(maxPitch,0);
|
||||
}
|
||||
else if (safeAccel>-GRAVITY)
|
||||
{
|
||||
// speed is getting low. Limit maximum climb!
|
||||
maxPitch = MIN(maxPitch,RAD2DEG*asin(-safeAccel/GRAVITY));
|
||||
}
|
||||
|
||||
// minimum pitch:
|
||||
minPitch=-85.0;
|
||||
|
||||
/**
|
||||
* Idea: any dive increases speed. Aside from drag
|
||||
* speed increase is vertical speed times g (9.81m/s²)
|
||||
* make sure speed stays below max speed within
|
||||
* SettleTime
|
||||
*/
|
||||
safeAccel = ( navSettings.SpeedMax-situationActual.Airspeed ) / navSettings.SettleTime;
|
||||
if (safeAccel<=0)
|
||||
{
|
||||
// speed is above maximum speed. Do not allow any dives!
|
||||
minPitch = MAX(minPitch,0);
|
||||
}
|
||||
else if (safeAccel<GRAVITY)
|
||||
{
|
||||
// speed is getting high. Limit maximum dive!
|
||||
minPitch = MAX(minPitch,-1.*RAD2DEG*asin(safeAccel/GRAVITY));
|
||||
}
|
||||
|
||||
/**
|
||||
* Idea: To change pitch, acceleration must be
|
||||
* applied. A pull up at maximum allowed pitch has a certain radius.
|
||||
* If we are lower than that we are not allowed to
|
||||
*/
|
||||
safeDistance = situationActual.Airspeed * situationActual.Airspeed / (maxAccel+GRAVITY);
|
||||
//printf("safe distance: %f\n",safeDistance);
|
||||
if (safeDistance <= 0 || situationActual.Altitude<=navigationDesired.Altitude)
|
||||
{
|
||||
// altitude is below wanted altitude. Do not allow any dive at all.
|
||||
minPitch = MAX(minPitch,0);
|
||||
}
|
||||
else if ( safeDistance >= situationActual.Altitude - navigationDesired.Altitude)
|
||||
{
|
||||
// altitude is close to target altitude, limit negative pitch
|
||||
minPitch = MAX(minPitch,-1 * RAD2DEG * asin( (situationActual.Altitude - navigationDesired.Altitude) / safeDistance ));
|
||||
}
|
||||
|
||||
//printf("Safety: Pitch: %2f %2f Accel: %2fm/s²\n",minPitch,maxPitch,maxAccel);
|
||||
|
||||
/**
|
||||
* Base anted yaw and pitch on calculated angle of
|
||||
* attack and side slip effects
|
||||
*
|
||||
* Note: This can lead to an oszillation between a
|
||||
* flight with positive and negative angle of attack.
|
||||
* Without this correction however, the plane will
|
||||
* always "lag behind" it's desired altitude.
|
||||
*/
|
||||
|
||||
// angle of attack in X and Y
|
||||
aoa = attitudeActual.Pitch - (RAD2DEG * atan2( situationActual.Climbrate, situationActual.Groundspeed));
|
||||
saoa = attitudeActual.Yaw-situationActual.Course;
|
||||
|
||||
targetPitch = bound(targetTruePitch+aoa,minPitch,maxPitch);
|
||||
targetYaw = fixAngle(targetHeading+saoa,0.,360.);
|
||||
//printf("Target Pitch: %2f Yaw: %2f \n",targetPitch,targetYaw);
|
||||
//printf("Current Roll: %2f Pitch: %2f Yaw: %2f \n",attitudeActual.Roll,attitudeActual.Pitch,attitudeActual.Yaw);
|
||||
|
||||
/**
|
||||
* Now we have the current Pitch Yaw and Roll in
|
||||
* AttitudeActual and the wanted course in targetPitch
|
||||
* and targetYaw. We also have the safety limits. Now
|
||||
* make a smooth and save transition.
|
||||
* including all safety limits! Make a nice transition.
|
||||
*/
|
||||
|
||||
// turn vector (Euler)
|
||||
/**
|
||||
* The naive approach wants to fly along an Orthodrome - the quickest way to get from one angle to another
|
||||
*/
|
||||
turnDirection = sphereCourse(attitudeActual.Pitch,attitudeActual.Yaw,targetPitch,targetYaw);
|
||||
|
||||
/**
|
||||
* However if the target yaw is more than 90° away, this orthodrome would lead through a minimum or maximum point that
|
||||
* could be beyond safe min/max pitch values!
|
||||
*/
|
||||
if (fabs(angleDifference(attitudeActual.Yaw-targetYaw))>90)
|
||||
{
|
||||
if (fabs(turnDirection)<90)
|
||||
{
|
||||
/**
|
||||
* Positive turns (upward) can conflict with maxPitch
|
||||
*/
|
||||
if (RAD2DEG*acos(sin(fabs(DEG2RAD*turnDirection))*cos(DEG2RAD*attitudeActual.Pitch))>maxPitch)
|
||||
{
|
||||
/**
|
||||
* In this case the turn has to be adjusted to a circle that won't conflict with maxPitch
|
||||
*/
|
||||
//printf("maximum is %2f which is higher than %2f\n",RAD2DEG*acos(sin(DEG2RAD*turnDirection)*cos(DEG2RAD*attitudeActual.Pitch)),maxPitch);
|
||||
if (cos(DEG2RAD*attitudeActual.Pitch)>cos(DEG2RAD*maxPitch))
|
||||
{
|
||||
if (turnDirection>0)
|
||||
{
|
||||
turnDirection = RAD2DEG * asin( cos(DEG2RAD*maxPitch)/cos(DEG2RAD*attitudeActual.Pitch));
|
||||
}
|
||||
else
|
||||
{
|
||||
turnDirection = -RAD2DEG * asin( cos(DEG2RAD*maxPitch)/cos(DEG2RAD*attitudeActual.Pitch));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/**
|
||||
* something went wrong (attitude outside safe bounds?)- compensate safely
|
||||
*/
|
||||
turnDirection=(turnDirection>0?110:-110);
|
||||
}
|
||||
//printf("limiting because of max!\n");
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/**
|
||||
* Downward turns can conflict with minPitch
|
||||
*/
|
||||
if (RAD2DEG*acos(sin(fabs(DEG2RAD*turnDirection))*cos(DEG2RAD*attitudeActual.Pitch))>-minPitch)
|
||||
{
|
||||
//printf("minimum is %2f which is less than %2f\n",-1*RAD2DEG*acos(sin(fabs(DEG2RAD*turnDirection))*cos(DEG2RAD*attitudeActual.Pitch)),minPitch);
|
||||
/**
|
||||
* In this case the turn has to be adjusted to a circle that won't conflict with minPitch
|
||||
*/
|
||||
if (cos(DEG2RAD*attitudeActual.Pitch)>cos(DEG2RAD*minPitch))
|
||||
{
|
||||
if (turnDirection>0) {
|
||||
turnDirection = 180 - RAD2DEG * asin( cos(DEG2RAD*minPitch)/cos(DEG2RAD*attitudeActual.Pitch));
|
||||
}
|
||||
else
|
||||
{
|
||||
turnDirection = -180 + RAD2DEG * asin( cos(DEG2RAD*minPitch)/cos(DEG2RAD*attitudeActual.Pitch));
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
/**
|
||||
* something went wrong (attitude outside safe bounds?)- compensate safely
|
||||
*/
|
||||
turnDirection=(turnDirection>0?45:-45);
|
||||
}
|
||||
//printf("limiting because of min!\n");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Turn speed in °/s is the minimum of
|
||||
* TurnSpeedFactor * degrees to turn
|
||||
* and
|
||||
* the maximum angular velocity achievable with
|
||||
* less than maxAccel centripetal acceleration
|
||||
* (taking gravity effect into account)
|
||||
* but not less than 0
|
||||
* Formula: acceleration = (DEG2RAD*turnSpeed)
|
||||
* * airspeed
|
||||
*/
|
||||
turnSpeed = MAX(0,MIN(
|
||||
navSettings.TurnSpeedFactor * sphereDistance(
|
||||
attitudeActual.Pitch,attitudeActual.Yaw,
|
||||
targetPitch,targetYaw)
|
||||
,
|
||||
RAD2DEG * (maxAccel-( MIN(0,cos(DEG2RAD*turnDirection))*GRAVITY )) / situationActual.Airspeed
|
||||
));
|
||||
//printf("turn distance is %2f °\n", sphereDistance(attitudeActual.Pitch,attitudeActual.Yaw,targetPitch,targetYaw));
|
||||
//printf("safe speed is %2f °/s\n",RAD2DEG * (maxAccel-( MIN(0,cos(DEG2RAD*turnDirection))*GRAVITY )) / situationActual.Airspeed);
|
||||
//printf("turn speed is %2f °/s\n",turnSpeed);
|
||||
//printf("Airspeed is %2f °/s\n",situationActual.Airspeed);
|
||||
|
||||
/**
|
||||
* Compute wanted centripetal acceleration
|
||||
*/
|
||||
turnAccel = DEG2RAD* turnSpeed * situationActual.Airspeed;
|
||||
//printf("Turn with: %2f at %2fm/s²\n",turnDirection,turnAccel);
|
||||
|
||||
|
||||
// Desired Attitude
|
||||
/**
|
||||
* Now that we know which way the plane is supposed to
|
||||
* go and at what acceleration, calculate the required
|
||||
* roll angle to also compensate gravity during the
|
||||
* turn
|
||||
*/
|
||||
attitudeDesired.Roll = RAD2DEG*atan2(
|
||||
turnAccel * sin(DEG2RAD*turnDirection),
|
||||
turnAccel * cos(DEG2RAD*turnDirection) + cos(DEG2RAD*attitudeActual.Pitch)*GRAVITY
|
||||
);
|
||||
/**
|
||||
* However this can also result in an upright flight
|
||||
* with a load of less than 1g
|
||||
* In this case, the effect on yaw is reversed.
|
||||
* (Imagine rolling 45° right, then push the stick
|
||||
* slightly. You will go left and down!)
|
||||
* In this case we reverse the roll to descent into the
|
||||
* right direction!
|
||||
*/
|
||||
if (fabs(angleDifference(attitudeDesired.Roll-turnDirection))>90) {
|
||||
attitudeDesired.Roll=-attitudeDesired.Roll;
|
||||
}
|
||||
//printf("FINALS: roll %2f ",attitudeDesired.Roll);
|
||||
|
||||
/**
|
||||
* The desired Yaw and Pitch values are tricky.
|
||||
* The current Stabilization module doesn't allow us to
|
||||
* specify an angular speed or even centripetal
|
||||
* acceleration instead we have to specify an
|
||||
* orientation.
|
||||
* According to tests, a formula of
|
||||
* sqrt(turnAccel) * StabilizationForceFactor
|
||||
* degrees lookahead gives reasonable results.
|
||||
*/
|
||||
attitudeDesired.Pitch = bound(
|
||||
attitudeActual.Pitch + navSettings.StabilizationForceFactor * SSQRT(turnAccel * cos(DEG2RAD*turnDirection)),
|
||||
minPitch,
|
||||
maxPitch);
|
||||
attitudeDesired.Yaw = attitudeActual.Yaw + navSettings.StabilizationForceFactor * SSQRT(turnAccel * sin(DEG2RAD*turnDirection)) ;
|
||||
//printf("pitch %2f yaw %2f\n",attitudeDesired.Pitch-attitudeActual.Pitch,attitudeDesired.Yaw-attitudeActual.Yaw);
|
||||
|
||||
|
||||
/**
|
||||
* TODO: Make a real PID loop for the throttle.
