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Flight: Swap to Les' code for main line
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1920 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
parent
0a9ab6ca5f
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4e6f100ae5
@ -57,7 +57,7 @@ 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 = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization/simple/Stabilization Watchdog FirmwareIAP
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MODULES = Actuator Telemetry GPS ManualControl Altitude AHRSComms Stabilization Watchdog FirmwareIAP
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#MODULES = Telemetry Example
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#MODULES = Telemetry MK/MKSerial
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@ -174,7 +174,6 @@ SRC += $(OPUAVOBJ)/attituderaw.c
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SRC += $(OPUAVOBJ)/homelocation.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
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SRC += $(OPUAVOBJ)/positiondesired.c
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SRC += $(OPUAVOBJ)/velocitydesired.c
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SRC += $(OPUAVOBJ)/velocityactual.c
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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/simple/Stabilization Guidance ManualControl
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MODULES = Telemetry Stabilization Guidance 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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@ -155,11 +155,11 @@ SRC += $(OPUAVOBJ)/gpstime.c
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SRC += $(OPUAVOBJ)/gpssatellites.c
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SRC += $(OPUAVOBJ)/mixersettings.c
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SRC += $(OPUAVOBJ)/mixerstatus.c
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SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
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SRC += $(OPUAVOBJ)/positiondesired.c
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SRC += $(OPUAVOBJ)/velocitydesired.c
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SRC += $(OPUAVOBJ)/velocityactual.c
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SRC += $(OPUAVOBJ)/guidancesettings.c
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SRC += $(OPUAVOBJ)/firmwareiapobj.c
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endif
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## PIOS Hardware (posix)
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@ -283,21 +283,8 @@ static void manualControlTask(void *parameters)
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} else if (cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED) {
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attitude.Roll = cmd.Roll * stabSettings.RollMax;
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attitude.Pitch = cmd.Pitch * stabSettings.PitchMax;
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if (stabSettings.YawMode == STABILIZATIONSETTINGS_YAWMODE_RATE) {
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/* rate stabilization */
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attitude.Yaw = cmd.Yaw * stabSettings.YawMax;
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} else {
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/* heading stabilization */
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if (cmd.Yaw < 0) {
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attitude.Yaw = 360 + (cmd.Yaw * 180.0);
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} else {
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attitude.Yaw = (cmd.Yaw * 180.0);
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}
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}
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if (cmd.Throttle < 0)
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attitude.Throttle = -1;
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else
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attitude.Throttle = cmd.Throttle * stabSettings.ThrottleMax;
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attitude.Yaw = fmod(cmd.Yaw * 180.0, 360);
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attitude.Throttle = (cmd.Throttle < 0) ? -1 : cmd.Throttle;
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AttitudeDesiredSet(&attitude);
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}
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@ -308,16 +295,6 @@ static void manualControlTask(void *parameters)
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attitudeSettings.PitchBias = cmd.Accessory1 * 15;
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attitudeSettings.RollBias = cmd.Accessory2 * 15;
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AHRSSettingsSet(&attitudeSettings);
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} else if (cmd.Accessory3 > .9) {
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// REALLY don't want to end up here accidentally. I've also saved by meta for Stabilization setting to be
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// flight read only by default
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StabilizationSettingsData stabSettings;
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StabilizationSettingsGet(&stabSettings);
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if (cmd.Accessory1 > 0)
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stabSettings.PitchKp = cmd.Accessory1 * 0.05;
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if (cmd.Accessory2 > 0)
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stabSettings.RollKp = cmd.Accessory2 * 0.05;
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StabilizationSettingsSet(&stabSettings);
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}
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}
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}
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@ -1,43 +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 StabilizationModule Stabilization Module
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* @brief Stabilization PID loops in an airframe type independent manner
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* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
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* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
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* @{
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*
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* @file stabilization.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 STABILIZATION_H
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#define STABILIZATION_H
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int32_t StabilizationInitialize();
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#endif // STABILIZATION_H
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/**
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* @}
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* @}
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*/
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@ -1,231 +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 StabilizationModule Stabilization Module
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* @brief Stabilization PID loops in an airframe type independent manner
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* @note This object updates the @ref ActuatorDesired "Actuator Desired" based on the
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* PID loops on the @ref AttitudeDesired "Attitude Desired" and @ref AttitudeActual "Attitude Actual"
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* @{
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*
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* @file stabilization.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 "stabilization.h"
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#include "stabilizationsettings.h"
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#include "actuatordesired.h"
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#include "attitudedesired.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 MAX_QUEUE_SIZE 2
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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 FAILSAFE_TIMEOUT_MS 100
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// Private types
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// Private variables
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static xQueueHandle queue;
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static xTaskHandle taskHandle;
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// Private functions
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static void stabilizationTask(void* parameters);
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static float bound(float val, float min, float max);
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/**
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* Module initialization
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*/
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int32_t StabilizationInitialize()
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{
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// Create object queue
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queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
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// Listen for AttitudeActual updates.
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AttitudeActualConnectQueue(queue);
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// Start main task
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xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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float dT = 1;
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/**
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* Module task
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*/
