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Code Issues Releases Activity

Refactored Guidance to apropriate pathfollower in uavobjects

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This commit is contained in:
Corvus Corax 2012-05-24 11:09:53 +02:00
parent 25e21fde73
commit 63cd7b063f
4 changed files with 64 additions and 64 deletions
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118
flight/Modules/VtolPathFollower/vtolpathfollower.c
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@ -58,7 +58,7 @@
#include "pathstatus.h" #include "pathstatus.h"
#include "gpsvelocity.h" #include "gpsvelocity.h"
#include "gpsposition.h" #include "gpsposition.h"
#include "guidancesettings.h" #include "vtolpathfollowersettings.h"
#include "nedaccel.h" #include "nedaccel.h"
#include "nedposition.h" #include "nedposition.h"
#include "stabilizationdesired.h" #include "stabilizationdesired.h"
@ -80,7 +80,7 @@
static bool followerEnabled = false; static bool followerEnabled = false;
static xTaskHandle pathfollowerTaskHandle; static xTaskHandle pathfollowerTaskHandle;
static PathDesiredData pathDesired; static PathDesiredData pathDesired;
static GuidanceSettingsData guidanceSettings; static VtolPathFollowerSettingsData vtolpathfollowerSettings;
// Private functions // Private functions
static void vtolPathFollowerTask(void *parameters); static void vtolPathFollowerTask(void *parameters);
@ -118,7 +118,7 @@ int32_t VtolPathFollowerInitialize()
HwSettingsOptionalModulesGet(optionalModules); HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_VTOLPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) { if (optionalModules[HWSETTINGS_OPTIONALMODULES_VTOLPATHFOLLOWER] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
followerEnabled = true; followerEnabled = true;
GuidanceSettingsInitialize(); VtolPathFollowerSettingsInitialize();
NedAccelInitialize(); NedAccelInitialize();
PathDesiredInitialize(); PathDesiredInitialize();
PathStatusInitialize(); PathStatusInitialize();
@ -152,10 +152,10 @@ static void vtolPathFollowerTask(void *parameters)
portTickType lastUpdateTime; portTickType lastUpdateTime;
GuidanceSettingsConnectCallback(SettingsUpdatedCb); VtolPathFollowerSettingsConnectCallback(SettingsUpdatedCb);
PathDesiredConnectCallback(SettingsUpdatedCb); PathDesiredConnectCallback(SettingsUpdatedCb);
GuidanceSettingsGet(&guidanceSettings); VtolPathFollowerSettingsGet(&vtolpathfollowerSettings);
PathDesiredGet(&pathDesired); PathDesiredGet(&pathDesired);
// Main task loop // Main task loop
@ -186,7 +186,7 @@ static void vtolPathFollowerTask(void *parameters)
} }
// Continue collecting data if not enough time // Continue collecting data if not enough time
vTaskDelayUntil(&lastUpdateTime, guidanceSettings.UpdatePeriod / portTICK_RATE_MS); vTaskDelayUntil(&lastUpdateTime, vtolpathfollowerSettings.UpdatePeriod / portTICK_RATE_MS);
// Convert the accels into the NED frame // Convert the accels into the NED frame
updateNedAccel(); updateNedAccel();
@ -260,7 +260,7 @@ static void vtolPathFollowerTask(void *parameters)
*/ */
static void updatePathVelocity() static void updatePathVelocity()
{ {
float dT = guidanceSettings.UpdatePeriod / 1000.0f; float dT = vtolpathfollowerSettings.UpdatePeriod / 1000.0f;
float downCommand; float downCommand;
PositionActualData positionActual; PositionActualData positionActual;
@ -280,14 +280,14 @@ static void updatePathVelocity()
velocityDesired.North = progress.path_direction[0] * groundspeed; velocityDesired.North = progress.path_direction[0] * groundspeed;
velocityDesired.East = progress.path_direction[1] * groundspeed; velocityDesired.East = progress.path_direction[1] * groundspeed;
float error_speed = progress.error * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP]; float error_speed = progress.error * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP];
float correction_velocity[2] = {progress.correction_direction[0] * error_speed, float correction_velocity[2] = {progress.correction_direction[0] * error_speed,
progress.correction_direction[1] * error_speed}; progress.correction_direction[1] * error_speed};
float total_vel = sqrtf(powf(correction_velocity[0],2) + powf(correction_velocity[1],2)); float total_vel = sqrtf(powf(correction_velocity[0],2) + powf(correction_velocity[1],2));
float scale = 1; float scale = 1;