|
||||
*/
|
||||
attitudeDesired.Throttle=0.8;
|
||||
|
||||
|
||||
}
|
||||
|
||||
// Write actuator desired (if not in manual mode)
|
||||
if ( manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO )
|
||||
{
|
||||
AttitudeDesiredSet(&attitudeDesired);
|
||||
}
|
||||
|
||||
// Wait until next update
|
||||
vTaskDelayUntil(&lastSysTime, navSettings.UpdatePeriod / portTICK_RATE_MS );
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Bound input value between limits
|
||||
*/
|
||||
static float bound(float val, float min, float max)
|
||||
{
|
||||
if ( val < min )
|
||||
{
|
||||
val = min;
|
||||
}
|
||||
else if ( val > max )
|
||||
{
|
||||
val = max;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* Fix result of angular differences
|
||||
*/
|
||||
static float angleDifference(float val)
|
||||
{
|
||||
while ( val < -180.0 )
|
||||
{
|
||||
val += 360.0;
|
||||
}
|
||||
while ( val > 180.0 )
|
||||
{
|
||||
val -= 360.0;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* Make sure an angular value stays between correct bounds
|
||||
*/
|
||||
static float fixAngle(float val,float min, float max)
|
||||
{
|
||||
while ( val < min )
|
||||
{
|
||||
val += 360.0;
|
||||
}
|
||||
while ( val >= max )
|
||||
{
|
||||
val -= 360.0;
|
||||
}
|
||||
return val;
|
||||
}
|
||||
|
||||
/**
|
||||
* calculate spherical distance and course between two coordinate pairs
|
||||
* see http://de.wikipedia.org/wiki/Orthodrome for details
|
||||
*/
|
||||
static float sphereDistance(float lat1, float long1, float lat2, float long2)
|
||||
{
|
||||
float zeta=(RAD2DEG * acos (
|
||||
sin(DEG2RAD*lat1) * sin(DEG2RAD*lat2)
|
||||
+ cos(DEG2RAD*lat1) * cos(DEG2RAD*lat2) * cos(DEG2RAD*(long2-long1))
|
||||
));
|
||||
if (isnan(zeta)) {
|
||||
zeta=0;
|
||||
}
|
||||
return zeta;
|
||||
|
||||
}
|
||||
static float sphereCourse(float lat1, float long1, float lat2, float long2)
|
||||
{
|
||||
float zeta = sphereDistance(lat1,long1,lat2,long2);
|
||||
float angle = RAD2DEG * acos(
|
||||
( sin(DEG2RAD*lat2) - sin(DEG2RAD*lat1) * cos(DEG2RAD*zeta) )
|
||||
/ ( cos(DEG2RAD*lat1) * sin(DEG2RAD*zeta) )
|
||||
);
|
||||
if (isnan(angle)) angle=0;
|
||||
if (angleDifference(long2-long1)>=0) {
|
||||
return angle;
|
||||
} else {
|
||||
return -angle;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,111 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup FlightSituationActual FlightSituationActual
|
||||
* @brief Currently unused
|
||||
*
|
||||
* Autogenerated files and functions for FlightSituationActual Object
|
||||
* @{
|
||||
*
|
||||
* @file flightsituationactual.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the FlightSituationActual object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: flightsituationactual.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "flightsituationactual.h"
|
||||
|
||||
// Private variables
|
||||
static UAVObjHandle handle;
|
||||
|
||||
// Private functions
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize object.
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t FlightSituationActualInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(FLIGHTSITUATIONACTUAL_OBJID, FLIGHTSITUATIONACTUAL_NAME, FLIGHTSITUATIONACTUAL_METANAME, 0,
|
||||
FLIGHTSITUATIONACTUAL_ISSINGLEINST, FLIGHTSITUATIONACTUAL_ISSETTINGS, FLIGHTSITUATIONACTUAL_NUMBYTES, &setDefaults);
|
||||
|
||||
// Done
|
||||
if (handle != 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
FlightSituationActualData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(FlightSituationActualData));
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
// Initialize object metadata to their default values
|
||||
metadata.access = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.telemetryAcked = 0;
|
||||
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
|
||||
metadata.telemetryUpdatePeriod = 1000;
|
||||
metadata.gcsTelemetryAcked = 0;
|
||||
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
|
||||
metadata.loggingUpdatePeriod = 1000;
|
||||
UAVObjSetMetadata(obj, &metadata);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get object handle
|
||||
*/
|
||||
UAVObjHandle FlightSituationActualHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,132 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup GuidanceSettings GuidanceSettings
|
||||
* @brief PID settings used by the Guidance module to combine the @ref PositionActual and @ref PositionDesired to compute @ref AttitudeDesired
|
||||
*
|
||||
* Autogenerated files and functions for GuidanceSettings Object
|
||||
* @{
|
||||
*
|
||||
* @file guidancesettings.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the GuidanceSettings object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: guidancesettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "guidancesettings.h"
|
||||
|
||||
// Private variables
|
||||
static UAVObjHandle handle;
|
||||
|
||||
// Private functions
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize object.
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t GuidanceSettingsInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(GUIDANCESETTINGS_OBJID, GUIDANCESETTINGS_NAME, GUIDANCESETTINGS_METANAME, 0,
|
||||
GUIDANCESETTINGS_ISSINGLEINST, GUIDANCESETTINGS_ISSETTINGS, GUIDANCESETTINGS_NUMBYTES, &setDefaults);
|
||||
|
||||
// Done
|
||||
if (handle != 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
GuidanceSettingsData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(GuidanceSettingsData));
|
||||
data.UpdatePeriod = 10;
|
||||
data.RollMax = 35;
|
||||
data.PitchMax = 35;
|
||||
data.PitchMin = -35;
|
||||
data.PitchRollEpsilon = 10;
|
||||
data.ThrottleMax = 1;
|
||||
data.ThrottleMin = 0;
|
||||
data.SpeedMax = 100;
|
||||
data.SpeedMin = 10;
|
||||
data.SpeedKp = 0.04;
|
||||
data.SpeedKi = 4e-06;
|
||||
data.SpeedKd = 0.01;
|
||||
data.EnergyKp = 0.04;
|
||||
data.EnergyKi = 4e-06;
|
||||
data.EnergyKd = 0.01;
|
||||
data.LateralKp = 0.04;
|
||||
data.LateralKi = 4e-06;
|
||||
data.LateralKd = 0.01;
|
||||
data.CourseKp = 0.04;
|
||||
data.CourseKi = 4e-06;
|
||||
data.CourseKd = 0.01;
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
// Initialize object metadata to their default values
|
||||
metadata.access = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.telemetryAcked = 1;
|
||||
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
||||
metadata.telemetryUpdatePeriod = 0;
|
||||
metadata.gcsTelemetryAcked = 1;
|
||||
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
|
||||
metadata.loggingUpdatePeriod = 0;
|
||||
UAVObjSetMetadata(obj, &metadata);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get object handle
|
||||
*/
|
||||
UAVObjHandle GuidanceSettingsHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,107 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup FlightSituationActual FlightSituationActual
|
||||
* @brief Currently unused
|
||||
*
|
||||
* Autogenerated files and functions for FlightSituationActual Object
|
||||
|
||||
* @{
|
||||
*
|
||||
* @file flightsituationactual.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the FlightSituationActual object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: flightsituationactual.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef FLIGHTSITUATIONACTUAL_H
|
||||
#define FLIGHTSITUATIONACTUAL_H
|
||||
|
||||
// Object constants
|
||||
#define FLIGHTSITUATIONACTUAL_OBJID 499301246U
|
||||
#define FLIGHTSITUATIONACTUAL_NAME "FlightSituationActual"
|
||||
#define FLIGHTSITUATIONACTUAL_METANAME "FlightSituationActualMeta"
|
||||
#define FLIGHTSITUATIONACTUAL_ISSINGLEINST 1
|
||||
#define FLIGHTSITUATIONACTUAL_ISSETTINGS 0
|
||||
#define FLIGHTSITUATIONACTUAL_NUMBYTES sizeof(FlightSituationActualData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function FlightSituationActualGet(dataOut)
|
||||
* @brief Populate a FlightSituationActualData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define FlightSituationActualGet(dataOut) UAVObjGetData(FlightSituationActualHandle(), dataOut)
|
||||
#define FlightSituationActualSet(dataIn) UAVObjSetData(FlightSituationActualHandle(), dataIn)
|
||||
#define FlightSituationActualInstGet(instId, dataOut) UAVObjGetInstanceData(FlightSituationActualHandle(), instId, dataOut)
|
||||
#define FlightSituationActualInstSet(instId, dataIn) UAVObjSetInstanceData(FlightSituationActualHandle(), instId, dataIn)
|
||||
#define FlightSituationActualConnectQueue(queue) UAVObjConnectQueue(FlightSituationActualHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define FlightSituationActualConnectCallback(cb) UAVObjConnectCallback(FlightSituationActualHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define FlightSituationActualCreateInstance() UAVObjCreateInstance(FlightSituationActualHandle())
|
||||
#define FlightSituationActualRequestUpdate() UAVObjRequestUpdate(FlightSituationActualHandle())
|
||||
#define FlightSituationActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(FlightSituationActualHandle(), instId)
|
||||
#define FlightSituationActualUpdated() UAVObjUpdated(FlightSituationActualHandle())
|
||||
#define FlightSituationActualInstUpdated(instId) UAVObjUpdated(FlightSituationActualHandle(), instId)
|
||||
#define FlightSituationActualGetMetadata(dataOut) UAVObjGetMetadata(FlightSituationActualHandle(), dataOut)
|
||||
#define FlightSituationActualSetMetadata(dataIn) UAVObjSetMetadata(FlightSituationActualHandle(), dataIn)
|
||||
#define FlightSituationActualReadOnly(dataIn) UAVObjReadOnly(FlightSituationActualHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
float Latitude;
|
||||
float Longitude;
|
||||
float Altitude;
|
||||
float ATG;
|
||||
float Climbrate;
|
||||
float Heading;
|
||||
float Airspeed;
|
||||
float Course;
|
||||
float Groundspeed;
|
||||
|
||||
} __attribute__((packed)) FlightSituationActualData;
|
||||
|
||||
// Field information
|
||||
// Field Latitude information
|
||||
// Field Longitude information
|
||||
// Field Altitude information
|
||||
// Field ATG information
|
||||
// Field Climbrate information
|
||||
// Field Heading information
|
||||
// Field Airspeed information
|
||||
// Field Course information
|
||||
// Field Groundspeed information
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t FlightSituationActualInitialize();
|
||||
UAVObjHandle FlightSituationActualHandle();
|
||||
|
||||
#endif // FLIGHTSITUATIONACTUAL_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,131 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup GuidanceSettings GuidanceSettings
|
||||
* @brief PID settings used by the Guidance module to combine the @ref PositionActual and @ref PositionDesired to compute @ref AttitudeDesired
|
||||
*
|
||||
* Autogenerated files and functions for GuidanceSettings Object
|
||||
|
||||
* @{
|
||||
*
|
||||