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static void stabilizationTask(void* parameters)
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{
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UAVObjEvent ev;
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StabilizationSettingsData stabSettings;
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ActuatorDesiredData actuatorDesired;
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AttitudeDesiredData attitudeDesired;
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AttitudeActualData attitudeActual;
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ManualControlCommandData manualControl;
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SystemSettingsData systemSettings;
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portTickType lastSysTime;
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portTickType thisSysTime;
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float pitchError, pitchErrorLast;
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float rollError, rollErrorLast;
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float yawError, yawErrorLast;
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float pitchDerivative;
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float rollDerivative;
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float yawDerivative;
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float pitchIntegral;
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float rollIntegral;
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float yawIntegral;
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float yawPrevious;
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float yawChange;
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// Initialize
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pitchIntegral = 0.0;
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rollIntegral = 0.0;
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yawIntegral = 0.0;
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pitchErrorLast = 0.0;
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rollErrorLast = 0.0;
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yawErrorLast = 0.0;
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yawPrevious = 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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// Wait until the ActuatorDesired object is updated, if a timeout then go to failsafe
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if ( xQueueReceive(queue, &ev, FAILSAFE_TIMEOUT_MS / portTICK_RATE_MS) != pdTRUE )
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{
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AlarmsSet(SYSTEMALARMS_ALARM_STABILIZATION,SYSTEMALARMS_ALARM_WARNING);
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}
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// Check how long since last update
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thisSysTime = xTaskGetTickCount();
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if(thisSysTime > lastSysTime) // reuse dt in case of wraparound
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dT = (thisSysTime - lastSysTime) / portTICK_RATE_MS / 1000.0f;
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lastSysTime = thisSysTime;
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// Read settings and other objects
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StabilizationSettingsGet(&stabSettings);
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SystemSettingsGet(&systemSettings);
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ManualControlCommandGet(&manualControl);
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AttitudeDesiredGet(&attitudeDesired);
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AttitudeActualGet(&attitudeActual);
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// Pitch stabilization control loop
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pitchError = attitudeDesired.Pitch - attitudeActual.Pitch;
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pitchDerivative = (pitchError - pitchErrorLast) / dT;
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pitchIntegral = bound(pitchIntegral + pitchError * dT, -stabSettings.PitchIntegralLimit, stabSettings.PitchIntegralLimit);
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actuatorDesired.Pitch = stabSettings.PitchKp*pitchError + stabSettings.PitchKi*pitchIntegral + stabSettings.PitchKd*pitchDerivative;
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actuatorDesired.Pitch = bound(actuatorDesired.Pitch, -1.0, 1.0);
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pitchErrorLast = pitchError;
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// Roll stabilization control loop
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rollError = attitudeDesired.Roll - attitudeActual.Roll;
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rollDerivative = (rollError - rollErrorLast) / dT;
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rollIntegral = bound(rollIntegral + rollError * dT, -stabSettings.RollIntegralLimit, stabSettings.RollIntegralLimit);
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actuatorDesired.Roll = stabSettings.RollKp*rollError + stabSettings.RollKi*rollIntegral + stabSettings.RollKd*rollDerivative;
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actuatorDesired.Roll = bound(actuatorDesired.Roll, -1.0, 1.0);
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rollErrorLast = rollError;
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// Yaw stabilization control loop (only enabled on VTOL airframes)
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if (( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )||
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( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADX)||
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( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADP)||
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( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HEXA) ||
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( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_OCTO) ||
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( systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_HELICP))
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{
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if(stabSettings.YawMode == STABILIZATIONSETTINGS_YAWMODE_RATE) { // rate stabilization on yaw
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// Avoid a huge (wrong) change if we crossed 0/360
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yawChange = attitudeActual.Yaw - yawPrevious;
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if (yawChange>180.0) yawChange -= 360;
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if (yawChange<-180.0) yawChange += 360;
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yawChange = yawChange / dT;
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yawPrevious = attitudeActual.Yaw;
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yawError = bound(attitudeDesired.Yaw, -stabSettings.YawMax, stabSettings.YawMax) - yawChange;
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} else { // heading stabilization
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yawError = attitudeDesired.Yaw - attitudeActual.Yaw;
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}
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//this should make it take the quickest path to reach the desired yaw
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if (yawError>180.0)yawError -= 360;
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if (yawError<-180.0)yawError += 360;
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yawDerivative = (yawError - yawErrorLast) / dT;
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yawIntegral = bound(yawIntegral + yawError * dT, -stabSettings.YawIntegralLimit, stabSettings.YawIntegralLimit);
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actuatorDesired.Yaw = stabSettings.YawKp*yawError + stabSettings.YawKi*yawIntegral + stabSettings.YawKd*yawDerivative;;
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actuatorDesired.Yaw = bound(actuatorDesired.Yaw, -1.0, 1.0);
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yawErrorLast = yawError;
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}
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else
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{
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actuatorDesired.Yaw = 0.0;
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}
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// Setup throttle
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actuatorDesired.Throttle = bound(attitudeDesired.Throttle, stabSettings.ThrottleMin, stabSettings.ThrottleMax);
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// Save dT
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actuatorDesired.UpdateTime = dT * 1000;
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// Write actuator desired (if not in manual mode)
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if ( manualControl.FlightMode != MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
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{
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ActuatorDesiredSet(&actuatorDesired);
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}
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else
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{
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pitchIntegral = 0.0;
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rollIntegral = 0.0;
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yawIntegral = 0.0;
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pitchErrorLast = 0.0;
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rollErrorLast = 0.0;
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yawErrorLast = 0.0;
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}
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// Clear alarms
