heading: Add HeadingActual UAVobject

This object currently holds only the raw magnetometer readings and
an instantaneous heading calculation which are only really useful
for debugging.  The contents of this object will change often as
development progresses.

Note: The magnetometer values are often garbage due to a problem
with i2c software on the AHRS.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1007 ebee16cc-31ac-478f-84a7-5cbb03baadba

flight/OpenPilot/Makefile

@@ -163,6 +163,7 @@ SRC += $(OPUAVOBJ)/altitudeactual.c
 SRC += $(OPUAVOBJ)/attitudeactual.c
 SRC += $(OPUAVOBJ)/attitudesettings.c
 SRC += $(OPUAVOBJ)/flightbatterystate.c
+SRC += $(OPUAVOBJ)/headingactual.c
 endif
 
 ## PIOS Hardware (STM32F10x)

flight/OpenPilot/UAVObjects/headingactual.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ *
+ * @file       headingactual.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the HeadingActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: headingactual.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 "headingactual.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 HeadingActualInitialize()
+{
+	// Register object with the object manager
+	handle = UAVObjRegister(HEADINGACTUAL_OBJID, HEADINGACTUAL_NAME, HEADINGACTUAL_METANAME, 0,
+			HEADINGACTUAL_ISSINGLEINST, HEADINGACTUAL_ISSETTINGS, HEADINGACTUAL_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)
+{
+	HeadingActualData data;
+	UAVObjMetadata metadata;
+
+	// Initialize object fields to their default values
+	UAVObjGetInstanceData(obj, instId, &data);
+	memset(&data, 0, sizeof(HeadingActualData));
+
+	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 = 500;
+	metadata.gcsTelemetryAcked = 0;
+	metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
+	metadata.gcsTelemetryUpdatePeriod = 0;
+	metadata.loggingUpdateMode = UPDATEMODE_NEVER;
+	metadata.loggingUpdatePeriod = 0;
+	UAVObjSetMetadata(obj, &metadata);
+}
+
+/**
+ * Get object handle
+ */
+UAVObjHandle HeadingActualHandle()
+{
+	return handle;
+}
+
+
+

flight/OpenPilot/UAVObjects/inc/headingactual.h

@@ -0,0 +1,78 @@
+/**
+ ******************************************************************************
+ *
+ * @file       headingactual.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the HeadingActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: headingactual.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 HEADINGACTUAL_H
+#define HEADINGACTUAL_H
+
+// Object constants
+#define HEADINGACTUAL_OBJID 2921442332U
+#define HEADINGACTUAL_NAME "HeadingActual"
+#define HEADINGACTUAL_METANAME "HeadingActualMeta"
+#define HEADINGACTUAL_ISSINGLEINST 1
+#define HEADINGACTUAL_ISSETTINGS 0
+#define HEADINGACTUAL_NUMBYTES sizeof(HeadingActualData)
+
+// Object access macros
+#define HeadingActualGet(dataOut) UAVObjGetData(HeadingActualHandle(), dataOut)
+#define HeadingActualSet(dataIn) UAVObjSetData(HeadingActualHandle(), dataIn)
+#define HeadingActualInstGet(instId, dataOut) UAVObjGetInstanceData(HeadingActualHandle(), instId, dataOut)
+#define HeadingActualInstSet(instId, dataIn) UAVObjSetInstanceData(HeadingActualHandle(), instId, dataIn)
+#define HeadingActualConnectQueue(queue) UAVObjConnectQueue(HeadingActualHandle(), queue, EV_MASK_ALL_UPDATES)
+#define HeadingActualConnectCallback(cb) UAVObjConnectCallback(HeadingActualHandle(), cb, EV_MASK_ALL_UPDATES)
+#define HeadingActualCreateInstance() UAVObjCreateInstance(HeadingActualHandle())
+#define HeadingActualRequestUpdate() UAVObjRequestUpdate(HeadingActualHandle())
+#define HeadingActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(HeadingActualHandle(), instId)
+#define HeadingActualUpdated() UAVObjUpdated(HeadingActualHandle())
+#define HeadingActualInstUpdated(instId) UAVObjUpdated(HeadingActualHandle(), instId)
+#define HeadingActualGetMetadata(dataOut) UAVObjGetMetadata(HeadingActualHandle(), dataOut)
+#define HeadingActualSetMetadata(dataIn) UAVObjSetMetadata(HeadingActualHandle(), dataIn)
+
+// Object data
+typedef struct {
+    int16_t raw[3];
+    float heading;
+
+} __attribute__((packed)) HeadingActualData;
+
+// Field information
+// Field raw information
+/* Array element names for field raw */
+typedef enum { HEADINGACTUAL_RAW_X=0, HEADINGACTUAL_RAW_Y=1, HEADINGACTUAL_RAW_Z=2,  } HeadingActualrawElem;
+/* Number of elements for field raw */
+#define HEADINGACTUAL_RAW_NUMELEM 3
+// Field heading information
+
+
+// Generic interface functions
+int32_t HeadingActualInitialize();
+UAVObjHandle HeadingActualHandle();
+
+#endif // HEADINGACTUAL_H