* @file guidancesettings.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the GuidanceSettings object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: guidancesettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef GUIDANCESETTINGS_H
|
||||
#define GUIDANCESETTINGS_H
|
||||
|
||||
// Object constants
|
||||
#define GUIDANCESETTINGS_OBJID 2093064904U
|
||||
#define GUIDANCESETTINGS_NAME "GuidanceSettings"
|
||||
#define GUIDANCESETTINGS_METANAME "GuidanceSettingsMeta"
|
||||
#define GUIDANCESETTINGS_ISSINGLEINST 1
|
||||
#define GUIDANCESETTINGS_ISSETTINGS 1
|
||||
#define GUIDANCESETTINGS_NUMBYTES sizeof(GuidanceSettingsData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function GuidanceSettingsGet(dataOut)
|
||||
* @brief Populate a GuidanceSettingsData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define GuidanceSettingsGet(dataOut) UAVObjGetData(GuidanceSettingsHandle(), dataOut)
|
||||
#define GuidanceSettingsSet(dataIn) UAVObjSetData(GuidanceSettingsHandle(), dataIn)
|
||||
#define GuidanceSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(GuidanceSettingsHandle(), instId, dataOut)
|
||||
#define GuidanceSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(GuidanceSettingsHandle(), instId, dataIn)
|
||||
#define GuidanceSettingsConnectQueue(queue) UAVObjConnectQueue(GuidanceSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define GuidanceSettingsConnectCallback(cb) UAVObjConnectCallback(GuidanceSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define GuidanceSettingsCreateInstance() UAVObjCreateInstance(GuidanceSettingsHandle())
|
||||
#define GuidanceSettingsRequestUpdate() UAVObjRequestUpdate(GuidanceSettingsHandle())
|
||||
#define GuidanceSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GuidanceSettingsHandle(), instId)
|
||||
#define GuidanceSettingsUpdated() UAVObjUpdated(GuidanceSettingsHandle())
|
||||
#define GuidanceSettingsInstUpdated(instId) UAVObjUpdated(GuidanceSettingsHandle(), instId)
|
||||
#define GuidanceSettingsGetMetadata(dataOut) UAVObjGetMetadata(GuidanceSettingsHandle(), dataOut)
|
||||
#define GuidanceSettingsSetMetadata(dataIn) UAVObjSetMetadata(GuidanceSettingsHandle(), dataIn)
|
||||
#define GuidanceSettingsReadOnly(dataIn) UAVObjReadOnly(GuidanceSettingsHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
uint16_t UpdatePeriod;
|
||||
float RollMax;
|
||||
float PitchMax;
|
||||
float PitchMin;
|
||||
float PitchRollEpsilon;
|
||||
float ThrottleMax;
|
||||
float ThrottleMin;
|
||||
float SpeedMax;
|
||||
float SpeedMin;
|
||||
float SpeedKp;
|
||||
float SpeedKi;
|
||||
float SpeedKd;
|
||||
float EnergyKp;
|
||||
float EnergyKi;
|
||||
float EnergyKd;
|
||||
float LateralKp;
|
||||
float LateralKi;
|
||||
float LateralKd;
|
||||
float CourseKp;
|
||||
float CourseKi;
|
||||
float CourseKd;
|
||||
|
||||
} __attribute__((packed)) GuidanceSettingsData;
|
||||
|
||||
// Field information
|
||||
// Field UpdatePeriod information
|
||||
// Field RollMax information
|
||||
// Field PitchMax information
|
||||
// Field PitchMin information
|
||||
// Field PitchRollEpsilon information
|
||||
// Field ThrottleMax information
|
||||
// Field ThrottleMin information
|
||||
// Field SpeedMax information
|
||||
// Field SpeedMin information
|
||||
// Field SpeedKp information
|
||||
// Field SpeedKi information
|
||||
// Field SpeedKd information
|
||||
// Field EnergyKp information
|
||||
// Field EnergyKi information
|
||||
// Field EnergyKd information
|
||||
// Field LateralKp information
|
||||
// Field LateralKi information
|
||||
// Field LateralKd information
|
||||
// Field CourseKp information
|
||||
// Field CourseKi information
|
||||
// Field CourseKd information
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t GuidanceSettingsInitialize();
|
||||
UAVObjHandle GuidanceSettingsHandle();
|
||||
|
||||
#endif // GUIDANCESETTINGS_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,97 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup NavigationDesired NavigationDesired
|
||||
* @brief Currently unused
|
||||
*
|
||||
* Autogenerated files and functions for NavigationDesired Object
|
||||
|
||||
* @{
|
||||
*
|
||||
* @file navigationdesired.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the NavigationDesired object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: navigationdesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef NAVIGATIONDESIRED_H
|
||||
#define NAVIGATIONDESIRED_H
|
||||
|
||||
// Object constants
|
||||
#define NAVIGATIONDESIRED_OBJID 2357718118U
|
||||
#define NAVIGATIONDESIRED_NAME "NavigationDesired"
|
||||
#define NAVIGATIONDESIRED_METANAME "NavigationDesiredMeta"
|
||||
#define NAVIGATIONDESIRED_ISSINGLEINST 1
|
||||
#define NAVIGATIONDESIRED_ISSETTINGS 0
|
||||
#define NAVIGATIONDESIRED_NUMBYTES sizeof(NavigationDesiredData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function NavigationDesiredGet(dataOut)
|
||||
* @brief Populate a NavigationDesiredData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define NavigationDesiredGet(dataOut) UAVObjGetData(NavigationDesiredHandle(), dataOut)
|
||||
#define NavigationDesiredSet(dataIn) UAVObjSetData(NavigationDesiredHandle(), dataIn)
|
||||
#define NavigationDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(NavigationDesiredHandle(), instId, dataOut)
|
||||
#define NavigationDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(NavigationDesiredHandle(), instId, dataIn)
|
||||
#define NavigationDesiredConnectQueue(queue) UAVObjConnectQueue(NavigationDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define NavigationDesiredConnectCallback(cb) UAVObjConnectCallback(NavigationDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define NavigationDesiredCreateInstance() UAVObjCreateInstance(NavigationDesiredHandle())
|
||||
#define NavigationDesiredRequestUpdate() UAVObjRequestUpdate(NavigationDesiredHandle())
|
||||
#define NavigationDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(NavigationDesiredHandle(), instId)
|
||||
#define NavigationDesiredUpdated() UAVObjUpdated(NavigationDesiredHandle())
|
||||
#define NavigationDesiredInstUpdated(instId) UAVObjUpdated(NavigationDesiredHandle(), instId)
|
||||
#define NavigationDesiredGetMetadata(dataOut) UAVObjGetMetadata(NavigationDesiredHandle(), dataOut)
|
||||
#define NavigationDesiredSetMetadata(dataIn) UAVObjSetMetadata(NavigationDesiredHandle(), dataIn)
|
||||
#define NavigationDesiredReadOnly(dataIn) UAVObjReadOnly(NavigationDesiredHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
float Latitude;
|
||||
float Longitude;
|
||||
float Altitude;
|
||||
float Speed;
|
||||
|
||||
} __attribute__((packed)) NavigationDesiredData;
|
||||
|
||||
// Field information
|
||||
// Field Latitude information
|
||||
// Field Longitude information
|
||||
// Field Altitude information
|
||||
// Field Speed information
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t NavigationDesiredInitialize();
|
||||
UAVObjHandle NavigationDesiredHandle();
|
||||
|
||||
#endif // NAVIGATIONDESIRED_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,105 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup NavigationSettings NavigationSettings
|
||||
* @brief Settings for Navigation. Currently unused.
|
||||
*
|
||||
* Autogenerated files and functions for NavigationSettings Object
|
||||
|
||||
* @{
|
||||
*
|
||||
* @file navigationsettings.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the NavigationSettings object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: navigationsettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef NAVIGATIONSETTINGS_H
|
||||
#define NAVIGATIONSETTINGS_H
|
||||
|
||||
// Object constants
|
||||
#define NAVIGATIONSETTINGS_OBJID 1350892244U
|
||||
#define NAVIGATIONSETTINGS_NAME "NavigationSettings"
|
||||
#define NAVIGATIONSETTINGS_METANAME "NavigationSettingsMeta"
|
||||
#define NAVIGATIONSETTINGS_ISSINGLEINST 1
|
||||
#define NAVIGATIONSETTINGS_ISSETTINGS 1
|
||||
#define NAVIGATIONSETTINGS_NUMBYTES sizeof(NavigationSettingsData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function NavigationSettingsGet(dataOut)
|
||||
* @brief Populate a NavigationSettingsData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define NavigationSettingsGet(dataOut) UAVObjGetData(NavigationSettingsHandle(), dataOut)
|
||||
#define NavigationSettingsSet(dataIn) UAVObjSetData(NavigationSettingsHandle(), dataIn)
|
||||
#define NavigationSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(NavigationSettingsHandle(), instId, dataOut)
|
||||
#define NavigationSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(NavigationSettingsHandle(), instId, dataIn)
|
||||
#define NavigationSettingsConnectQueue(queue) UAVObjConnectQueue(NavigationSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define NavigationSettingsConnectCallback(cb) UAVObjConnectCallback(NavigationSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define NavigationSettingsCreateInstance() UAVObjCreateInstance(NavigationSettingsHandle())
|
||||
#define NavigationSettingsRequestUpdate() UAVObjRequestUpdate(NavigationSettingsHandle())
|
||||
#define NavigationSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(NavigationSettingsHandle(), instId)
|
||||
#define NavigationSettingsUpdated() UAVObjUpdated(NavigationSettingsHandle())
|
||||
#define NavigationSettingsInstUpdated(instId) UAVObjUpdated(NavigationSettingsHandle(), instId)
|
||||
#define NavigationSettingsGetMetadata(dataOut) UAVObjGetMetadata(NavigationSettingsHandle(), dataOut)
|
||||
#define NavigationSettingsSetMetadata(dataIn) UAVObjSetMetadata(NavigationSettingsHandle(), dataIn)
|
||||
#define NavigationSettingsReadOnly(dataIn) UAVObjReadOnly(NavigationSettingsHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
uint16_t UpdatePeriod;
|
||||
float AccelerationMax;
|
||||
float SpeedMax;
|
||||
float SpeedSafe;
|
||||
float SpeedMin;
|
||||
float SettleTime;
|
||||
float TurnSpeedFactor;
|
||||
float StabilizationForceFactor;
|
||||
|
||||
} __attribute__((packed)) NavigationSettingsData;
|
||||
|
||||
// Field information
|
||||
// Field UpdatePeriod information
|
||||
// Field AccelerationMax information
|
||||
// Field SpeedMax information
|
||||
// Field SpeedSafe information
|
||||
// Field SpeedMin information
|
||||
// Field SettleTime information
|
||||
// Field TurnSpeedFactor information
|
||||
// Field StabilizationForceFactor information
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t NavigationSettingsInitialize();
|
||||
UAVObjHandle NavigationSettingsHandle();
|
||||
|
||||
#endif // NAVIGATIONSETTINGS_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,97 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup PositionDesired PositionDesired
|
||||
* @brief The desired position that @ref GuidanceModule will try and achieve if FlightMode is Auto. Comes from @ref PathPlannerModule.