if(total_vel > guidanceSettings.HorizontalVelMax) if(total_vel > vtolpathfollowerSettings.HorizontalVelMax)
scale = guidanceSettings.HorizontalVelMax / total_vel; scale = vtolpathfollowerSettings.HorizontalVelMax / total_vel;
velocityDesired.North += progress.correction_direction[0] * error_speed * scale; velocityDesired.North += progress.correction_direction[0] * error_speed * scale;
velocityDesired.East += progress.correction_direction[1] * error_speed * scale; velocityDesired.East += progress.correction_direction[1] * error_speed * scale;
@ -296,13 +296,13 @@ static void updatePathVelocity()
bound(progress.fractional_progress,0,1); bound(progress.fractional_progress,0,1);
float downError = altitudeSetpoint - positionActual.Down; float downError = altitudeSetpoint - positionActual.Down;
downPosIntegral = bound(downPosIntegral + downError * dT * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI], downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI],
-guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT], -vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT],
guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]); vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]);
downCommand = (downError * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral); downCommand = (downError * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
velocityDesired.Down = bound(downCommand, velocityDesired.Down = bound(downCommand,
-guidanceSettings.VerticalVelMax, -vtolpathfollowerSettings.VerticalVelMax,
guidanceSettings.VerticalVelMax); vtolpathfollowerSettings.VerticalVelMax);
VelocityDesiredSet(&velocityDesired); VelocityDesiredSet(&velocityDesired);
} }
@ -315,7 +315,7 @@ static void updatePathVelocity()
*/ */
void updateEndpointVelocity() void updateEndpointVelocity()
{ {
float dT = guidanceSettings.UpdatePeriod / 1000.0f; float dT = vtolpathfollowerSettings.UpdatePeriod / 1000.0f;
PositionActualData positionActual; PositionActualData positionActual;
VelocityDesiredData velocityDesired; VelocityDesiredData velocityDesired;
@ -331,7 +331,7 @@ void updateEndpointVelocity()
float downCommand; float downCommand;
float northPos = 0, eastPos = 0, downPos = 0; float northPos = 0, eastPos = 0, downPos = 0;
switch (guidanceSettings.PositionSource) { switch (vtolpathfollowerSettings.PositionSource) {
case GUIDANCESETTINGS_POSITIONSOURCE_EKF: case GUIDANCESETTINGS_POSITIONSOURCE_EKF:
northPos = positionActual.North; northPos = positionActual.North;
eastPos = positionActual.East; eastPos = positionActual.East;
@ -353,36 +353,36 @@ void updateEndpointVelocity()
// Compute desired north command // Compute desired north command
northError = pathDesired.End[PATHDESIRED_END_NORTH] - northPos; northError = pathDesired.End[PATHDESIRED_END_NORTH] - northPos;
northPosIntegral = bound(northPosIntegral + northError * dT * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI], northPosIntegral = bound(northPosIntegral + northError * dT * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI],
-guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT], -vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]); vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
northCommand = (northError * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] + northCommand = (northError * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
northPosIntegral); northPosIntegral);
eastError = pathDesired.End[PATHDESIRED_END_EAST] - eastPos; eastError = pathDesired.End[PATHDESIRED_END_EAST] - eastPos;
eastPosIntegral = bound(eastPosIntegral + eastError * dT * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI], eastPosIntegral = bound(eastPosIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KI],
-guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT], -vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT],
guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]); vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_ILIMIT]);
eastCommand = (eastError * guidanceSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] + eastCommand = (eastError * vtolpathfollowerSettings.HorizontalPosPI[GUIDANCESETTINGS_HORIZONTALPOSPI_KP] +
eastPosIntegral); eastPosIntegral);
// Limit the maximum velocity // Limit the maximum velocity
float total_vel = sqrtf(powf(northCommand,2) + powf(eastCommand,2)); float total_vel = sqrtf(powf(northCommand,2) + powf(eastCommand,2));