flight/OpenPilot/UAVObjects/uavobjectsinit.c

@@ -41,6 +41,7 @@
 #include "flightbatterystate.h"
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
+#include "headingactual.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "objectpersistence.h"
@@ -71,6 +72,7 @@ void UAVObjectsInitializeAll()
     FlightBatteryStateInitialize();
     FlightTelemetryStatsInitialize();
     GCSTelemetryStatsInitialize();
+    HeadingActualInitialize();
     ManualControlCommandInitialize();
     ManualControlSettingsInitialize();
     ObjectPersistenceInitialize();

ground/src/plugins/uavobjects/headingactual.cpp

@@ -0,0 +1,131 @@
+/**
+ ******************************************************************************
+ *
+ * @file       headingactual.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the HeadingActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: headingactual.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 "headingactual.h"
+#include "uavobjectfield.h"
+
+const QString HeadingActual::NAME = QString("HeadingActual");
+
+/**
+ * Constructor
+ */
+HeadingActual::HeadingActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
+{
+    // Create fields
+    QList<UAVObjectField*> fields;
+    QStringList rawElemNames;
+    rawElemNames.append("X");
+    rawElemNames.append("Y");
+    rawElemNames.append("Z");
+    fields.append( new UAVObjectField(QString("raw"), QString("mGa"), UAVObjectField::INT16, rawElemNames, QStringList()) );
+    QStringList headingElemNames;
+    headingElemNames.append("0");
+    fields.append( new UAVObjectField(QString("heading"), QString("degrees"), UAVObjectField::FLOAT32, headingElemNames, QStringList()) );
+
+    // Initialize object
+    initializeFields(fields, (quint8*)&data, NUMBYTES);
+    // Set the default field values
+    setDefaultFieldValues();
+}
+
+/**
+ * Get the default metadata for this object
+ */
+UAVObject::Metadata HeadingActual::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 = 500;
+    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 HeadingActual::setDefaultFieldValues()
+{
+
+}
+
+/**
+ * Get the object data fields
+ */
+HeadingActual::DataFields HeadingActual::getData()
+{
+    QMutexLocker locker(mutex);
+    return data;
+}
+
+/**
+ * Set the object data fields
+ */
+void HeadingActual::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* HeadingActual::clone(quint32 instID)
+{
+    HeadingActual* obj = new HeadingActual();
+    obj->initialize(instID, this->getMetaObject());
+    return obj;
+}
+
+/**
+ * Static function to retrieve an instance of the object.
+ */
+HeadingActual* HeadingActual::GetInstance(UAVObjectManager* objMngr, quint32 instID)
+{
+    return dynamic_cast<HeadingActual*>(objMngr->getObject(HeadingActual::OBJID, instID));
+}