|
||||
*
|
||||
* Autogenerated files and functions for PositionDesired Object
|
||||
|
||||
* @{
|
||||
*
|
||||
* @file positiondesired.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the PositionDesired object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: positiondesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#ifndef POSITIONDESIRED_H
|
||||
#define POSITIONDESIRED_H
|
||||
|
||||
// Object constants
|
||||
#define POSITIONDESIRED_OBJID 2182398544U
|
||||
#define POSITIONDESIRED_NAME "PositionDesired"
|
||||
#define POSITIONDESIRED_METANAME "PositionDesiredMeta"
|
||||
#define POSITIONDESIRED_ISSINGLEINST 1
|
||||
#define POSITIONDESIRED_ISSETTINGS 0
|
||||
#define POSITIONDESIRED_NUMBYTES sizeof(PositionDesiredData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function PositionDesiredGet(dataOut)
|
||||
* @brief Populate a PositionDesiredData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define PositionDesiredGet(dataOut) UAVObjGetData(PositionDesiredHandle(), dataOut)
|
||||
#define PositionDesiredSet(dataIn) UAVObjSetData(PositionDesiredHandle(), dataIn)
|
||||
#define PositionDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(PositionDesiredHandle(), instId, dataOut)
|
||||
#define PositionDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(PositionDesiredHandle(), instId, dataIn)
|
||||
#define PositionDesiredConnectQueue(queue) UAVObjConnectQueue(PositionDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define PositionDesiredConnectCallback(cb) UAVObjConnectCallback(PositionDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define PositionDesiredCreateInstance() UAVObjCreateInstance(PositionDesiredHandle())
|
||||
#define PositionDesiredRequestUpdate() UAVObjRequestUpdate(PositionDesiredHandle())
|
||||
#define PositionDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(PositionDesiredHandle(), instId)
|
||||
#define PositionDesiredUpdated() UAVObjUpdated(PositionDesiredHandle())
|
||||
#define PositionDesiredInstUpdated(instId) UAVObjUpdated(PositionDesiredHandle(), instId)
|
||||
#define PositionDesiredGetMetadata(dataOut) UAVObjGetMetadata(PositionDesiredHandle(), dataOut)
|
||||
#define PositionDesiredSetMetadata(dataIn) UAVObjSetMetadata(PositionDesiredHandle(), dataIn)
|
||||
#define PositionDesiredReadOnly(dataIn) UAVObjReadOnly(PositionDesiredHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
float NED[3];
|
||||
float Heading;
|
||||
float Groundspeed;
|
||||
|
||||
} __attribute__((packed)) PositionDesiredData;
|
||||
|
||||
// Field information
|
||||
// Field NED information
|
||||
/* Number of elements for field NED */
|
||||
#define POSITIONDESIRED_NED_NUMELEM 3
|
||||
// Field Heading information
|
||||
// Field Groundspeed information
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t PositionDesiredInitialize();
|
||||
UAVObjHandle PositionDesiredHandle();
|
||||
|
||||
#endif // POSITIONDESIRED_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
||||
@ -1,111 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup NavigationDesired NavigationDesired
|
||||
* @brief Currently unused
|
||||
*
|
||||
* Autogenerated files and functions for NavigationDesired Object
|
||||
* @{
|
||||
*
|
||||
* @file navigationdesired.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the NavigationDesired object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: navigationdesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "navigationdesired.h"
|
||||
|
||||
// Private variables
|
||||
static UAVObjHandle handle;
|
||||
|
||||
// Private functions
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize object.
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t NavigationDesiredInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(NAVIGATIONDESIRED_OBJID, NAVIGATIONDESIRED_NAME, NAVIGATIONDESIRED_METANAME, 0,
|
||||
NAVIGATIONDESIRED_ISSINGLEINST, NAVIGATIONDESIRED_ISSETTINGS, NAVIGATIONDESIRED_NUMBYTES, &setDefaults);
|
||||
|
||||
// Done
|
||||
if (handle != 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
NavigationDesiredData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(NavigationDesiredData));
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
// Initialize object metadata to their default values
|
||||
metadata.access = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.telemetryAcked = 0;
|
||||
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
|
||||
metadata.telemetryUpdatePeriod = 1000;
|
||||
metadata.gcsTelemetryAcked = 0;
|
||||
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
|
||||
metadata.loggingUpdatePeriod = 0;
|
||||
UAVObjSetMetadata(obj, &metadata);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get object handle
|
||||
*/
|
||||
UAVObjHandle NavigationDesiredHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,119 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup NavigationSettings NavigationSettings
|
||||
* @brief Settings for Navigation. Currently unused.
|
||||
*
|
||||
* Autogenerated files and functions for NavigationSettings Object
|
||||
* @{
|
||||
*
|
||||
* @file navigationsettings.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the NavigationSettings object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: navigationsettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "navigationsettings.h"
|
||||
|
||||
// Private variables
|
||||
static UAVObjHandle handle;
|
||||
|
||||
// Private functions
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize object.
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t NavigationSettingsInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(NAVIGATIONSETTINGS_OBJID, NAVIGATIONSETTINGS_NAME, NAVIGATIONSETTINGS_METANAME, 0,
|
||||
NAVIGATIONSETTINGS_ISSINGLEINST, NAVIGATIONSETTINGS_ISSETTINGS, NAVIGATIONSETTINGS_NUMBYTES, &setDefaults);
|
||||
|
||||
// Done
|
||||
if (handle != 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
NavigationSettingsData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(NavigationSettingsData));
|
||||
data.UpdatePeriod = 100;
|
||||
data.AccelerationMax = 35;
|
||||
data.SpeedMax = 300;
|
||||
data.SpeedSafe = 100;
|
||||
data.SpeedMin = 70;
|
||||
data.SettleTime = 12;
|
||||
data.TurnSpeedFactor = 0.1;
|
||||
data.StabilizationForceFactor = 4;
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
// Initialize object metadata to their default values
|
||||
metadata.access = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.telemetryAcked = 1;
|
||||
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
||||
metadata.telemetryUpdatePeriod = 0;
|
||||
metadata.gcsTelemetryAcked = 1;
|
||||
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
|
||||
metadata.loggingUpdatePeriod = 0;
|
||||
UAVObjSetMetadata(obj, &metadata);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get object handle
|
||||
*/
|
||||
UAVObjHandle NavigationSettingsHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -1,111 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup PositionDesired PositionDesired
|
||||
* @brief The desired position that @ref GuidanceModule will try and achieve if FlightMode is Auto. Comes from @ref PathPlannerModule.
|
||||
*
|
||||
* Autogenerated files and functions for PositionDesired Object
|
||||
* @{
|
||||
*
|
||||
* @file positiondesired.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the PositionDesired object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: positiondesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
*
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
|
||||
#include "openpilot.h"
|
||||
#include "positiondesired.h"
|
||||
|
||||
// Private variables
|
||||
static UAVObjHandle handle;
|
||||
|
||||
// Private functions
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
||||
|
||||
/**
|
||||
* Initialize object.
|
||||
* \return 0 Success
|
||||
* \return -1 Failure
|
||||
*/
|
||||
int32_t PositionDesiredInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(POSITIONDESIRED_OBJID, POSITIONDESIRED_NAME, POSITIONDESIRED_METANAME, 0,
|
||||
POSITIONDESIRED_ISSINGLEINST, POSITIONDESIRED_ISSETTINGS, POSITIONDESIRED_NUMBYTES, &setDefaults);
|
||||
|
||||
// Done
|
||||
if (handle != 0)
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Initialize object fields and metadata with the default values.
|
||||
* If a default value is not specified the object fields
|
||||
* will be initialized to zero.
|
||||
*/
|
||||
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
{
|
||||
PositionDesiredData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(PositionDesiredData));
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
// Initialize object metadata to their default values
|
||||
metadata.access = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.telemetryAcked = 0;
|
||||
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
|
||||
metadata.telemetryUpdatePeriod = 1000;
|
||||
metadata.gcsTelemetryAcked = 0;
|
||||
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
|
||||
metadata.loggingUpdatePeriod = 0;
|
||||
UAVObjSetMetadata(obj, &metadata);
|
||||
}
|
||||
|
||||
/**
|
||||
* Get object handle
|
||||
*/
|
||||
UAVObjHandle PositionDesiredHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
@ -43,23 +43,18 @@
|
||||
#include "exampleobject2.h"
|
||||
#include "examplesettings.h"
|
||||
#include "flightbatterystate.h"
|
||||
#include "flightsituationactual.h"
|
||||
#include "flighttelemetrystats.h"
|
||||
#include "gcstelemetrystats.h"
|
||||
#include "gpsposition.h"
|
||||
#include "gpssatellites.h"
|
||||
#include "gpstime.h"
|
||||
#include "guidancesettings.h"
|
||||
#include "homelocation.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
#include "mixerstatus.h"
|
||||
#include "navigationdesired.h"
|
||||
#include "navigationsettings.h"
|
||||
#include "objectpersistence.h"
|
||||
#include "positionactual.h"
|
||||
#include "positiondesired.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "systemalarms.h"
|
||||
#include "systemsettings.h"
|
||||
@ -90,23 +85,18 @@ void UAVObjectsInitializeAll()
|
||||
ExampleObject2Initialize();
|
||||
ExampleSettingsInitialize();
|
||||
FlightBatteryStateInitialize();
|
||||
FlightSituationActualInitialize();
|
||||
FlightTelemetryStatsInitialize();
|
||||
GCSTelemetryStatsInitialize();
|
||||
GPSPositionInitialize();
|
||||
GPSSatellitesInitialize();
|
||||
GPSTimeInitialize();
|
||||
GuidanceSettingsInitialize();
|
||||
HomeLocationInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
ManualControlSettingsInitialize();
|
||||
MixerSettingsInitialize();
|
||||
MixerStatusInitialize();
|
||||
NavigationDesiredInitialize();
|
||||
NavigationSettingsInitialize();
|
||||
ObjectPersistenceInitialize();
|
||||
PositionActualInitialize();
|
||||
PositionDesiredInitialize();
|
||||
StabilizationSettingsInitialize();
|
||||
SystemAlarmsInitialize();
|
||||
SystemSettingsInitialize();
|
||||
|
||||
@ -1,152 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file flightsituationactual.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: flightsituationactual.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "flightsituationactual.h"
|
||||
#include "uavobjectfield.h"
|
||||
|
||||
const QString FlightSituationActual::NAME = QString("FlightSituationActual");
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
FlightSituationActual::FlightSituationActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
|
||||
{
|
||||
// Create fields
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList LatitudeElemNames;
|
||||
LatitudeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Latitude"), QString("degrees"), UAVObjectField::FLOAT32, LatitudeElemNames, QStringList()) );
|
||||
QStringList LongitudeElemNames;
|
||||
LongitudeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Longitude"), QString("degrees"), UAVObjectField::FLOAT32, LongitudeElemNames, QStringList()) );
|
||||
QStringList AltitudeElemNames;
|
||||
AltitudeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
|
||||
QStringList ATGElemNames;
|
||||
ATGElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("ATG"), QString("meters"), UAVObjectField::FLOAT32, ATGElemNames, QStringList()) );
|
||||
QStringList ClimbrateElemNames;
|
||||
ClimbrateElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Climbrate"), QString("m/s"), UAVObjectField::FLOAT32, ClimbrateElemNames, QStringList()) );
|
||||
QStringList HeadingElemNames;
|
||||
HeadingElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );
|
||||
QStringList AirspeedElemNames;
|
||||
AirspeedElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Airspeed"), QString("m/s"), UAVObjectField::FLOAT32, AirspeedElemNames, QStringList()) );
|
||||
QStringList CourseElemNames;
|
||||
CourseElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Course"), QString("degrees"), UAVObjectField::FLOAT32, CourseElemNames, QStringList()) );
|
||||
QStringList GroundspeedElemNames;
|
||||
GroundspeedElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Groundspeed"), QString("m/s"), UAVObjectField::FLOAT32, GroundspeedElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default metadata for this object
|
||||
*/
|
||||
UAVObject::Metadata FlightSituationActual::getDefaultMetadata()
|
||||
{
|
||||
UAVObject::Metadata metadata;
|
||||
metadata.flightAccess = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.gcsTelemetryAcked = 0;
|
||||
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.flightTelemetryAcked = 0;
|
||||
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
|
||||
metadata.flightTelemetryUpdatePeriod = 1000;
|
||||
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
|
||||
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.