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AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
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}
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}
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/**
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* Bound input value between limits
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*/
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static float bound(float val, float min, float max)
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{
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if ( val < min )
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{
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val = min;
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}
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else if ( val > max )
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{
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val = max;
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}
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return val;
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}
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/**
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* @}
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* @}
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*/
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@ -33,7 +33,7 @@
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#include "openpilot.h"
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#include "stabilization.h"
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#include "lesstabilizationsettings.h"
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#include "stabilizationsettings.h"
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#include "actuatordesired.h"
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#include "attitudedesired.h"
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#include "attitudeactual.h"
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@ -66,7 +66,7 @@ typedef struct {
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// Private variables
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static xTaskHandle taskHandle;
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static LesStabilizationSettingsData settings;
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static StabilizationSettingsData settings;
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static xQueueHandle queue;
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float dT = 1;
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pid_type pids[PID_MAX];
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@ -75,7 +75,7 @@ pid_type pids[PID_MAX];
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// Private functions
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static void stabilizationTask(void* parameters);
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static float ApplyPid(pid_type * pid, const float desired, const float actual, const bool angular);
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static float ApplyPid(pid_type * pid, const float desired, const float actual, const uint8_t angular);
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static float bound(float val);
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static void ZeroPids(void);
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static void SettingsUpdatedCb(UAVObjEvent * ev);
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@ -94,8 +94,8 @@ int32_t StabilizationInitialize()
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AttitudeActualConnectQueue(queue);
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AttitudeRawConnectQueue(queue);
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LesStabilizationSettingsConnectCallback(SettingsUpdatedCb);
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SettingsUpdatedCb(LesStabilizationSettingsHandle());
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StabilizationSettingsConnectCallback(SettingsUpdatedCb);
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SettingsUpdatedCb(StabilizationSettingsHandle());
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// Start main task
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xTaskCreate(stabilizationTask, (signed char*)"Stabilization", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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@ -119,6 +119,8 @@ static void stabilizationTask(void* parameters)
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SystemSettingsData systemSettings;
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ManualControlCommandData manualControl;
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SettingsUpdatedCb((UAVObjEvent *) NULL);
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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ZeroPids();
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@ -149,7 +151,7 @@ static void stabilizationTask(void* parameters)
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//Calculate desired rate
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float rates[MAX_AXES]= {0,0,0};
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for(int ct=0; ct< MAX_AXES; ct++)
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for(int8_t ct=0; ct< MAX_AXES; ct++)
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{
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switch(manualControl.StabilizationSettings[ct])
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{
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@ -158,15 +160,15 @@ static void stabilizationTask(void* parameters)
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break;
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case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION:
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rates[ct] = ApplyPid(&pids[PID_ROLL + ct], attitudeDesiredAxis[ct], attitudeActualAxis[ct], true);
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rates[ct] = ApplyPid(&pids[PID_ROLL + ct], attitudeDesiredAxis[ct], attitudeActualAxis[ct], 1);
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break;
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}
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}
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bool shouldUpdate = false;
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uint8_t shouldUpdate = 0;
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ActuatorDesiredGet(&actuatorDesired);
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//Calculate desired command
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for(int ct=0; ct< MAX_AXES; ct++)
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for(int8_t ct=0; ct< MAX_AXES; ct++)
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{
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if(fabs(rates[ct]) > settings.MaximumRate[ct])
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{
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@ -184,16 +186,16 @@ static void stabilizationTask(void* parameters)
|
||||
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_RATE:
|
||||
case MANUALCONTROLCOMMAND_STABILIZATIONSETTINGS_POSITION:
|
||||
{
|
||||
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rates[ct], attitudeRaw.gyros_filtered[ct], false);
|
||||
float command = ApplyPid(&pids[PID_RATE_ROLL + ct], rates[ct], attitudeRaw.gyros_filtered[ct], 0);
|
||||
actuatorDesiredAxis[ct] = bound(command);
|
||||
shouldUpdate = true;
|
||||
shouldUpdate = 1;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
if(manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL)
|
||||
{
|
||||
shouldUpdate = false;
|
||||
shouldUpdate = 0;
|
||||
}
|
||||
|
||||
|
||||
@ -216,7 +218,7 @@ static void stabilizationTask(void* parameters)
|
||||
}
|
||||
}
|
||||
|
||||
float ApplyPid(pid_type * pid, const float desired, const float actual, const bool angular)
|
||||
float ApplyPid(pid_type * pid, const float desired, const float actual, const uint8_t angular)
|
||||
{
|
||||
float err = desired - actual;
|
||||
if(angular) //take shortest route to desired position
|
||||
@ -247,7 +249,7 @@ float ApplyPid(pid_type * pid, const float desired, const float actual, const bo
|
||||
|
||||
static void ZeroPids(void)
|
||||
{
|
||||
for(int ct = 0; ct < PID_MAX; ct++) {
|
||||
for(int8_t ct = 0; ct < PID_MAX; ct++) {
|
||||
pids[ct].iAccumulator = 0;
|
||||
pids[ct].lastErr = 0;
|
||||
}
|
||||
@ -271,10 +273,10 @@ static float bound(float val)
|
||||
static void SettingsUpdatedCb(UAVObjEvent * ev)
|
||||
{
|
||||
memset(pids,0,sizeof (pid_type) * PID_MAX);
|
||||
LesStabilizationSettingsGet(&settings);
|
||||
StabilizationSettingsGet(&settings);
|
||||
|
||||
float * data = settings.RollRatePI;
|
||||
for(int pid=0; pid < PID_MAX; pid++)
|
||||
for(int8_t pid=0; pid < PID_MAX; pid++)
|
||||
{
|
||||
pids[pid].p = *data++;
|
||||
pids[pid].i = *data++;
|
@ -1,145 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup LesStabilizationSettings LesStabilizationSettings
|
||||
* @brief PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
|
||||
*
|
||||
* Autogenerated files and functions for LesStabilizationSettings Object
|
||||
|
||||
* @{
|
||||
*
|
||||
* @file lesstabilizationsettings.h
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the LesStabilizationSettings object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: lesstabilizationsettings.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 LESSTABILIZATIONSETTINGS_H
|
||||
#define LESSTABILIZATIONSETTINGS_H
|
||||
|
||||
// Object constants
|
||||
#define LESSTABILIZATIONSETTINGS_OBJID 3247121950U
|
||||
#define LESSTABILIZATIONSETTINGS_NAME "LesStabilizationSettings"
|
||||
#define LESSTABILIZATIONSETTINGS_METANAME "LesStabilizationSettingsMeta"
|
||||
#define LESSTABILIZATIONSETTINGS_ISSINGLEINST 1
|
||||
#define LESSTABILIZATIONSETTINGS_ISSETTINGS 1
|
||||
#define LESSTABILIZATIONSETTINGS_NUMBYTES sizeof(LesStabilizationSettingsData)
|
||||
|
||||
// Object access macros
|
||||
/**
|
||||
* @function LesStabilizationSettingsGet(dataOut)
|
||||
* @brief Populate a LesStabilizationSettingsData object
|
||||
* @param[out] dataOut