ground/src/plugins/uavobjects/headingactual.h

@@ -0,0 +1,82 @@
+/**
+ ******************************************************************************
+ *
+ * @file       headingactual.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Implementation of the HeadingActual object. This file has been 
+ *             automatically generated by the UAVObjectGenerator.
+ * 
+ * @note       Object definition file: headingactual.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 HEADINGACTUAL_H
+#define HEADINGACTUAL_H
+
+#include "uavdataobject.h"
+#include "uavobjectmanager.h"
+
+class UAVOBJECTS_EXPORT HeadingActual: public UAVDataObject
+{
+    Q_OBJECT
+
+public:
+    // Field structure
+    typedef struct {
+        qint16 raw[3];
+        float heading;
+
+    } __attribute__((packed)) DataFields;
+
+    // Field information
+    // Field raw information
+    /* Array element names for field raw */
+    typedef enum { RAW_X=0, RAW_Y=1, RAW_Z=2,  } rawElem;
+    /* Number of elements for field raw */
+    static const quint32 RAW_NUMELEM = 3;
+    // Field heading information
+
+  
+    // Constants
+    static const quint32 OBJID = 2921442332U;
+    static const QString NAME;
+    static const bool ISSINGLEINST = 1;
+    static const bool ISSETTINGS = 0;
+    static const quint32 NUMBYTES = sizeof(DataFields);
+
+    // Functions
+    HeadingActual();
+
+    DataFields getData();
+    void setData(const DataFields& data);
+    Metadata getDefaultMetadata();
+    UAVDataObject* clone(quint32 instID);
+
+    static HeadingActual* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
+	
+private:
+    DataFields data;
+
+    void setDefaultFieldValues();
+
+};
+
+#endif // HEADINGACTUAL_H

ground/src/plugins/uavobjects/headingactual.py

@@ -0,0 +1,98 @@
+##
+##############################################################################
+#
+# @file       headingactual.py
+# @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+# @brief      Implementation of the HeadingActual object. This file has been 
+#             automatically generated by the UAVObjectGenerator.
+# 
+# @note       Object definition file: headingactual.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(
+		'raw',
+		'h',
+		3,
+		[
+			'X',
+			'Y',
+			'Z',
+		],
+		{
+		}
+	),
+	uavobject.UAVObjectField(
+		'heading',
+		'f',
+		1,
+		[
+			'0',
+		],
+		{
+		}
+	),
+]
+
+
+class HeadingActual(uavobject.UAVObject):
+    ## Object constants
+    OBJID        = 2921442332
+    NAME         = "HeadingActual"
+    METANAME     = "HeadingActualMeta"
+    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 = HeadingActual()
+    print (x)
+
+if __name__ == "__main__":
+    #import pdb ; pdb.run('main()')
+    main()

ground/src/plugins/uavobjects/uavobjects.pro

@@ -18,6 +18,7 @@ HEADERS += uavobjects_global.h \
     exampleobject2.h \
     exampleobject1.h \
     gcstelemetrystats.h \
+    headingactual.h \
     flighttelemetrystats.h \
     systemstats.h \
     systemalarms.h \
@@ -47,6 +48,7 @@ SOURCES += uavobject.cpp \
     exampleobject2.cpp \
     exampleobject1.cpp \
     gcstelemetrystats.cpp \
+    headingactual.cpp \
     flighttelemetrystats.cpp \
     systemstats.cpp \
     systemalarms.cpp \

ground/src/plugins/uavobjects/uavobjectsinit.cpp

@@ -42,6 +42,7 @@
 #include "flightbatterystate.h"
 #include "flighttelemetrystats.h"
 #include "gcstelemetrystats.h"
+#include "headingactual.h"
 #include "manualcontrolcommand.h"
 #include "manualcontrolsettings.h"
 #include "objectpersistence.h"
@@ -72,6 +73,7 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
     objMngr->registerObject( new FlightBatteryState() );
     objMngr->registerObject( new FlightTelemetryStats() );
     objMngr->registerObject( new GCSTelemetryStats() );
+    objMngr->registerObject( new HeadingActual() );
     objMngr->registerObject( new ManualControlCommand() );
     objMngr->registerObject( new ManualControlSettings() );
     objMngr->registerObject( new ObjectPersistence() );

ground/src/shared/uavobjectdefinition/headingactual.xml

@@ -0,0 +1,10 @@
+<xml>
+	<object name="HeadingActual" singleinstance="true" settings="false">
+		<field name="raw" units="mGa" type="int16" elementnames="X,Y,Z"/>
+		<field name="heading" units="degrees" type="float" elements="1"/>
+		<access gcs="readwrite" flight="readwrite"/>
+                <telemetrygcs acked="false" updatemode="manual" period="0"/>
+                <telemetryflight acked="false" updatemode="periodic" period="500"/>
+		<logging updatemode="never" period="0"/>
+	</object>
+</xml>