|
||||
*/
|
||||
void FlightSituationActual::setDefaultFieldValues()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the object data fields
|
||||
*/
|
||||
FlightSituationActual::DataFields FlightSituationActual::getData()
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
return data;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the object data fields
|
||||
*/
|
||||
void FlightSituationActual::setData(const DataFields& data)
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
// Get metadata
|
||||
Metadata mdata = getMetadata();
|
||||
// Update object if the access mode permits
|
||||
if ( mdata.gcsAccess == ACCESS_READWRITE )
|
||||
{
|
||||
this->data = data;
|
||||
emit objectUpdatedAuto(this); // trigger object updated event
|
||||
emit objectUpdated(this);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
UAVDataObject* FlightSituationActual::clone(quint32 instID)
|
||||
{
|
||||
FlightSituationActual* obj = new FlightSituationActual();
|
||||
obj->initialize(instID, this->getMetaObject());
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
FlightSituationActual* FlightSituationActual::GetInstance(UAVObjectManager* objMngr, quint32 instID)
|
||||
{
|
||||
return dynamic_cast<FlightSituationActual*>(objMngr->getObject(FlightSituationActual::OBJID, instID));
|
||||
}
|
||||
@ -1,94 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file flightsituationactual.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: flightsituationactual.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
#ifndef FLIGHTSITUATIONACTUAL_H
|
||||
#define FLIGHTSITUATIONACTUAL_H
|
||||
|
||||
#include "uavdataobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
class UAVOBJECTS_EXPORT FlightSituationActual: public UAVDataObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
// Field structure
|
||||
typedef struct {
|
||||
float Latitude;
|
||||
float Longitude;
|
||||
float Altitude;
|
||||
float ATG;
|
||||
float Climbrate;
|
||||
float Heading;
|
||||
float Airspeed;
|
||||
float Course;
|
||||
float Groundspeed;
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
// Field information
|
||||
// Field Latitude information
|
||||
// Field Longitude information
|
||||
// Field Altitude information
|
||||
// Field ATG information
|
||||
// Field Climbrate information
|
||||
// Field Heading information
|
||||
// Field Airspeed information
|
||||
// Field Course information
|
||||
// Field Groundspeed information
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 499301246U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 0;
|
||||
static const quint32 NUMBYTES = sizeof(DataFields);
|
||||
|
||||
// Functions
|
||||
FlightSituationActual();
|
||||
|
||||
DataFields getData();
|
||||
void setData(const DataFields& data);
|
||||
Metadata getDefaultMetadata();
|
||||
UAVDataObject* clone(quint32 instID);
|
||||
|
||||
static FlightSituationActual* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
||||
|
||||
private:
|
||||
DataFields data;
|
||||
|
||||
void setDefaultFieldValues();
|
||||
|
||||
};
|
||||
|
||||
#endif // FLIGHTSITUATIONACTUAL_H
|
||||
@ -1,166 +0,0 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file flightsituationactual.py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the FlightSituationActual object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator.
|
||||
#
|
||||
# @note Object definition file: flightsituationactual.xml.
|
||||
# This is an automatically generated file.
|
||||
# DO NOT modify manually.
|
||||
#
|
||||
# @see The GNU Public License (GPL) Version 3
|
||||
#
|
||||
#############################################################################/
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
|
||||
import uavobject
|
||||
|
||||
import struct
|
||||
from collections import namedtuple
|
||||
|
||||
# This is a list of instances of the data fields contained in this object
|
||||
_fields = [ \
|
||||
uavobject.UAVObjectField(
|
||||
'Latitude',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Longitude',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Altitude',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ATG',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Climbrate',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Heading',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Airspeed',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Course',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Groundspeed',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
class FlightSituationActual(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 499301246
|
||||
NAME = "FlightSituationActual"
|
||||
METANAME = "FlightSituationActualMeta"
|
||||
ISSINGLEINST = 1
|
||||
ISSETTINGS = 0
|
||||
|
||||
def __init__(self):
|
||||
uavobject.UAVObject.__init__(self,
|
||||
self.OBJID,
|
||||
self.NAME,
|
||||
self.METANAME,
|
||||
0,
|
||||
self.ISSINGLEINST)
|
||||
|
||||
for f in _fields:
|
||||
self.add_field(f)
|
||||
|
||||
def __str__(self):
|
||||
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
|
||||
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
|
||||
for f in self.get_tuple()._fields:
|
||||
s += ("\t%s\n" % f)
|
||||
return (s)
|
||||
|
||||
def main():
|
||||
# Instantiate the object and dump out some interesting info
|
||||
x = FlightSituationActual()
|
||||
print (x)
|
||||
|
||||
if __name__ == "__main__":
|
||||
#import pdb ; pdb.run('main()')
|
||||
main()
|
||||
@ -1,209 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file guidancesettings.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: guidancesettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "guidancesettings.h"
|
||||
#include "uavobjectfield.h"
|
||||
|
||||
const QString GuidanceSettings::NAME = QString("GuidanceSettings");
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
GuidanceSettings::GuidanceSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
|
||||
{
|
||||
// Create fields
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList UpdatePeriodElemNames;
|
||||
UpdatePeriodElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT16, UpdatePeriodElemNames, QStringList()) );
|
||||
QStringList RollMaxElemNames;
|
||||
RollMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::FLOAT32, RollMaxElemNames, QStringList()) );
|
||||
QStringList PitchMaxElemNames;
|
||||
PitchMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchMax"), QString("degrees"), UAVObjectField::FLOAT32, PitchMaxElemNames, QStringList()) );
|
||||
QStringList PitchMinElemNames;
|
||||
PitchMinElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchMin"), QString("degrees"), UAVObjectField::FLOAT32, PitchMinElemNames, QStringList()) );
|
||||
QStringList PitchRollEpsilonElemNames;
|
||||
PitchRollEpsilonElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchRollEpsilon"), QString("degrees"), UAVObjectField::FLOAT32, PitchRollEpsilonElemNames, QStringList()) );
|
||||
QStringList ThrottleMaxElemNames;
|
||||
ThrottleMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("ThrottleMax"), QString("%"), UAVObjectField::FLOAT32, ThrottleMaxElemNames, QStringList()) );
|
||||
QStringList ThrottleMinElemNames;
|
||||
ThrottleMinElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("ThrottleMin"), QString("%"), UAVObjectField::FLOAT32, ThrottleMinElemNames, QStringList()) );
|
||||
QStringList SpeedMaxElemNames;
|
||||
SpeedMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedMax"), QString("m/s"), UAVObjectField::FLOAT32, SpeedMaxElemNames, QStringList()) );
|
||||
QStringList SpeedMinElemNames;
|
||||
SpeedMinElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedMin"), QString("m/s"), UAVObjectField::FLOAT32, SpeedMinElemNames, QStringList()) );
|
||||
QStringList SpeedKpElemNames;
|
||||
SpeedKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedKp"), QString(""), UAVObjectField::FLOAT32, SpeedKpElemNames, QStringList()) );
|
||||
QStringList SpeedKiElemNames;
|
||||
SpeedKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedKi"), QString(""), UAVObjectField::FLOAT32, SpeedKiElemNames, QStringList()) );
|
||||
QStringList SpeedKdElemNames;
|
||||
SpeedKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedKd"), QString(""), UAVObjectField::FLOAT32, SpeedKdElemNames, QStringList()) );
|
||||
QStringList EnergyKpElemNames;
|
||||
EnergyKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("EnergyKp"), QString(""), UAVObjectField::FLOAT32, EnergyKpElemNames, QStringList()) );
|
||||
QStringList EnergyKiElemNames;
|
||||
EnergyKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("EnergyKi"), QString(""), UAVObjectField::FLOAT32, EnergyKiElemNames, QStringList()) );
|
||||
QStringList EnergyKdElemNames;
|
||||
EnergyKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("EnergyKd"), QString(""), UAVObjectField::FLOAT32, EnergyKdElemNames, QStringList()) );
|
||||
QStringList LateralKpElemNames;
|
||||
LateralKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("LateralKp"), QString(""), UAVObjectField::FLOAT32, LateralKpElemNames, QStringList()) );
|
||||
QStringList LateralKiElemNames;
|
||||
LateralKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("LateralKi"), QString(""), UAVObjectField::FLOAT32, LateralKiElemNames, QStringList()) );
|
||||
QStringList LateralKdElemNames;
|
||||
LateralKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("LateralKd"), QString(""), UAVObjectField::FLOAT32, LateralKdElemNames, QStringList()) );
|
||||
QStringList CourseKpElemNames;
|
||||
CourseKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("CourseKp"), QString(""), UAVObjectField::FLOAT32, CourseKpElemNames, QStringList()) );
|
||||
QStringList CourseKiElemNames;
|
||||
CourseKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("CourseKi"), QString(""), UAVObjectField::FLOAT32, CourseKiElemNames, QStringList()) );
|
||||
QStringList CourseKdElemNames;
|
||||
CourseKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("CourseKd"), QString(""), UAVObjectField::FLOAT32, CourseKdElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default metadata for this object
|
||||
*/
|
||||
UAVObject::Metadata GuidanceSettings::getDefaultMetadata()
|
||||
{
|
||||
UAVObject::Metadata metadata;
|
||||
metadata.flightAccess = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.gcsTelemetryAcked = 1;
|
||||
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.flightTelemetryAcked = 1;
|
||||
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
metadata.flightTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
|
||||
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.