|
||||
*/
|
||||
#define LesStabilizationSettingsGet(dataOut) UAVObjGetData(LesStabilizationSettingsHandle(), dataOut)
|
||||
#define LesStabilizationSettingsSet(dataIn) UAVObjSetData(LesStabilizationSettingsHandle(), dataIn)
|
||||
#define LesStabilizationSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(LesStabilizationSettingsHandle(), instId, dataOut)
|
||||
#define LesStabilizationSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(LesStabilizationSettingsHandle(), instId, dataIn)
|
||||
#define LesStabilizationSettingsConnectQueue(queue) UAVObjConnectQueue(LesStabilizationSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
|
||||
#define LesStabilizationSettingsConnectCallback(cb) UAVObjConnectCallback(LesStabilizationSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
|
||||
#define LesStabilizationSettingsCreateInstance() UAVObjCreateInstance(LesStabilizationSettingsHandle())
|
||||
#define LesStabilizationSettingsRequestUpdate() UAVObjRequestUpdate(LesStabilizationSettingsHandle())
|
||||
#define LesStabilizationSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(LesStabilizationSettingsHandle(), instId)
|
||||
#define LesStabilizationSettingsUpdated() UAVObjUpdated(LesStabilizationSettingsHandle())
|
||||
#define LesStabilizationSettingsInstUpdated(instId) UAVObjUpdated(LesStabilizationSettingsHandle(), instId)
|
||||
#define LesStabilizationSettingsGetMetadata(dataOut) UAVObjGetMetadata(LesStabilizationSettingsHandle(), dataOut)
|
||||
#define LesStabilizationSettingsSetMetadata(dataIn) UAVObjSetMetadata(LesStabilizationSettingsHandle(), dataIn)
|
||||
#define LesStabilizationSettingsReadOnly(dataIn) UAVObjReadOnly(LesStabilizationSettingsHandle())
|
||||
|
||||
// Object data
|
||||
typedef struct {
|
||||
uint8_t UpdatePeriod;
|
||||
uint8_t RollMax;
|
||||
uint8_t PitchMax;
|
||||
uint8_t YawMax;
|
||||
float ManualRate[3];
|
||||
float MaximumRate[3];
|
||||
float RollRatePI[3];
|
||||
float PitchRatePI[3];
|
||||
float YawRatePI[3];
|
||||
float RollPI[3];
|
||||
float PitchPI[3];
|
||||
float YawPI[3];
|
||||
|
||||
} __attribute__((packed)) LesStabilizationSettingsData;
|
||||
|
||||
// Field information
|
||||
// Field UpdatePeriod information
|
||||
// Field RollMax information
|
||||
// Field PitchMax information
|
||||
// Field YawMax information
|
||||
// Field ManualRate information
|
||||
/* Array element names for field ManualRate */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_MANUALRATE_ROLL=0, LESSTABILIZATIONSETTINGS_MANUALRATE_PITCH=1, LESSTABILIZATIONSETTINGS_MANUALRATE_YAW=2 } LesStabilizationSettingsManualRateElem;
|
||||
/* Number of elements for field ManualRate */
|
||||
#define LESSTABILIZATIONSETTINGS_MANUALRATE_NUMELEM 3
|
||||
// Field MaximumRate information
|
||||
/* Array element names for field MaximumRate */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_MAXIMUMRATE_ROLL=0, LESSTABILIZATIONSETTINGS_MAXIMUMRATE_PITCH=1, LESSTABILIZATIONSETTINGS_MAXIMUMRATE_YAW=2 } LesStabilizationSettingsMaximumRateElem;
|
||||
/* Number of elements for field MaximumRate */
|
||||
#define LESSTABILIZATIONSETTINGS_MAXIMUMRATE_NUMELEM 3
|
||||
// Field RollRatePI information
|
||||
/* Array element names for field RollRatePI */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_ROLLRATEPI_KP=0, LESSTABILIZATIONSETTINGS_ROLLRATEPI_KI=1, LESSTABILIZATIONSETTINGS_ROLLRATEPI_ILIMIT=2 } LesStabilizationSettingsRollRatePIElem;
|
||||
/* Number of elements for field RollRatePI */
|
||||
#define LESSTABILIZATIONSETTINGS_ROLLRATEPI_NUMELEM 3
|
||||
// Field PitchRatePI information
|
||||
/* Array element names for field PitchRatePI */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_PITCHRATEPI_KP=0, LESSTABILIZATIONSETTINGS_PITCHRATEPI_KI=1, LESSTABILIZATIONSETTINGS_PITCHRATEPI_ILIMIT=2 } LesStabilizationSettingsPitchRatePIElem;
|
||||
/* Number of elements for field PitchRatePI */
|
||||
#define LESSTABILIZATIONSETTINGS_PITCHRATEPI_NUMELEM 3
|
||||
// Field YawRatePI information
|
||||
/* Array element names for field YawRatePI */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_YAWRATEPI_KP=0, LESSTABILIZATIONSETTINGS_YAWRATEPI_KI=1, LESSTABILIZATIONSETTINGS_YAWRATEPI_ILIMIT=2 } LesStabilizationSettingsYawRatePIElem;
|
||||
/* Number of elements for field YawRatePI */
|
||||
#define LESSTABILIZATIONSETTINGS_YAWRATEPI_NUMELEM 3
|
||||
// Field RollPI information
|
||||
/* Array element names for field RollPI */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_ROLLPI_KP=0, LESSTABILIZATIONSETTINGS_ROLLPI_KI=1, LESSTABILIZATIONSETTINGS_ROLLPI_ILIMIT=2 } LesStabilizationSettingsRollPIElem;
|
||||
/* Number of elements for field RollPI */
|
||||
#define LESSTABILIZATIONSETTINGS_ROLLPI_NUMELEM 3
|
||||
// Field PitchPI information
|
||||
/* Array element names for field PitchPI */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_PITCHPI_KP=0, LESSTABILIZATIONSETTINGS_PITCHPI_KI=1, LESSTABILIZATIONSETTINGS_PITCHPI_ILIMIT=2 } LesStabilizationSettingsPitchPIElem;
|
||||
/* Number of elements for field PitchPI */
|
||||
#define LESSTABILIZATIONSETTINGS_PITCHPI_NUMELEM 3
|
||||
// Field YawPI information
|
||||
/* Array element names for field YawPI */
|
||||
typedef enum { LESSTABILIZATIONSETTINGS_YAWPI_KP=0, LESSTABILIZATIONSETTINGS_YAWPI_KI=1, LESSTABILIZATIONSETTINGS_YAWPI_ILIMIT=2 } LesStabilizationSettingsYawPIElem;
|
||||
/* Number of elements for field YawPI */
|
||||
#define LESSTABILIZATIONSETTINGS_YAWPI_NUMELEM 3
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
int32_t LesStabilizationSettingsInitialize();
|
||||
UAVObjHandle LesStabilizationSettingsHandle();
|
||||
|
||||
#endif // LESSTABILIZATIONSETTINGS_H
|
||||
|
||||
/**
|
||||
* @}
|
||||
* @}
|
||||
*/
|
@ -41,7 +41,7 @@
|
||||
#define STABILIZATIONSETTINGS_H
|
||||
|
||||
// Object constants
|
||||
#define STABILIZATIONSETTINGS_OBJID 1346414844U
|
||||
#define STABILIZATIONSETTINGS_OBJID 3792991236U
|
||||
#define STABILIZATIONSETTINGS_NAME "StabilizationSettings"
|
||||
#define STABILIZATIONSETTINGS_METANAME "StabilizationSettingsMeta"
|
||||
#define STABILIZATIONSETTINGS_ISSINGLEINST 1
|
||||
@ -74,21 +74,14 @@ typedef struct {
|
||||
uint8_t RollMax;
|
||||
uint8_t PitchMax;
|
||||
uint8_t YawMax;
|
||||
uint8_t YawMode;
|
||||
float ThrottleMax;
|
||||
float ThrottleMin;
|
||||
float RollIntegralLimit;
|
||||
float PitchIntegralLimit;
|
||||
float YawIntegralLimit;
|
||||
float PitchKp;
|
||||
float PitchKi;
|
||||
float PitchKd;
|
||||
float RollKp;
|
||||
float RollKi;
|
||||
float RollKd;
|
||||
float YawKp;
|
||||
float YawKi;
|
||||
float YawKd;
|
||||
float ManualRate[3];
|
||||
float MaximumRate[3];
|
||||
float RollRatePI[3];
|
||||
float PitchRatePI[3];
|
||||
float YawRatePI[3];
|
||||
float RollPI[3];
|
||||
float PitchPI[3];
|
||||
float YawPI[3];
|
||||
|
||||
} __attribute__((packed)) StabilizationSettingsData;
|
||||
|
||||
@ -96,23 +89,46 @@ typedef struct {
|
||||
// Field RollMax information
|
||||
// Field PitchMax information
|
||||
// Field YawMax information
|
||||
// Field YawMode information
|
||||
/* Enumeration options for field YawMode */
|
||||
typedef enum { STABILIZATIONSETTINGS_YAWMODE_RATE=0, STABILIZATIONSETTINGS_YAWMODE_HEADING=1 } StabilizationSettingsYawModeOptions;
|
||||
// Field ThrottleMax information
|
||||
// Field ThrottleMin information
|
||||
// Field RollIntegralLimit information
|
||||
// Field PitchIntegralLimit information
|
||||
// Field YawIntegralLimit information
|
||||
// Field PitchKp information
|
||||
// Field PitchKi information
|
||||
// Field PitchKd information
|
||||
// Field RollKp information
|
||||
// Field RollKi information
|
||||
// Field RollKd information
|
||||
// Field YawKp information
|
||||
// Field YawKi information
|
||||
// Field YawKd information
|
||||
// Field ManualRate information
|
||||
/* Array element names for field ManualRate */
|
||||
typedef enum { STABILIZATIONSETTINGS_MANUALRATE_ROLL=0, STABILIZATIONSETTINGS_MANUALRATE_PITCH=1, STABILIZATIONSETTINGS_MANUALRATE_YAW=2 } StabilizationSettingsManualRateElem;
|
||||
/* Number of elements for field ManualRate */
|
||||
#define STABILIZATIONSETTINGS_MANUALRATE_NUMELEM 3
|
||||
// Field MaximumRate information
|
||||
/* Array element names for field MaximumRate */
|
||||
typedef enum { STABILIZATIONSETTINGS_MAXIMUMRATE_ROLL=0, STABILIZATIONSETTINGS_MAXIMUMRATE_PITCH=1, STABILIZATIONSETTINGS_MAXIMUMRATE_YAW=2 } StabilizationSettingsMaximumRateElem;
|
||||
/* Number of elements for field MaximumRate */
|
||||
#define STABILIZATIONSETTINGS_MAXIMUMRATE_NUMELEM 3
|
||||
// Field RollRatePI information
|
||||
/* Array element names for field RollRatePI */
|
||||
typedef enum { STABILIZATIONSETTINGS_ROLLRATEPI_KP=0, STABILIZATIONSETTINGS_ROLLRATEPI_KI=1, STABILIZATIONSETTINGS_ROLLRATEPI_ILIMIT=2 } StabilizationSettingsRollRatePIElem;
|
||||
/* Number of elements for field RollRatePI */
|
||||
#define STABILIZATIONSETTINGS_ROLLRATEPI_NUMELEM 3
|
||||
// Field PitchRatePI information
|
||||
/* Array element names for field PitchRatePI */
|
||||
typedef enum { STABILIZATIONSETTINGS_PITCHRATEPI_KP=0, STABILIZATIONSETTINGS_PITCHRATEPI_KI=1, STABILIZATIONSETTINGS_PITCHRATEPI_ILIMIT=2 } StabilizationSettingsPitchRatePIElem;
|
||||
/* Number of elements for field PitchRatePI */
|
||||
#define STABILIZATIONSETTINGS_PITCHRATEPI_NUMELEM 3
|
||||
// Field YawRatePI information
|
||||
/* Array element names for field YawRatePI */
|
||||
typedef enum { STABILIZATIONSETTINGS_YAWRATEPI_KP=0, STABILIZATIONSETTINGS_YAWRATEPI_KI=1, STABILIZATIONSETTINGS_YAWRATEPI_ILIMIT=2 } StabilizationSettingsYawRatePIElem;
|
||||
/* Number of elements for field YawRatePI */
|
||||
#define STABILIZATIONSETTINGS_YAWRATEPI_NUMELEM 3
|
||||
// Field RollPI information
|
||||
/* Array element names for field RollPI */
|
||||
typedef enum { STABILIZATIONSETTINGS_ROLLPI_KP=0, STABILIZATIONSETTINGS_ROLLPI_KI=1, STABILIZATIONSETTINGS_ROLLPI_ILIMIT=2 } StabilizationSettingsRollPIElem;
|
||||
/* Number of elements for field RollPI */
|
||||
#define STABILIZATIONSETTINGS_ROLLPI_NUMELEM 3
|
||||
// Field PitchPI information
|
||||
/* Array element names for field PitchPI */
|
||||
typedef enum { STABILIZATIONSETTINGS_PITCHPI_KP=0, STABILIZATIONSETTINGS_PITCHPI_KI=1, STABILIZATIONSETTINGS_PITCHPI_ILIMIT=2 } StabilizationSettingsPitchPIElem;
|
||||
/* Number of elements for field PitchPI */