|
||||
*/
|
||||
void GuidanceSettings::setDefaultFieldValues()
|
||||
{
|
||||
data.UpdatePeriod = 10;
|
||||
data.RollMax = 35;
|
||||
data.PitchMax = 35;
|
||||
data.PitchMin = -35;
|
||||
data.PitchRollEpsilon = 10;
|
||||
data.ThrottleMax = 1;
|
||||
data.ThrottleMin = 0;
|
||||
data.SpeedMax = 100;
|
||||
data.SpeedMin = 10;
|
||||
data.SpeedKp = 0.04;
|
||||
data.SpeedKi = 4e-06;
|
||||
data.SpeedKd = 0.01;
|
||||
data.EnergyKp = 0.04;
|
||||
data.EnergyKi = 4e-06;
|
||||
data.EnergyKd = 0.01;
|
||||
data.LateralKp = 0.04;
|
||||
data.LateralKi = 4e-06;
|
||||
data.LateralKd = 0.01;
|
||||
data.CourseKp = 0.04;
|
||||
data.CourseKi = 4e-06;
|
||||
data.CourseKd = 0.01;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the object data fields
|
||||
*/
|
||||
GuidanceSettings::DataFields GuidanceSettings::getData()
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
return data;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the object data fields
|
||||
*/
|
||||
void GuidanceSettings::setData(const DataFields& data)
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
// Get metadata
|
||||
Metadata mdata = getMetadata();
|
||||
// Update object if the access mode permits
|
||||
if ( mdata.gcsAccess == ACCESS_READWRITE )
|
||||
{
|
||||
this->data = data;
|
||||
emit objectUpdatedAuto(this); // trigger object updated event
|
||||
emit objectUpdated(this);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
UAVDataObject* GuidanceSettings::clone(quint32 instID)
|
||||
{
|
||||
GuidanceSettings* obj = new GuidanceSettings();
|
||||
obj->initialize(instID, this->getMetaObject());
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
GuidanceSettings* GuidanceSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
|
||||
{
|
||||
return dynamic_cast<GuidanceSettings*>(objMngr->getObject(GuidanceSettings::OBJID, instID));
|
||||
}
|
||||
@ -1,118 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file guidancesettings.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: guidancesettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
#ifndef GUIDANCESETTINGS_H
|
||||
#define GUIDANCESETTINGS_H
|
||||
|
||||
#include "uavdataobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
class UAVOBJECTS_EXPORT GuidanceSettings: public UAVDataObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
// Field structure
|
||||
typedef struct {
|
||||
quint16 UpdatePeriod;
|
||||
float RollMax;
|
||||
float PitchMax;
|
||||
float PitchMin;
|
||||
float PitchRollEpsilon;
|
||||
float ThrottleMax;
|
||||
float ThrottleMin;
|
||||
float SpeedMax;
|
||||
float SpeedMin;
|
||||
float SpeedKp;
|
||||
float SpeedKi;
|
||||
float SpeedKd;
|
||||
float EnergyKp;
|
||||
float EnergyKi;
|
||||
float EnergyKd;
|
||||
float LateralKp;
|
||||
float LateralKi;
|
||||
float LateralKd;
|
||||
float CourseKp;
|
||||
float CourseKi;
|
||||
float CourseKd;
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
// Field information
|
||||
// Field UpdatePeriod information
|
||||
// Field RollMax information
|
||||
// Field PitchMax information
|
||||
// Field PitchMin information
|
||||
// Field PitchRollEpsilon information
|
||||
// Field ThrottleMax information
|
||||
// Field ThrottleMin information
|
||||
// Field SpeedMax information
|
||||
// Field SpeedMin information
|
||||
// Field SpeedKp information
|
||||
// Field SpeedKi information
|
||||
// Field SpeedKd information
|
||||
// Field EnergyKp information
|
||||
// Field EnergyKi information
|
||||
// Field EnergyKd information
|
||||
// Field LateralKp information
|
||||
// Field LateralKi information
|
||||
// Field LateralKd information
|
||||
// Field CourseKp information
|
||||
// Field CourseKi information
|
||||
// Field CourseKd information
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 2093064904U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 1;
|
||||
static const quint32 NUMBYTES = sizeof(DataFields);
|
||||
|
||||
// Functions
|
||||
GuidanceSettings();
|
||||
|
||||
DataFields getData();
|
||||
void setData(const DataFields& data);
|
||||
Metadata getDefaultMetadata();
|
||||
UAVDataObject* clone(quint32 instID);
|
||||
|
||||
static GuidanceSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
||||
|
||||
private:
|
||||
DataFields data;
|
||||
|
||||
void setDefaultFieldValues();
|
||||
|
||||
};
|
||||
|
||||
#endif // GUIDANCESETTINGS_H
|
||||
@ -1,286 +0,0 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file guidancesettings.py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the GuidanceSettings object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator.
|
||||
#
|
||||
# @note Object definition file: guidancesettings.xml.
|
||||
# This is an automatically generated file.
|
||||
# DO NOT modify manually.
|
||||
#
|
||||
# @see The GNU Public License (GPL) Version 3
|
||||
#
|
||||
#############################################################################/
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
|
||||
import uavobject
|
||||
|
||||
import struct
|
||||
from collections import namedtuple
|
||||
|
||||
# This is a list of instances of the data fields contained in this object
|
||||
_fields = [ \
|
||||
uavobject.UAVObjectField(
|
||||
'UpdatePeriod',
|
||||
'H',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollMax',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchMax',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchMin',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchRollEpsilon',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ThrottleMax',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ThrottleMin',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedMax',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedMin',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedKp',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedKi',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedKd',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'EnergyKp',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'EnergyKi',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'EnergyKd',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'LateralKp',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'LateralKi',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'LateralKd',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'CourseKp',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'CourseKi',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'CourseKd',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
class GuidanceSettings(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 2093064904
|
||||
NAME = "GuidanceSettings"
|
||||
METANAME = "GuidanceSettingsMeta"
|
||||
ISSINGLEINST = 1
|
||||
ISSETTINGS = 1
|
||||
|
||||
def __init__(self):
|
||||
uavobject.UAVObject.__init__(self,
|
||||
self.OBJID,
|
||||
self.NAME,
|
||||
self.METANAME,
|
||||
0,
|
||||
self.ISSINGLEINST)
|
||||
|
||||
for f in _fields:
|
||||
self.add_field(f)
|
||||
|
||||
def __str__(self):
|
||||
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
|
||||
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
|
||||
for f in self.get_tuple()._fields:
|
||||
s += ("\t%s\n" % f)
|
||||
return (s)
|
||||
|
||||
def main():
|
||||
# Instantiate the object and dump out some interesting info
|
||||
x = GuidanceSettings()
|
||||
print (x)
|
||||
|
||||
if __name__ == "__main__":
|
||||
#import pdb ; pdb.run('main()')
|
||||
main()
|
||||
@ -1,137 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file navigationdesired.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: navigationdesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "navigationdesired.h"
|
||||
#include "uavobjectfield.h"
|
||||
|
||||
const QString NavigationDesired::NAME = QString("NavigationDesired");
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
NavigationDesired::NavigationDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
|
||||
{
|
||||
// Create fields
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList LatitudeElemNames;
|
||||
LatitudeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Latitude"), QString("degrees"), UAVObjectField::FLOAT32, LatitudeElemNames, QStringList()) );
|
||||
QStringList LongitudeElemNames;
|
||||
LongitudeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Longitude"), QString("degrees"), UAVObjectField::FLOAT32, LongitudeElemNames, QStringList()) );
|
||||
QStringList AltitudeElemNames;
|
||||
AltitudeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
|
||||
QStringList SpeedElemNames;
|
||||
SpeedElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Speed"), QString("m/s"), UAVObjectField::FLOAT32, SpeedElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default metadata for this object
|
||||
*/
|
||||
UAVObject::Metadata NavigationDesired::getDefaultMetadata()
|
||||
{
|
||||
UAVObject::Metadata metadata;
|
||||
metadata.flightAccess = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.gcsTelemetryAcked = 0;
|
||||
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.flightTelemetryAcked = 0;
|
||||
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
|
||||
metadata.flightTelemetryUpdatePeriod = 1000;
|
||||
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
|
||||
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.
|
||||
*/
|
||||
void NavigationDesired::setDefaultFieldValues()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the object data fields
|
||||
*/
|
||||
NavigationDesired::DataFields NavigationDesired::getData()
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
return data;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the object data fields
|
||||
*/
|
||||
void NavigationDesired::setData(const DataFields& data)
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
// Get metadata
|
||||
Metadata mdata = getMetadata();
|
||||
// Update object if the access mode permits
|
||||
if ( mdata.gcsAccess == ACCESS_READWRITE )
|
||||
{
|
||||
this->data = data;
|
||||
emit objectUpdatedAuto(this); // trigger object updated event
|
||||
emit objectUpdated(this);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
UAVDataObject* NavigationDesired::clone(quint32 instID)
|
||||
{
|
||||
NavigationDesired* obj = new NavigationDesired();
|
||||
obj->initialize(instID, this->getMetaObject());
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
NavigationDesired* NavigationDesired::GetInstance(UAVObjectManager* objMngr, quint32 instID)
|
||||
{
|
||||
return dynamic_cast<NavigationDesired*>(objMngr->getObject(NavigationDesired::OBJID, instID));
|
||||
}
|
||||
@ -1,84 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file navigationdesired.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: navigationdesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
#ifndef NAVIGATIONDESIRED_H
|
||||
#define NAVIGATIONDESIRED_H
|
||||
|
||||
#include "uavdataobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
class UAVOBJECTS_EXPORT NavigationDesired: public UAVDataObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
// Field structure
|
||||
typedef struct {
|
||||
float Latitude;
|
||||
float Longitude;
|
||||
float Altitude;
|
||||
float Speed;
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
// Field information
|
||||
// Field Latitude information
|
||||
// Field Longitude information
|
||||
// Field Altitude information
|
||||
// Field Speed information
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 2357718118U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 0;
|
||||
static const quint32 NUMBYTES = sizeof(DataFields);
|
||||
|
||||
// Functions
|
||||
NavigationDesired();
|
||||
|
||||
DataFields getData();
|
||||
void setData(const DataFields& data);
|
||||
Metadata getDefaultMetadata();
|
||||
UAVDataObject* clone(quint32 instID);
|
||||
|
||||
static NavigationDesired* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
||||
|
||||
private:
|
||||
DataFields data;
|
||||
|
||||
void setDefaultFieldValues();
|
||||
|
||||
};
|
||||
|
||||
#endif // NAVIGATIONDESIRED_H
|
||||
@ -1,116 +0,0 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file navigationdesired.py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the NavigationDesired object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator.
|
||||
#
|
||||
# @note Object definition file: navigationdesired.xml.
|
||||
# This is an automatically generated file.
|
||||
# DO NOT modify manually.
|
||||
#
|
||||
# @see The GNU Public License (GPL) Version 3
|
||||
#
|
||||
#############################################################################/
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
|
||||
import uavobject
|
||||
|
||||
import struct
|
||||
from collections import namedtuple
|
||||
|
||||
# This is a list of instances of the data fields contained in this object
|
||||
_fields = [ \
|
||||
uavobject.UAVObjectField(
|
||||
'Latitude',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Longitude',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Altitude',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Speed',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
class NavigationDesired(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 2357718118
|
||||
NAME = "NavigationDesired"
|
||||
METANAME = "NavigationDesiredMeta"
|
||||
ISSINGLEINST = 1
|
||||
ISSETTINGS = 0
|
||||
|
||||
def __init__(self):
|
||||
uavobject.UAVObject.__init__(self,
|
||||
self.OBJID,
|
||||
self.NAME,
|
||||
self.METANAME,
|
||||
0,
|
||||
self.ISSINGLEINST)
|
||||
|
||||
for f in _fields:
|
||||
self.add_field(f)
|
||||
|
||||
def __str__(self):
|
||||
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
|
||||
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
|
||||
for f in self.get_tuple()._fields:
|
||||
s += ("\t%s\n" % f)
|
||||
return (s)
|
||||
|
||||
def main():
|
||||
# Instantiate the object and dump out some interesting info
|
||||
x = NavigationDesired()
|
||||
print (x)
|
||||
|
||||
if __name__ == "__main__":
|
||||
#import pdb ; pdb.run('main()')
|
||||
main()
|
||||
@ -1,157 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file navigationsettings.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: navigationsettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "navigationsettings.h"
|
||||
#include "uavobjectfield.h"
|
||||
|
||||
const QString NavigationSettings::NAME = QString("NavigationSettings");
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
NavigationSettings::NavigationSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
|
||||
{
|
||||
// Create fields
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList UpdatePeriodElemNames;
|
||||
UpdatePeriodElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT16, UpdatePeriodElemNames, QStringList()) );
|
||||
QStringList AccelerationMaxElemNames;
|
||||
AccelerationMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("AccelerationMax"), QString("m/s"), UAVObjectField::FLOAT32, AccelerationMaxElemNames, QStringList()) );
|
||||
QStringList SpeedMaxElemNames;
|
||||
SpeedMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedMax"), QString("m/s"), UAVObjectField::FLOAT32, SpeedMaxElemNames, QStringList()) );
|
||||
QStringList SpeedSafeElemNames;
|
||||
SpeedSafeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedSafe"), QString("m/s"), UAVObjectField::FLOAT32, SpeedSafeElemNames, QStringList()) );
|
||||
QStringList SpeedMinElemNames;
|
||||
SpeedMinElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SpeedMin"), QString("m/s"), UAVObjectField::FLOAT32, SpeedMinElemNames, QStringList()) );
|
||||
QStringList SettleTimeElemNames;
|
||||
SettleTimeElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("SettleTime"), QString("seconds"), UAVObjectField::FLOAT32, SettleTimeElemNames, QStringList()) );
|
||||
QStringList TurnSpeedFactorElemNames;
|
||||
TurnSpeedFactorElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("TurnSpeedFactor"), QString(""), UAVObjectField::FLOAT32, TurnSpeedFactorElemNames, QStringList()) );
|
||||
QStringList StabilizationForceFactorElemNames;
|
||||
StabilizationForceFactorElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("StabilizationForceFactor"), QString(""), UAVObjectField::FLOAT32, StabilizationForceFactorElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default metadata for this object
|
||||
*/
|
||||
UAVObject::Metadata NavigationSettings::getDefaultMetadata()
|
||||
{
|
||||
UAVObject::Metadata metadata;
|
||||
metadata.flightAccess = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.gcsTelemetryAcked = 1;
|
||||
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.flightTelemetryAcked = 1;
|
||||
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
|
||||
metadata.flightTelemetryUpdatePeriod = 0;
|
||||
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
|
||||
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.
|
||||
*/
|
||||
void NavigationSettings::setDefaultFieldValues()
|
||||
{
|
||||
data.UpdatePeriod = 100;
|
||||
data.AccelerationMax = 35;
|
||||
data.SpeedMax = 300;
|
||||
data.SpeedSafe = 100;
|
||||
data.SpeedMin = 70;
|
||||
data.SettleTime = 12;
|
||||
data.TurnSpeedFactor = 0.1;
|
||||
data.StabilizationForceFactor = 4;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the object data fields
|
||||
*/
|
||||
NavigationSettings::DataFields NavigationSettings::getData()
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
return data;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the object data fields
|
||||
*/
|
||||
void NavigationSettings::setData(const DataFields& data)
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
// Get metadata
|
||||
Metadata mdata = getMetadata();
|
||||
// Update object if the access mode permits
|
||||
if ( mdata.gcsAccess == ACCESS_READWRITE )
|
||||
{
|
||||
this->data = data;
|
||||
emit objectUpdatedAuto(this); // trigger object updated event
|
||||
emit objectUpdated(this);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
UAVDataObject* NavigationSettings::clone(quint32 instID)
|
||||
{
|
||||
NavigationSettings* obj = new NavigationSettings();
|
||||
obj->initialize(instID, this->getMetaObject());
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
NavigationSettings* NavigationSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
|
||||
{
|
||||
return dynamic_cast<NavigationSettings*>(objMngr->getObject(NavigationSettings::OBJID, instID));
|
||||
}
|
||||
@ -1,92 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file navigationsettings.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: navigationsettings.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
#ifndef NAVIGATIONSETTINGS_H
|
||||
#define NAVIGATIONSETTINGS_H
|
||||
|
||||
#include "uavdataobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
class UAVOBJECTS_EXPORT NavigationSettings: public UAVDataObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
// Field structure
|
||||
typedef struct {
|
||||
quint16 UpdatePeriod;
|
||||
float AccelerationMax;
|
||||
float SpeedMax;
|
||||
float SpeedSafe;
|
||||
float SpeedMin;
|
||||
float SettleTime;
|
||||
float TurnSpeedFactor;
|
||||
float StabilizationForceFactor;
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
// Field information
|
||||
// Field UpdatePeriod information
|
||||
// Field AccelerationMax information
|
||||
// Field SpeedMax information
|
||||
// Field SpeedSafe information
|
||||
// Field SpeedMin information
|
||||
// Field SettleTime information
|
||||
// Field TurnSpeedFactor information
|
||||
// Field StabilizationForceFactor information
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 1350892244U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 1;
|
||||
static const quint32 NUMBYTES = sizeof(DataFields);
|
||||
|
||||
// Functions
|
||||
NavigationSettings();
|
||||
|
||||
DataFields getData();
|
||||
void setData(const DataFields& data);
|
||||
Metadata getDefaultMetadata();
|
||||
UAVDataObject* clone(quint32 instID);
|
||||
|
||||
static NavigationSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
||||
|
||||
private:
|
||||
DataFields data;
|
||||
|
||||
void setDefaultFieldValues();
|
||||
|
||||
};
|
||||
|
||||
#endif // NAVIGATIONSETTINGS_H
|
||||
@ -1,156 +0,0 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file navigationsettings.py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the NavigationSettings object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator.
|
||||
#
|
||||
# @note Object definition file: navigationsettings.xml.
|
||||
# This is an automatically generated file.
|
||||
# DO NOT modify manually.
|
||||
#
|
||||
# @see The GNU Public License (GPL) Version 3
|
||||
#
|
||||
#############################################################################/
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
|
||||
import uavobject
|
||||
|
||||
import struct
|
||||
from collections import namedtuple
|
||||
|
||||
# This is a list of instances of the data fields contained in this object
|
||||
_fields = [ \
|
||||
uavobject.UAVObjectField(
|
||||
'UpdatePeriod',
|
||||
'H',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'AccelerationMax',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedMax',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedSafe',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SpeedMin',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'SettleTime',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'TurnSpeedFactor',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'StabilizationForceFactor',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
class NavigationSettings(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 1350892244
|
||||
NAME = "NavigationSettings"
|
||||
METANAME = "NavigationSettingsMeta"
|
||||
ISSINGLEINST = 1
|
||||
ISSETTINGS = 1
|
||||
|
||||
def __init__(self):
|
||||
uavobject.UAVObject.__init__(self,
|
||||
self.OBJID,
|
||||
self.NAME,
|
||||
self.METANAME,
|
||||
0,
|
||||
self.ISSINGLEINST)
|
||||
|
||||
for f in _fields:
|
||||
self.add_field(f)
|
||||
|
||||
def __str__(self):
|
||||
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
|
||||
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
|
||||
for f in self.get_tuple()._fields:
|
||||
s += ("\t%s\n" % f)
|
||||
return (s)
|
||||
|
||||
def main():
|
||||
# Instantiate the object and dump out some interesting info
|
||||
x = NavigationSettings()
|
||||
print (x)
|
||||
|
||||
if __name__ == "__main__":
|
||||
#import pdb ; pdb.run('main()')
|
||||
main()
|
||||
@ -1,136 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file positiondesired.cpp
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: positiondesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* This program is free software; you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation; either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* This program is distributed in the hope that it will be useful, but
|
||||
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
* for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License along
|
||||
* with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
*/
|
||||
#include "positiondesired.h"
|
||||
#include "uavobjectfield.h"
|
||||
|
||||
const QString PositionDesired::NAME = QString("PositionDesired");
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
PositionDesired::PositionDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
|
||||
{
|
||||
// Create fields
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList NEDElemNames;
|
||||
NEDElemNames.append("0");
|
||||
NEDElemNames.append("1");
|
||||
NEDElemNames.append("2");
|
||||
fields.append( new UAVObjectField(QString("NED"), QString("m"), UAVObjectField::FLOAT32, NEDElemNames, QStringList()) );
|
||||
QStringList HeadingElemNames;
|
||||
HeadingElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );
|
||||
QStringList GroundspeedElemNames;
|
||||
GroundspeedElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("Groundspeed"), QString("m/s"), UAVObjectField::FLOAT32, GroundspeedElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default metadata for this object
|
||||
*/
|
||||
UAVObject::Metadata PositionDesired::getDefaultMetadata()
|
||||
{
|
||||
UAVObject::Metadata metadata;
|
||||
metadata.flightAccess = ACCESS_READWRITE;
|
||||
metadata.gcsAccess = ACCESS_READWRITE;
|
||||
metadata.gcsTelemetryAcked = 0;
|
||||
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
|
||||
metadata.gcsTelemetryUpdatePeriod = 0;
|
||||
metadata.flightTelemetryAcked = 0;
|
||||
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
|
||||
metadata.flightTelemetryUpdatePeriod = 1000;
|
||||
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
|
||||
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.
|
||||
*/
|
||||
void PositionDesired::setDefaultFieldValues()
|
||||
{
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the object data fields
|
||||
*/
|
||||
PositionDesired::DataFields PositionDesired::getData()
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
return data;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the object data fields
|
||||
*/
|
||||
void PositionDesired::setData(const DataFields& data)
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
// Get metadata
|
||||
Metadata mdata = getMetadata();
|
||||
// Update object if the access mode permits
|
||||
if ( mdata.gcsAccess == ACCESS_READWRITE )
|
||||
{
|
||||
this->data = data;
|
||||
emit objectUpdatedAuto(this); // trigger object updated event
|
||||
emit objectUpdated(this);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* 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.
|
||||
*/
|
||||
UAVDataObject* PositionDesired::clone(quint32 instID)
|
||||
{
|
||||
PositionDesired* obj = new PositionDesired();
|
||||
obj->initialize(instID, this->getMetaObject());
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
PositionDesired* PositionDesired::GetInstance(UAVObjectManager* objMngr, quint32 instID)
|
||||
{
|
||||
return dynamic_cast<PositionDesired*>(objMngr->getObject(PositionDesired::OBJID, instID));
|
||||
}
|
||||
@ -1,84 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file positiondesired.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @see The GNU Public License (GPL) Version 3
|
||||
* @addtogroup GCSPlugins GCS Plugins
|
||||
* @{
|
||||
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
||||
* @{
|
||||
*
|
||||
* @note Object definition file: positiondesired.xml.
|
||||
* This is an automatically generated file.
|
||||
* DO NOT modify manually.
|
||||
*
|
||||
* @brief The UAVUObjects GCS plugin
|
||||
*****************************************************************************/
|
||||
/*
|
||||
* 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
|
||||
*/
|
||||
#ifndef POSITIONDESIRED_H
|
||||
#define POSITIONDESIRED_H
|
||||
|
||||
#include "uavdataobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
class UAVOBJECTS_EXPORT PositionDesired: public UAVDataObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
// Field structure
|
||||
typedef struct {
|
||||
float NED[3];
|
||||
float Heading;
|
||||
float Groundspeed;
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
// Field information
|
||||
// Field NED information
|
||||
/* Number of elements for field NED */
|
||||
static const quint32 NED_NUMELEM = 3;
|
||||
// Field Heading information
|
||||
// Field Groundspeed information
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 2182398544U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 0;
|
||||
static const quint32 NUMBYTES = sizeof(DataFields);
|
||||
|
||||
// Functions
|
||||
PositionDesired();
|
||||
|
||||
DataFields getData();
|
||||
void setData(const DataFields& data);
|
||||
Metadata getDefaultMetadata();
|
||||
UAVDataObject* clone(quint32 instID);
|
||||
|
||||
static PositionDesired* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
||||
|
||||
private:
|
||||
DataFields data;
|
||||
|
||||
void setDefaultFieldValues();
|
||||
|
||||
};
|
||||
|
||||
#endif // POSITIONDESIRED_H
|
||||
@ -1,108 +0,0 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file positiondesired.py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the PositionDesired object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator.