|
||||
#define STABILIZATIONSETTINGS_PITCHPI_NUMELEM 3
|
||||
// Field YawPI information
|
||||
/* Array element names for field YawPI */
|
||||
typedef enum { STABILIZATIONSETTINGS_YAWPI_KP=0, STABILIZATIONSETTINGS_YAWPI_KI=1, STABILIZATIONSETTINGS_YAWPI_ILIMIT=2 } StabilizationSettingsYawPIElem;
|
||||
/* Number of elements for field YawPI */
|
||||
#define STABILIZATIONSETTINGS_YAWPI_NUMELEM 3
|
||||
|
||||
|
||||
// Generic interface functions
|
||||
|
@ -1,139 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
* @addtogroup UAVObjects OpenPilot UAVObjects
|
||||
* @{
|
||||
* @addtogroup LesStabilizationSettings LesStabilizationSettings
|
||||
* @brief PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired
|
||||
*
|
||||
* Autogenerated files and functions for LesStabilizationSettings Object
|
||||
* @{
|
||||
*
|
||||
* @file lesstabilizationsettings.c
|
||||
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
* @brief Implementation of the LesStabilizationSettings object. This file has been
|
||||
* automatically generated by the UAVObjectGenerator.
|
||||
*
|
||||
* @note Object definition file: lesstabilizationsettings.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 "lesstabilizationsettings.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 LesStabilizationSettingsInitialize()
|
||||
{
|
||||
// Register object with the object manager
|
||||
handle = UAVObjRegister(LESSTABILIZATIONSETTINGS_OBJID, LESSTABILIZATIONSETTINGS_NAME, LESSTABILIZATIONSETTINGS_METANAME, 0,
|
||||
LESSTABILIZATIONSETTINGS_ISSINGLEINST, LESSTABILIZATIONSETTINGS_ISSETTINGS, LESSTABILIZATIONSETTINGS_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)
|
||||
{
|
||||
LesStabilizationSettingsData data;
|
||||
UAVObjMetadata metadata;
|
||||
|
||||
// Initialize object fields to their default values
|
||||
UAVObjGetInstanceData(obj, instId, &data);
|
||||
memset(&data, 0, sizeof(LesStabilizationSettingsData));
|
||||
data.UpdatePeriod = 10;
|
||||
data.RollMax = 35;
|
||||
data.PitchMax = 35;
|
||||
data.YawMax = 35;
|
||||
data.ManualRate[0] = 150;
|
||||
data.ManualRate[1] = 150;
|
||||
data.ManualRate[2] = 150;
|
||||
data.MaximumRate[0] = 300;
|
||||
data.MaximumRate[1] = 300;
|
||||
data.MaximumRate[2] = 300;
|
||||
data.RollRatePI[0] = 0.0015;
|
||||
data.RollRatePI[1] = 0;
|
||||
data.RollRatePI[2] = 0.5;
|
||||
data.PitchRatePI[0] = 0.0015;
|
||||
data.PitchRatePI[1] = 0;
|
||||
data.PitchRatePI[2] = 0.5;
|
||||
data.YawRatePI[0] = 0.003;
|
||||
data.YawRatePI[1] = 0;
|
||||
data.YawRatePI[2] = 0.5;
|
||||
data.RollPI[0] = 2;
|
||||
data.RollPI[1] = 0;
|
||||
data.RollPI[2] = 0.5;
|
||||
data.PitchPI[0] = 2;
|
||||
data.PitchPI[1] = 0;
|
||||
data.PitchPI[2] = 0.5;
|
||||
data.YawPI[0] = 2;
|
||||
data.YawPI[1] = 0;
|
||||
data.YawPI[2] = 0.5;
|
||||
|
||||
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 LesStabilizationSettingsHandle()
|
||||
{
|
||||
return handle;
|
||||
}
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
@ -83,21 +83,30 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
||||
data.RollMax = 35;
|
||||
data.PitchMax = 35;
|
||||
data.YawMax = 35;
|
||||
data.YawMode = 0;
|
||||
data.ThrottleMax = 1;
|
||||
data.ThrottleMin = -1;
|
||||
data.RollIntegralLimit = 0.5;
|
||||
data.PitchIntegralLimit = 0.5;
|
||||
data.YawIntegralLimit = 0.5;
|
||||
data.PitchKp = 0.04;
|
||||
data.PitchKi = 4e-06;
|
||||
data.PitchKd = 0.01;
|
||||
data.RollKp = 0.02;
|
||||
data.RollKi = 4e-06;
|
||||
data.RollKd = 0.01;
|
||||
data.YawKp = 0.04;
|
||||
data.YawKi = 4e-06;
|
||||
data.YawKd = 0.01;
|
||||
data.ManualRate[0] = 150;
|
||||
data.ManualRate[1] = 150;
|
||||
data.ManualRate[2] = 150;
|
||||
data.MaximumRate[0] = 300;
|
||||
data.MaximumRate[1] = 300;
|
||||
data.MaximumRate[2] = 300;
|
||||
data.RollRatePI[0] = 0.0015;
|
||||
data.RollRatePI[1] = 0;
|
||||
data.RollRatePI[2] = 0.5;
|
||||
data.PitchRatePI[0] = 0.0015;
|
||||
data.PitchRatePI[1] = 0;
|
||||
data.PitchRatePI[2] = 0.5;
|
||||
data.YawRatePI[0] = 0.003;
|
||||
data.YawRatePI[1] = 0;
|
||||
data.YawRatePI[2] = 0.5;
|
||||
data.RollPI[0] = 2;
|
||||
data.RollPI[1] = 0;
|
||||
data.RollPI[2] = 0.5;
|
||||
data.PitchPI[0] = 2;
|
||||
data.PitchPI[1] = 0;
|
||||
data.PitchPI[2] = 0.5;
|
||||
data.YawPI[0] = 2;
|
||||
data.YawPI[1] = 0;
|
||||
data.YawPI[2] = 0.5;
|
||||
|
||||
UAVObjSetInstanceData(obj, instId, &data);
|
||||
|
||||
|
@ -47,7 +47,6 @@
|
||||
#include "gpstime.h"
|
||||
#include "guidancesettings.h"
|
||||
#include "homelocation.h"
|
||||
#include "lesstabilizationsettings.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
@ -89,7 +88,6 @@ void UAVObjectsInitializeAll()
|
||||
GPSTimeInitialize();
|
||||
GuidanceSettingsInitialize();
|
||||
HomeLocationInitialize();
|
||||
LesStabilizationSettingsInitialize();
|
||||
ManualControlCommandInitialize();
|
||||
ManualControlSettingsInitialize();
|
||||
MixerSettingsInitialize();
|
||||
|
@ -1,205 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file lesstabilizationsettings.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: lesstabilizationsettings.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 "lesstabilizationsettings.h"
|
||||
#include "uavobjectfield.h"
|
||||
|
||||
const QString LesStabilizationSettings::NAME = QString("LesStabilizationSettings");
|
||||
|
||||
/**
|
||||
* Constructor
|
||||
*/
|
||||
LesStabilizationSettings::LesStabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
|
||||
{
|
||||
// Create fields
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList UpdatePeriodElemNames;
|
||||
UpdatePeriodElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT8, UpdatePeriodElemNames, QStringList()) );
|
||||
QStringList RollMaxElemNames;
|
||||
RollMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollMax"), QString("Degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
|
||||
QStringList PitchMaxElemNames;
|
||||
PitchMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchMax"), QString("Degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
|
||||
QStringList YawMaxElemNames;
|
||||
YawMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("YawMax"), QString("Degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
|
||||
QStringList ManualRateElemNames;
|
||||
ManualRateElemNames.append("Roll");
|
||||
ManualRateElemNames.append("Pitch");
|
||||
ManualRateElemNames.append("Yaw");
|
||||
fields.append( new UAVObjectField(QString("ManualRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, ManualRateElemNames, QStringList()) );
|
||||
QStringList MaximumRateElemNames;
|
||||
MaximumRateElemNames.append("Roll");
|
||||
MaximumRateElemNames.append("Pitch");
|
||||
MaximumRateElemNames.append("Yaw");
|
||||
fields.append( new UAVObjectField(QString("MaximumRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, MaximumRateElemNames, QStringList()) );
|
||||
QStringList RollRatePIElemNames;
|
||||
RollRatePIElemNames.append("Kp");
|
||||
RollRatePIElemNames.append("Ki");
|
||||
RollRatePIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("RollRatePI"), QString(""), UAVObjectField::FLOAT32, RollRatePIElemNames, QStringList()) );
|
||||
QStringList PitchRatePIElemNames;
|
||||
PitchRatePIElemNames.append("Kp");
|
||||
PitchRatePIElemNames.append("Ki");
|
||||
PitchRatePIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("PitchRatePI"), QString(""), UAVObjectField::FLOAT32, PitchRatePIElemNames, QStringList()) );
|
||||
QStringList YawRatePIElemNames;
|
||||
YawRatePIElemNames.append("Kp");
|
||||
YawRatePIElemNames.append("Ki");
|
||||
YawRatePIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("YawRatePI"), QString(""), UAVObjectField::FLOAT32, YawRatePIElemNames, QStringList()) );
|
||||
QStringList RollPIElemNames;
|
||||
RollPIElemNames.append("Kp");
|
||||
RollPIElemNames.append("Ki");
|
||||
RollPIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("RollPI"), QString(""), UAVObjectField::FLOAT32, RollPIElemNames, QStringList()) );
|
||||
QStringList PitchPIElemNames;
|
||||
PitchPIElemNames.append("Kp");
|
||||
PitchPIElemNames.append("Ki");
|
||||
PitchPIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("PitchPI"), QString(""), UAVObjectField::FLOAT32, PitchPIElemNames, QStringList()) );
|
||||
QStringList YawPIElemNames;
|
||||
YawPIElemNames.append("Kp");
|
||||
YawPIElemNames.append("Ki");
|
||||
YawPIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("YawPI"), QString(""), UAVObjectField::FLOAT32, YawPIElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
// Set the default field values
|
||||
setDefaultFieldValues();
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the default metadata for this object
|
||||
*/
|
||||
UAVObject::Metadata LesStabilizationSettings::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 LesStabilizationSettings::setDefaultFieldValues()
|
||||
{
|
||||
data.UpdatePeriod = 10;
|
||||
data.RollMax = 35;
|
||||
data.PitchMax = 35;
|
||||
data.YawMax = 35;
|
||||
data.ManualRate[0] = 150;
|
||||
data.ManualRate[1] = 150;
|
||||
data.ManualRate[2] = 150;
|
||||
data.MaximumRate[0] = 300;
|
||||
data.MaximumRate[1] = 300;
|
||||
data.MaximumRate[2] = 300;
|
||||
data.RollRatePI[0] = 0.0015;
|
||||
data.RollRatePI[1] = 0;
|
||||
data.RollRatePI[2] = 0.5;
|
||||
data.PitchRatePI[0] = 0.0015;
|
||||
data.PitchRatePI[1] = 0;
|
||||
data.PitchRatePI[2] = 0.5;
|
||||
data.YawRatePI[0] = 0.003;
|
||||
data.YawRatePI[1] = 0;
|
||||
data.YawRatePI[2] = 0.5;
|
||||
data.RollPI[0] = 2;
|
||||
data.RollPI[1] = 0;
|
||||
data.RollPI[2] = 0.5;
|
||||
data.PitchPI[0] = 2;
|
||||
data.PitchPI[1] = 0;
|
||||
data.PitchPI[2] = 0.5;
|
||||
data.YawPI[0] = 2;
|
||||
data.YawPI[1] = 0;
|
||||
data.YawPI[2] = 0.5;
|
||||
|
||||
}
|
||||
|
||||
/**
|
||||
* Get the object data fields
|
||||
*/
|
||||
LesStabilizationSettings::DataFields LesStabilizationSettings::getData()
|
||||
{
|
||||
QMutexLocker locker(mutex);
|
||||
return data;
|
||||
}
|
||||
|
||||
/**
|
||||
* Set the object data fields
|
||||
*/
|
||||
void LesStabilizationSettings::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* LesStabilizationSettings::clone(quint32 instID)
|
||||
{
|
||||
LesStabilizationSettings* obj = new LesStabilizationSettings();
|
||||
obj->initialize(instID, this->getMetaObject());
|
||||
return obj;
|
||||
}
|
||||
|
||||
/**
|
||||
* Static function to retrieve an instance of the object.
|
||||
*/
|
||||
LesStabilizationSettings* LesStabilizationSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
|
||||
{
|
||||
return dynamic_cast<LesStabilizationSettings*>(objMngr->getObject(LesStabilizationSettings::OBJID, instID));
|
||||
}
|
@ -1,132 +0,0 @@
|
||||
/**
|
||||
******************************************************************************
|
||||
*
|
||||
* @file lesstabilizationsettings.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: lesstabilizationsettings.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 LESSTABILIZATIONSETTINGS_H
|
||||
#define LESSTABILIZATIONSETTINGS_H
|
||||
|
||||
#include "uavdataobject.h"
|
||||
#include "uavobjectmanager.h"
|
||||
|
||||
class UAVOBJECTS_EXPORT LesStabilizationSettings: public UAVDataObject
|
||||
{
|
||||
Q_OBJECT
|
||||
|
||||
public:
|
||||
// Field structure
|
||||
typedef struct {
|
||||
quint8 UpdatePeriod;
|
||||
quint8 RollMax;
|
||||
quint8 PitchMax;
|
||||
quint8 YawMax;
|
||||
float ManualRate[3];
|
||||
float MaximumRate[3];
|
||||
float RollRatePI[3];
|
||||
float PitchRatePI[3];
|
||||
float YawRatePI[3];
|
||||
float RollPI[3];
|
||||
float PitchPI[3];
|
||||
float YawPI[3];
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
// Field information
|
||||
// Field UpdatePeriod information
|
||||
// Field RollMax information
|
||||
// Field PitchMax information
|
||||
// Field YawMax information
|
||||
// Field ManualRate information
|
||||
/* Array element names for field ManualRate */
|
||||
typedef enum { MANUALRATE_ROLL=0, MANUALRATE_PITCH=1, MANUALRATE_YAW=2 } ManualRateElem;
|
||||
/* Number of elements for field ManualRate */
|
||||
static const quint32 MANUALRATE_NUMELEM = 3;
|
||||
// Field MaximumRate information
|
||||
/* Array element names for field MaximumRate */
|
||||
typedef enum { MAXIMUMRATE_ROLL=0, MAXIMUMRATE_PITCH=1, MAXIMUMRATE_YAW=2 } MaximumRateElem;
|
||||
/* Number of elements for field MaximumRate */
|
||||
static const quint32 MAXIMUMRATE_NUMELEM = 3;
|
||||
// Field RollRatePI information
|
||||
/* Array element names for field RollRatePI */
|
||||
typedef enum { ROLLRATEPI_KP=0, ROLLRATEPI_KI=1, ROLLRATEPI_ILIMIT=2 } RollRatePIElem;
|
||||
/* Number of elements for field RollRatePI */
|
||||
static const quint32 ROLLRATEPI_NUMELEM = 3;
|
||||
// Field PitchRatePI information
|
||||
/* Array element names for field PitchRatePI */
|
||||
typedef enum { PITCHRATEPI_KP=0, PITCHRATEPI_KI=1, PITCHRATEPI_ILIMIT=2 } PitchRatePIElem;
|
||||
/* Number of elements for field PitchRatePI */
|
||||
static const quint32 PITCHRATEPI_NUMELEM = 3;
|
||||
// Field YawRatePI information
|
||||
/* Array element names for field YawRatePI */
|
||||
typedef enum { YAWRATEPI_KP=0, YAWRATEPI_KI=1, YAWRATEPI_ILIMIT=2 } YawRatePIElem;
|
||||
/* Number of elements for field YawRatePI */
|
||||
static const quint32 YAWRATEPI_NUMELEM = 3;
|
||||
// Field RollPI information
|
||||
/* Array element names for field RollPI */
|
||||
typedef enum { ROLLPI_KP=0, ROLLPI_KI=1, ROLLPI_ILIMIT=2 } RollPIElem;
|
||||
/* Number of elements for field RollPI */
|
||||
static const quint32 ROLLPI_NUMELEM = 3;
|
||||
// Field PitchPI information
|
||||
/* Array element names for field PitchPI */
|
||||
typedef enum { PITCHPI_KP=0, PITCHPI_KI=1, PITCHPI_ILIMIT=2 } PitchPIElem;
|
||||
/* Number of elements for field PitchPI */
|
||||
static const quint32 PITCHPI_NUMELEM = 3;
|
||||
// Field YawPI information
|
||||
/* Array element names for field YawPI */
|
||||
typedef enum { YAWPI_KP=0, YAWPI_KI=1, YAWPI_ILIMIT=2 } YawPIElem;
|
||||
/* Number of elements for field YawPI */
|
||||
static const quint32 YAWPI_NUMELEM = 3;
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 3247121950U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 1;
|
||||
static const quint32 NUMBYTES = sizeof(DataFields);
|
||||
|
||||
// Functions
|
||||
LesStabilizationSettings();
|
||||
|
||||
DataFields getData();
|
||||
void setData(const DataFields& data);
|
||||
Metadata getDefaultMetadata();
|
||||
UAVDataObject* clone(quint32 instID);
|
||||
|
||||
static LesStabilizationSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
||||
|
||||
private:
|
||||
DataFields data;
|
||||
|
||||
void setDefaultFieldValues();
|
||||
|
||||
};
|
||||
|
||||
#endif // LESSTABILIZATIONSETTINGS_H
|
@ -1,212 +0,0 @@
|
||||
##
|
||||
##############################################################################
|
||||
#
|
||||
# @file lesstabilizationsettings.py
|
||||
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
||||
# @brief Implementation of the LesStabilizationSettings object. This file has been
|
||||
# automatically generated by the UAVObjectGenerator.
|
||||
#
|
||||
# @note Object definition file: lesstabilizationsettings.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',
|
||||
'B',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollMax',
|
||||
'B',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchMax',
|
||||
'B',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawMax',
|
||||
'B',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ManualRate',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Roll',
|
||||
'Pitch',
|
||||
'Yaw',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'MaximumRate',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Roll',
|
||||
'Pitch',
|
||||
'Yaw',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollRatePI',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchRatePI',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawRatePI',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollPI',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchPI',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawPI',
|
||||
'f',
|
||||
3,
|
||||
[
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
]
|
||||
|
||||
|
||||
class LesStabilizationSettings(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 3247121950
|
||||
NAME = "LesStabilizationSettings"
|
||||
METANAME = "LesStabilizationSettingsMeta"
|
||||
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 = LesStabilizationSettings()
|
||||
print (x)
|
||||
|
||||
if __name__ == "__main__":
|
||||
#import pdb ; pdb.run('main()')
|
||||
main()
|
@ -44,61 +44,53 @@ StabilizationSettings::StabilizationSettings(): UAVDataObject(OBJID, ISSINGLEINS
|
||||
QList<UAVObjectField*> fields;
|
||||
QStringList RollMaxElemNames;
|
||||
RollMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollMax"), QString("degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
|
||||
fields.append( new UAVObjectField(QString("RollMax"), QString("Degrees"), UAVObjectField::UINT8, RollMaxElemNames, QStringList()) );
|
||||
QStringList PitchMaxElemNames;
|
||||
PitchMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchMax"), QString("degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
|
||||
fields.append( new UAVObjectField(QString("PitchMax"), QString("Degrees"), UAVObjectField::UINT8, PitchMaxElemNames, QStringList()) );
|
||||
QStringList YawMaxElemNames;
|
||||
YawMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("YawMax"), QString("degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
|
||||
QStringList YawModeElemNames;
|
||||
YawModeElemNames.append("0");
|
||||
QStringList YawModeEnumOptions;
|
||||
YawModeEnumOptions.append("rate");
|
||||
YawModeEnumOptions.append("heading");
|
||||
fields.append( new UAVObjectField(QString("YawMode"), QString("degrees"), UAVObjectField::ENUM, YawModeElemNames, YawModeEnumOptions) );
|
||||
QStringList ThrottleMaxElemNames;
|
||||
ThrottleMaxElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("ThrottleMax"), QString("frac"), UAVObjectField::FLOAT32, ThrottleMaxElemNames, QStringList()) );
|
||||
QStringList ThrottleMinElemNames;
|
||||
ThrottleMinElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("ThrottleMin"), QString("frac"), UAVObjectField::FLOAT32, ThrottleMinElemNames, QStringList()) );
|
||||
QStringList RollIntegralLimitElemNames;
|
||||
RollIntegralLimitElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollIntegralLimit"), QString(""), UAVObjectField::FLOAT32, RollIntegralLimitElemNames, QStringList()) );
|
||||
QStringList PitchIntegralLimitElemNames;
|
||||
PitchIntegralLimitElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchIntegralLimit"), QString(""), UAVObjectField::FLOAT32, PitchIntegralLimitElemNames, QStringList()) );
|
||||
QStringList YawIntegralLimitElemNames;
|
||||
YawIntegralLimitElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("YawIntegralLimit"), QString(""), UAVObjectField::FLOAT32, YawIntegralLimitElemNames, QStringList()) );