|
||||
#
|
||||
# @note Object definition file: positiondesired.xml.
|
||||
# This is an automatically generated file.
|
||||
# DO NOT modify manually.
|
||||
#
|
||||
# @see The GNU Public License (GPL) Version 3
|
||||
#
|
||||
#############################################################################/
|
||||
#
|
||||
# This program is free software; you can redistribute it and/or modify
|
||||
# it under the terms of the GNU General Public License as published by
|
||||
# the Free Software Foundation; either version 3 of the License, or
|
||||
# (at your option) any later version.
|
||||
#
|
||||
# This program is distributed in the hope that it will be useful, but
|
||||
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
||||
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
||||
# for more details.
|
||||
#
|
||||
# You should have received a copy of the GNU General Public License along
|
||||
# with this program; if not, write to the Free Software Foundation, Inc.,
|
||||
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
||||
#
|
||||
|
||||
|
||||
import uavobject
|
||||
|
||||
import struct
|
||||
from collections import namedtuple
|
||||
|
||||
# This is a list of instances of the data fields contained in this object
|
||||
_fields = [ \
|
||||
uavobject.UAVObjectField(
|
||||
'NED',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'1',
|
||||
'2',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Heading',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'Groundspeed',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
class PositionDesired(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 2182398544
|
||||
NAME = "PositionDesired"
|
||||
METANAME = "PositionDesiredMeta"
|
||||
ISSINGLEINST = 1
|
||||
ISSETTINGS = 0
|
||||
|
||||
def __init__(self):
|
||||
uavobject.UAVObject.__init__(self,
|
||||
self.OBJID,
|
||||
self.NAME,
|
||||
self.METANAME,
|
||||
0,
|
||||
self.ISSINGLEINST)
|
||||
|
||||
for f in _fields:
|
||||
self.add_field(f)
|
||||
|
||||
def __str__(self):
|
||||
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
|
||||
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
|
||||
for f in self.get_tuple()._fields:
|
||||
s += ("\t%s\n" % f)
|
||||
return (s)
|
||||
|
||||
def main():
|
||||
# Instantiate the object and dump out some interesting info
|
||||
x = PositionDesired()
|
||||
print (x)
|
||||
|
||||
if __name__ == "__main__":
|
||||
#import pdb ; pdb.run('main()')
|
||||
main()
|
||||
@ -28,20 +28,15 @@ HEADERS += uavobjects_global.h \
|
||||
telemetrysettings.h \
|
||||
systemsettings.h \
|
||||
stabilizationsettings.h \
|
||||
flightsituationactual.h \
|
||||
manualcontrolsettings.h \
|
||||
manualcontrolcommand.h \
|
||||
attitudedesired.h \
|
||||
actuatorsettings.h \
|
||||
actuatordesired.h \
|
||||
actuatorcommand.h \
|
||||
navigationsettings.h \
|
||||
navigationdesired.h \
|
||||
gpsposition.h \
|
||||
gpstime.h \
|
||||
gpssatellites.h \
|
||||
guidancesettings.h \
|
||||
positiondesired.h \
|
||||
positionactual.h \
|
||||
flightbatterystate.h \
|
||||
homelocation.h \
|
||||
@ -74,20 +69,15 @@ SOURCES += uavobject.cpp \
|
||||
telemetrysettings.cpp \
|
||||
systemsettings.cpp \
|
||||
stabilizationsettings.cpp \
|
||||
flightsituationactual.cpp \
|
||||
manualcontrolsettings.cpp \
|
||||
manualcontrolcommand.cpp \
|
||||
attitudedesired.cpp \
|
||||
actuatorsettings.cpp \
|
||||
actuatordesired.cpp \
|
||||
actuatorcommand.cpp \
|
||||
navigationsettings.cpp \
|
||||
navigationdesired.cpp \
|
||||
gpsposition.cpp \
|
||||
gpstime.cpp \
|
||||
gpssatellites.cpp \
|
||||
guidancesettings.cpp \
|
||||
positiondesired.cpp \
|
||||
positionactual.cpp \
|
||||
flightbatterystate.cpp \
|
||||
homelocation.cpp \
|
||||
|
||||
@ -45,23 +45,18 @@
|
||||
#include "exampleobject2.h"
|
||||
#include "examplesettings.h"
|
||||
#include "flightbatterystate.h"
|
||||
#include "flightsituationactual.h"
|
||||
#include "flighttelemetrystats.h"
|
||||
#include "gcstelemetrystats.h"
|
||||
#include "gpsposition.h"
|
||||
#include "gpssatellites.h"
|
||||
#include "gpstime.h"
|
||||
#include "guidancesettings.h"
|
||||
#include "homelocation.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
#include "mixerstatus.h"
|
||||
#include "navigationdesired.h"
|
||||
#include "navigationsettings.h"
|
||||
#include "objectpersistence.h"
|
||||
#include "positionactual.h"
|
||||
#include "positiondesired.h"
|
||||
#include "stabilizationsettings.h"
|
||||
#include "systemalarms.h"
|
||||
#include "systemsettings.h"
|
||||
@ -92,23 +87,18 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
|
||||
objMngr->registerObject( new ExampleObject2() );
|
||||
objMngr->registerObject( new ExampleSettings() );
|
||||
objMngr->registerObject( new FlightBatteryState() );
|
||||
objMngr->registerObject( new FlightSituationActual() );
|
||||
objMngr->registerObject( new FlightTelemetryStats() );
|
||||
objMngr->registerObject( new GCSTelemetryStats() );
|
||||
objMngr->registerObject( new GPSPosition() );
|
||||
objMngr->registerObject( new GPSSatellites() );
|
||||
objMngr->registerObject( new GPSTime() );
|
||||
objMngr->registerObject( new GuidanceSettings() );
|
||||
objMngr->registerObject( new HomeLocation() );
|
||||
objMngr->registerObject( new ManualControlCommand() );
|
||||
objMngr->registerObject( new ManualControlSettings() );
|
||||
objMngr->registerObject( new MixerSettings() );
|
||||
objMngr->registerObject( new MixerStatus() );
|
||||
objMngr->registerObject( new NavigationDesired() );
|
||||
objMngr->registerObject( new NavigationSettings() );
|
||||
objMngr->registerObject( new ObjectPersistence() );
|
||||
objMngr->registerObject( new PositionActual() );
|
||||
objMngr->registerObject( new PositionDesired() );
|
||||
objMngr->registerObject( new StabilizationSettings() );
|
||||
objMngr->registerObject( new SystemAlarms() );
|
||||
objMngr->registerObject( new SystemSettings() );
|
||||
|
||||
@ -1,18 +0,0 @@
|
||||
<xml>
|
||||
<object name="FlightSituationActual" singleinstance="true" settings="false">
|
||||
<description>Currently unused</description>
|
||||
<field name="Latitude" units="degrees" type="float" elements="1"/>
|
||||
<field name="Longitude" units="degrees" type="float" elements="1"/>
|
||||
<field name="Altitude" units="meters" type="float" elements="1"/>
|
||||
<field name="ATG" units="meters" type="float" elements="1"/>
|
||||
<field name="Climbrate" units="m/s" type="float" elements="1"/>
|
||||
<field name="Heading" units="degrees" type="float" elements="1"/>
|
||||
<field name="Airspeed" units="m/s" type="float" elements="1"/>
|
||||
<field name="Course" units="degrees" type="float" elements="1"/>
|
||||
<field name="Groundspeed" units="m/s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="periodic" period="1000"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,30 +0,0 @@
|
||||
<xml>
|
||||
<object name="GuidanceSettings" singleinstance="true" settings="true">
|
||||
<description>PID settings used by the Guidance module to combine the @ref PositionActual and @ref PositionDesired to compute @ref AttitudeDesired</description>
|
||||
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="10"/>
|
||||
<field name="RollMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
|
||||
<field name="PitchMax" units="degrees" type="float" elements="1" defaultvalue="35"/>
|
||||
<field name="PitchMin" units="degrees" type="float" elements="1" defaultvalue="-35"/>
|
||||
<field name="PitchRollEpsilon" units="degrees" type="float" elements="1" defaultvalue="10"/>
|
||||
<field name="ThrottleMax" units="%" type="float" elements="1" defaultvalue="1.0"/>
|
||||
<field name="ThrottleMin" units="%" type="float" elements="1" defaultvalue="0"/>
|
||||
<field name="SpeedMax" units="m/s" type="float" elements="1" defaultvalue="100"/>
|
||||
<field name="SpeedMin" units="m/s" type="float" elements="1" defaultvalue="10"/>
|
||||
<field name="SpeedKp" units="" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="SpeedKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="SpeedKd" units="" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<field name="EnergyKp" units="" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="EnergyKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="EnergyKd" units="" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<field name="LateralKp" units="" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="LateralKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="LateralKd" units="" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<field name="CourseKp" units="" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="CourseKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="CourseKd" units="" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,13 +0,0 @@
|
||||
<xml>
|
||||
<object name="NavigationDesired" singleinstance="true" settings="false">
|
||||
<description>Currently unused</description>
|
||||
<field name="Latitude" units="degrees" type="float" elements="1"/>
|
||||
<field name="Longitude" units="degrees" type="float" elements="1"/>
|
||||
<field name="Altitude" units="meters" type="float" elements="1"/>
|
||||
<field name="Speed" units="m/s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,17 +0,0 @@
|
||||
<xml>
|
||||
<object name="NavigationSettings" singleinstance="true" settings="true">
|
||||
<description>Settings for Navigation. Currently unused.</description>
|
||||
<field name="UpdatePeriod" units="ms" type="uint16" elements="1" defaultvalue="100"/>
|
||||
<field name="AccelerationMax" units="m/s²" type="float" elements="1" defaultvalue="35"/>
|
||||
<field name="SpeedMax" units="m/s" type="float" elements="1" defaultvalue="300"/>
|
||||
<field name="SpeedSafe" units="m/s" type="float" elements="1" defaultvalue="100"/>
|
||||
<field name="SpeedMin" units="m/s" type="float" elements="1" defaultvalue="70"/>
|
||||
<field name="SettleTime" units="seconds" type="float" elements="1" defaultvalue="12"/>
|
||||
<field name="TurnSpeedFactor" units="" type="float" elements="1" defaultvalue="0.1"/>
|
||||
<field name="StabilizationForceFactor" units="" type="float" elements="1" defaultvalue="4.0"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
|
||||
<telemetryflight acked="true" updatemode="onchange" period="0"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
@ -1,12 +0,0 @@
|
||||
<xml>
|
||||
<object name="PositionDesired" singleinstance="true" settings="false">
|
||||
<description>The desired position that @ref GuidanceModule will try and achieve if FlightMode is Auto. Comes from @ref PathPlannerModule.</description>
|
||||
<field name="NED" units="m" type="float" elements="3"/>
|
||||
<field name="Heading" units="degrees" type="float" elements="1"/>
|
||||
<field name="Groundspeed" units="m/s" type="float" elements="1"/>
|
||||
<access gcs="readwrite" flight="readwrite"/>
|
||||
<telemetrygcs acked="false" updatemode="manual" period="0"/>
|
||||
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
|
||||
<logging updatemode="never" period="0"/>
|
||||
</object>
|
||||
</xml>
|
||||
Loading…
x
Reference in New Issue
Block a user