|
||||
QStringList PitchKpElemNames;
|
||||
PitchKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchKp"), QString(""), UAVObjectField::FLOAT32, PitchKpElemNames, QStringList()) );
|
||||
QStringList PitchKiElemNames;
|
||||
PitchKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchKi"), QString(""), UAVObjectField::FLOAT32, PitchKiElemNames, QStringList()) );
|
||||
QStringList PitchKdElemNames;
|
||||
PitchKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("PitchKd"), QString(""), UAVObjectField::FLOAT32, PitchKdElemNames, QStringList()) );
|
||||
QStringList RollKpElemNames;
|
||||
RollKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollKp"), QString(""), UAVObjectField::FLOAT32, RollKpElemNames, QStringList()) );
|
||||
QStringList RollKiElemNames;
|
||||
RollKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollKi"), QString(""), UAVObjectField::FLOAT32, RollKiElemNames, QStringList()) );
|
||||
QStringList RollKdElemNames;
|
||||
RollKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("RollKd"), QString(""), UAVObjectField::FLOAT32, RollKdElemNames, QStringList()) );
|
||||
QStringList YawKpElemNames;
|
||||
YawKpElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("YawKp"), QString(""), UAVObjectField::FLOAT32, YawKpElemNames, QStringList()) );
|
||||
QStringList YawKiElemNames;
|
||||
YawKiElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("YawKi"), QString(""), UAVObjectField::FLOAT32, YawKiElemNames, QStringList()) );
|
||||
QStringList YawKdElemNames;
|
||||
YawKdElemNames.append("0");
|
||||
fields.append( new UAVObjectField(QString("YawKd"), QString(""), UAVObjectField::FLOAT32, YawKdElemNames, QStringList()) );
|
||||
fields.append( new UAVObjectField(QString("YawMax"), QString("Degrees"), UAVObjectField::UINT8, YawMaxElemNames, QStringList()) );
|
||||
QStringList ManualRateElemNames;
|
||||
ManualRateElemNames.append("Roll");
|
||||
ManualRateElemNames.append("Pitch");
|
||||
ManualRateElemNames.append("Yaw");
|
||||
fields.append( new UAVObjectField(QString("ManualRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, ManualRateElemNames, QStringList()) );
|
||||
QStringList MaximumRateElemNames;
|
||||
MaximumRateElemNames.append("Roll");
|
||||
MaximumRateElemNames.append("Pitch");
|
||||
MaximumRateElemNames.append("Yaw");
|
||||
fields.append( new UAVObjectField(QString("MaximumRate"), QString("Degrees/sec"), UAVObjectField::FLOAT32, MaximumRateElemNames, QStringList()) );
|
||||
QStringList RollRatePIElemNames;
|
||||
RollRatePIElemNames.append("Kp");
|
||||
RollRatePIElemNames.append("Ki");
|
||||
RollRatePIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("RollRatePI"), QString(""), UAVObjectField::FLOAT32, RollRatePIElemNames, QStringList()) );
|
||||
QStringList PitchRatePIElemNames;
|
||||
PitchRatePIElemNames.append("Kp");
|
||||
PitchRatePIElemNames.append("Ki");
|
||||
PitchRatePIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("PitchRatePI"), QString(""), UAVObjectField::FLOAT32, PitchRatePIElemNames, QStringList()) );
|
||||
QStringList YawRatePIElemNames;
|
||||
YawRatePIElemNames.append("Kp");
|
||||
YawRatePIElemNames.append("Ki");
|
||||
YawRatePIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("YawRatePI"), QString(""), UAVObjectField::FLOAT32, YawRatePIElemNames, QStringList()) );
|
||||
QStringList RollPIElemNames;
|
||||
RollPIElemNames.append("Kp");
|
||||
RollPIElemNames.append("Ki");
|
||||
RollPIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("RollPI"), QString(""), UAVObjectField::FLOAT32, RollPIElemNames, QStringList()) );
|
||||
QStringList PitchPIElemNames;
|
||||
PitchPIElemNames.append("Kp");
|
||||
PitchPIElemNames.append("Ki");
|
||||
PitchPIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("PitchPI"), QString(""), UAVObjectField::FLOAT32, PitchPIElemNames, QStringList()) );
|
||||
QStringList YawPIElemNames;
|
||||
YawPIElemNames.append("Kp");
|
||||
YawPIElemNames.append("Ki");
|
||||
YawPIElemNames.append("ILimit");
|
||||
fields.append( new UAVObjectField(QString("YawPI"), QString(""), UAVObjectField::FLOAT32, YawPIElemNames, QStringList()) );
|
||||
|
||||
// Initialize object
|
||||
initializeFields(fields, (quint8*)&data, NUMBYTES);
|
||||
@ -135,21 +127,30 @@ void StabilizationSettings::setDefaultFieldValues()
|
||||
data.RollMax = 35;
|
||||
data.PitchMax = 35;
|
||||
data.YawMax = 35;
|
||||
data.YawMode = 0;
|
||||
data.ThrottleMax = 1;
|
||||
data.ThrottleMin = -1;
|
||||
data.RollIntegralLimit = 0.5;
|
||||
data.PitchIntegralLimit = 0.5;
|
||||
data.YawIntegralLimit = 0.5;
|
||||
data.PitchKp = 0.04;
|
||||
data.PitchKi = 4e-06;
|
||||
data.PitchKd = 0.01;
|
||||
data.RollKp = 0.02;
|
||||
data.RollKi = 4e-06;
|
||||
data.RollKd = 0.01;
|
||||
data.YawKp = 0.04;
|
||||
data.YawKi = 4e-06;
|
||||
data.YawKd = 0.01;
|
||||
data.ManualRate[0] = 150;
|
||||
data.ManualRate[1] = 150;
|
||||
data.ManualRate[2] = 150;
|
||||
data.MaximumRate[0] = 300;
|
||||
data.MaximumRate[1] = 300;
|
||||
data.MaximumRate[2] = 300;
|
||||
data.RollRatePI[0] = 0.0015;
|
||||
data.RollRatePI[1] = 0;
|
||||
data.RollRatePI[2] = 0.5;
|
||||
data.PitchRatePI[0] = 0.0015;
|
||||
data.PitchRatePI[1] = 0;
|
||||
data.PitchRatePI[2] = 0.5;
|
||||
data.YawRatePI[0] = 0.003;
|
||||
data.YawRatePI[1] = 0;
|
||||
data.YawRatePI[2] = 0.5;
|
||||
data.RollPI[0] = 2;
|
||||
data.RollPI[1] = 0;
|
||||
data.RollPI[2] = 0.5;
|
||||
data.PitchPI[0] = 2;
|
||||
data.PitchPI[1] = 0;
|
||||
data.PitchPI[2] = 0.5;
|
||||
data.YawPI[0] = 2;
|
||||
data.YawPI[1] = 0;
|
||||
data.YawPI[2] = 0.5;
|
||||
|
||||
}
|
||||
|
||||
|
@ -46,21 +46,14 @@ public:
|
||||
quint8 RollMax;
|
||||
quint8 PitchMax;
|
||||
quint8 YawMax;
|
||||
quint8 YawMode;
|
||||
float ThrottleMax;
|
||||
float ThrottleMin;
|
||||
float RollIntegralLimit;
|
||||
float PitchIntegralLimit;
|
||||
float YawIntegralLimit;
|
||||
float PitchKp;
|
||||
float PitchKi;
|
||||
float PitchKd;
|
||||
float RollKp;
|
||||
float RollKi;
|
||||
float RollKd;
|
||||
float YawKp;
|
||||
float YawKi;
|
||||
float YawKd;
|
||||
float ManualRate[3];
|
||||
float MaximumRate[3];
|
||||
float RollRatePI[3];
|
||||
float PitchRatePI[3];
|
||||
float YawRatePI[3];
|
||||
float RollPI[3];
|
||||
float PitchPI[3];
|
||||
float YawPI[3];
|
||||
|
||||
} __attribute__((packed)) DataFields;
|
||||
|
||||
@ -68,27 +61,50 @@ public:
|
||||
// Field RollMax information
|
||||
// Field PitchMax information
|
||||
// Field YawMax information
|
||||
// Field YawMode information
|
||||
/* Enumeration options for field YawMode */
|
||||
typedef enum { YAWMODE_RATE=0, YAWMODE_HEADING=1 } YawModeOptions;
|
||||
// Field ThrottleMax information
|
||||
// Field ThrottleMin information
|
||||
// Field RollIntegralLimit information
|
||||
// Field PitchIntegralLimit information
|
||||
// Field YawIntegralLimit information
|
||||
// Field PitchKp information
|
||||
// Field PitchKi information
|
||||
// Field PitchKd information
|
||||
// Field RollKp information
|
||||
// Field RollKi information
|
||||
// Field RollKd information
|
||||
// Field YawKp information
|
||||
// Field YawKi information
|
||||
// Field YawKd information
|
||||
// Field ManualRate information
|
||||
/* Array element names for field ManualRate */
|
||||
typedef enum { MANUALRATE_ROLL=0, MANUALRATE_PITCH=1, MANUALRATE_YAW=2 } ManualRateElem;
|
||||
/* Number of elements for field ManualRate */
|
||||
static const quint32 MANUALRATE_NUMELEM = 3;
|
||||
// Field MaximumRate information
|
||||
/* Array element names for field MaximumRate */
|
||||
typedef enum { MAXIMUMRATE_ROLL=0, MAXIMUMRATE_PITCH=1, MAXIMUMRATE_YAW=2 } MaximumRateElem;
|
||||
/* Number of elements for field MaximumRate */
|
||||
static const quint32 MAXIMUMRATE_NUMELEM = 3;
|
||||
// Field RollRatePI information
|
||||
/* Array element names for field RollRatePI */
|
||||
typedef enum { ROLLRATEPI_KP=0, ROLLRATEPI_KI=1, ROLLRATEPI_ILIMIT=2 } RollRatePIElem;
|
||||
/* Number of elements for field RollRatePI */
|
||||
static const quint32 ROLLRATEPI_NUMELEM = 3;
|
||||
// Field PitchRatePI information
|
||||
/* Array element names for field PitchRatePI */
|
||||
typedef enum { PITCHRATEPI_KP=0, PITCHRATEPI_KI=1, PITCHRATEPI_ILIMIT=2 } PitchRatePIElem;
|
||||
/* Number of elements for field PitchRatePI */
|
||||
static const quint32 PITCHRATEPI_NUMELEM = 3;
|
||||
// Field YawRatePI information
|
||||
/* Array element names for field YawRatePI */
|
||||
typedef enum { YAWRATEPI_KP=0, YAWRATEPI_KI=1, YAWRATEPI_ILIMIT=2 } YawRatePIElem;
|
||||
/* Number of elements for field YawRatePI */
|
||||
static const quint32 YAWRATEPI_NUMELEM = 3;
|
||||
// Field RollPI information
|
||||
/* Array element names for field RollPI */
|
||||
typedef enum { ROLLPI_KP=0, ROLLPI_KI=1, ROLLPI_ILIMIT=2 } RollPIElem;
|
||||
/* Number of elements for field RollPI */
|
||||
static const quint32 ROLLPI_NUMELEM = 3;
|
||||
// Field PitchPI information
|
||||
/* Array element names for field PitchPI */
|
||||
typedef enum { PITCHPI_KP=0, PITCHPI_KI=1, PITCHPI_ILIMIT=2 } PitchPIElem;
|
||||
/* Number of elements for field PitchPI */
|
||||
static const quint32 PITCHPI_NUMELEM = 3;
|
||||
// Field YawPI information
|
||||
/* Array element names for field YawPI */
|
||||
typedef enum { YAWPI_KP=0, YAWPI_KI=1, YAWPI_ILIMIT=2 } YawPIElem;
|
||||
/* Number of elements for field YawPI */
|
||||
static const quint32 YAWPI_NUMELEM = 3;
|
||||
|
||||
|
||||
// Constants
|
||||
static const quint32 OBJID = 1346414844U;
|
||||
static const quint32 OBJID = 3792991236U;
|
||||
static const QString NAME;
|
||||
static const bool ISSINGLEINST = 1;
|
||||
static const bool ISSETTINGS = 1;
|
||||
|
@ -68,153 +68,97 @@ _fields = [ \
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawMode',
|
||||
'b',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
'0' : 'rate',
|
||||
'1' : 'heading',
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ThrottleMax',
|
||||
'ManualRate',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Roll',
|
||||
'Pitch',
|
||||
'Yaw',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'ThrottleMin',
|
||||
'MaximumRate',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Roll',
|
||||
'Pitch',
|
||||
'Yaw',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollIntegralLimit',
|
||||
'RollRatePI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchIntegralLimit',
|
||||
'PitchRatePI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawIntegralLimit',
|
||||
'YawRatePI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchKp',
|
||||
'RollPI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchKi',
|
||||
'PitchPI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'PitchKd',
|
||||
'YawPI',
|
||||
'f',
|
||||
1,
|
||||
3,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollKp',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollKi',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'RollKd',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawKp',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawKi',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
],
|
||||
{
|
||||
}
|
||||
),
|
||||
uavobject.UAVObjectField(
|
||||
'YawKd',
|
||||
'f',
|
||||
1,
|
||||
[
|
||||
'0',
|
||||
'Kp',
|
||||
'Ki',
|
||||
'ILimit',
|
||||
],
|
||||
{
|
||||
}
|
||||
@ -224,7 +168,7 @@ _fields = [ \
|
||||
|
||||
class StabilizationSettings(uavobject.UAVObject):
|
||||
## Object constants
|
||||
OBJID = 1346414844
|
||||
OBJID = 3792991236
|
||||
NAME = "StabilizationSettings"
|
||||
METANAME = "StabilizationSettingsMeta"
|
||||
ISSINGLEINST = 1
|
||||
|
@ -43,7 +43,6 @@ HEADERS += uavobjects_global.h \
|
||||
velocityactual.h \
|
||||
guidancesettings.h \
|
||||
positiondesired.h \
|
||||
lesstabilizationsettings.h \
|
||||
firmwareiapobj.h
|
||||
|
||||
SOURCES += uavobject.cpp \
|
||||
@ -85,6 +84,5 @@ SOURCES += uavobject.cpp \
|
||||
velocityactual.cpp \
|
||||
guidancesettings.cpp \
|
||||
positiondesired.cpp \
|
||||
lesstabilizationsettings.cpp \
|
||||
firmwareiapobj.cpp
|
||||
OTHER_FILES += UAVObjects.pluginspec
|
||||
|
@ -49,7 +49,6 @@
|
||||
#include "gpstime.h"
|
||||
#include "guidancesettings.h"
|
||||
#include "homelocation.h"
|
||||
#include "lesstabilizationsettings.h"
|
||||
#include "manualcontrolcommand.h"
|
||||
#include "manualcontrolsettings.h"
|
||||
#include "mixersettings.h"
|
||||
@ -91,7 +90,6 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
|
||||
objMngr->registerObject( new GPSTime() );
|
||||
objMngr->registerObject( new GuidanceSettings() );
|
||||
objMngr->registerObject( new HomeLocation() );
|
||||
objMngr->registerObject( new LesStabilizationSettings() );
|
||||
objMngr->registerObject( new ManualControlCommand() );
|
||||
objMngr->registerObject( new ManualControlSettings() );
|
||||
objMngr->registerObject( new MixerSettings() );
|
||||
|
@ -1,23 +0,0 @@
|
||||
<xml>
|
||||
<object name="LesStabilizationSettings" singleinstance="true" settings="true">
|
||||
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
|
||||
<field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="10"/>
|
||||
<field name="RollMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="PitchMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="YawMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="ManualRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
|
||||
<field name="MaximumRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
|
||||
|
||||
<field name="RollRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
|
||||
<field name="PitchRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
|
||||
<field name="YawRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.5"/>
|
||||
<field name="RollPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
|
||||
<field name="PitchPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
|
||||
<field name="YawPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
|
||||
|
||||
<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>
|
@ -1,27 +1,22 @@
|
||||
<xml>
|
||||
<object name="StabilizationSettings" singleinstance="true" settings="true">
|
||||
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
|
||||
<field name="RollMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="PitchMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="YawMax" units="degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="YawMode" units="degrees" type="enum" elements="1" options="rate,heading" defaultvalue="rate"/>
|
||||
<field name="ThrottleMax" units="frac" type="float" elements="1" defaultvalue="1.0"/>
|
||||
<field name="ThrottleMin" units="frac" type="float" elements="1" defaultvalue="-1.0"/>
|
||||
<field name="RollIntegralLimit" units="" type="float" elements="1" defaultvalue="0.5"/>
|
||||
<field name="PitchIntegralLimit" units="" type="float" elements="1" defaultvalue="0.5"/>
|
||||
<field name="YawIntegralLimit" units="" type="float" elements="1" defaultvalue="0.5"/>
|
||||
<field name="PitchKp" units="" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="PitchKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="PitchKd" units="" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<field name="RollKp" units="" type="float" elements="1" defaultvalue="0.02"/>
|
||||
<field name="RollKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="RollKd" units="" type="float" elements="1" defaultvalue="0.01"/>
|
||||
<field name="YawKp" units="" type="float" elements="1" defaultvalue="0.04"/>
|
||||
<field name="YawKi" units="" type="float" elements="1" defaultvalue="0.000004"/>
|
||||
<field name="YawKd" 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 name="StabilizationSettings" singleinstance="true" settings="true">
|
||||
<description>PID settings used by the Stabilization module to combine the @ref AttitudeActual and @ref AttitudeDesired to compute @ref ActuatorDesired</description>
|
||||
<field name="RollMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="PitchMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="YawMax" units="Degrees" type="uint8" elements="1" defaultvalue="35"/>
|
||||
<field name="ManualRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="150,150,150"/>
|
||||
<field name="MaximumRate" units="Degrees/sec" type="float" elements="3" elementnames="Roll,Pitch,Yaw" defaultvalue="300,300,300"/>
|
||||
|
||||
<field name="RollRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
|
||||
<field name="PitchRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.0015,0,0.5"/>
|
||||
<field name="YawRatePI" units="" type="float" elements="2" elementnames="Kp,Ki,ILimit" defaultvalue="0.003,0,0.5"/>
|
||||
<field name="RollPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
|
||||
<field name="PitchPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
|
||||
<field name="YawPI" units="" type="float" elements="4" elementnames="Kp,Ki,ILimit" defaultvalue="2,0,0.5"/>
|
||||
|
||||
<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>
|
||||
|
Loading…
x
Reference in New Issue
Block a user