float scale = 1; float scale = 1;
if(total_vel > guidanceSettings.HorizontalVelMax) if(total_vel > vtolpathfollowerSettings.HorizontalVelMax)
scale = guidanceSettings.HorizontalVelMax / total_vel; scale = vtolpathfollowerSettings.HorizontalVelMax / total_vel;
velocityDesired.North = northCommand * scale; velocityDesired.North = northCommand * scale;
velocityDesired.East = eastCommand * scale; velocityDesired.East = eastCommand * scale;
downError = pathDesired.End[PATHDESIRED_END_DOWN] - downPos; downError = pathDesired.End[PATHDESIRED_END_DOWN] - downPos;
downPosIntegral = bound(downPosIntegral + downError * dT * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI], downPosIntegral = bound(downPosIntegral + downError * dT * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KI],
-guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT], -vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT],
guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]); vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_ILIMIT]);
downCommand = (downError * guidanceSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral); downCommand = (downError * vtolpathfollowerSettings.VerticalPosPI[GUIDANCESETTINGS_VERTICALPOSPI_KP] + downPosIntegral);
velocityDesired.Down = bound(downCommand, velocityDesired.Down = bound(downCommand,
-guidanceSettings.VerticalVelMax, -vtolpathfollowerSettings.VerticalVelMax,
guidanceSettings.VerticalVelMax); vtolpathfollowerSettings.VerticalVelMax);
VelocityDesiredSet(&velocityDesired); VelocityDesiredSet(&velocityDesired);
} }
@ -414,14 +414,14 @@ static void updateVtolFixedAttitude(float* attitude)
*/ */
static void updateVtolDesiredAttitude() static void updateVtolDesiredAttitude()
{ {
float dT = guidanceSettings.UpdatePeriod / 1000.0f; float dT = vtolpathfollowerSettings.UpdatePeriod / 1000.0f;
VelocityDesiredData velocityDesired; VelocityDesiredData velocityDesired;
VelocityActualData velocityActual; VelocityActualData velocityActual;
StabilizationDesiredData stabDesired; StabilizationDesiredData stabDesired;
AttitudeActualData attitudeActual; AttitudeActualData attitudeActual;
NedAccelData nedAccel; NedAccelData nedAccel;
GuidanceSettingsData guidanceSettings; VtolPathFollowerSettingsData vtolpathfollowerSettings;
StabilizationSettingsData stabSettings; StabilizationSettingsData stabSettings;
SystemSettingsData systemSettings; SystemSettingsData systemSettings;
@ -435,7 +435,7 @@ static void updateVtolDesiredAttitude()
float downCommand; float downCommand;
SystemSettingsGet(&systemSettings); SystemSettingsGet(&systemSettings);
GuidanceSettingsGet(&guidanceSettings); VtolPathFollowerSettingsGet(&vtolpathfollowerSettings);
VelocityActualGet(&velocityActual); VelocityActualGet(&velocityActual);
VelocityDesiredGet(&velocityDesired); VelocityDesiredGet(&velocityDesired);
@ -446,7 +446,7 @@ static void updateVtolDesiredAttitude()
NedAccelGet(&nedAccel); NedAccelGet(&nedAccel);
float northVel = 0, eastVel = 0, downVel = 0; float northVel = 0, eastVel = 0, downVel = 0;
switch (guidanceSettings.VelocitySource) { switch (vtolpathfollowerSettings.VelocitySource) {
case GUIDANCESETTINGS_VELOCITYSOURCE_EKF: case GUIDANCESETTINGS_VELOCITYSOURCE_EKF:
northVel = velocityActual.North; northVel = velocityActual.North;
eastVel = velocityActual.East; eastVel = velocityActual.East;
@ -482,34 +482,34 @@ static void updateVtolDesiredAttitude()
// Compute desired north command // Compute desired north command
northError = velocityDesired.North - northVel; northError = velocityDesired.North - northVel;
northVelIntegral = bound(northVelIntegral + northError * dT * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI], northVelIntegral = bound(northVelIntegral + northError * dT * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI],
-guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT], -vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT],
guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]); vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]);
northCommand = (northError * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] + northCommand = (northError * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] +
northVelIntegral - northVelIntegral -
nedAccel.North * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] + nedAccel.North * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] +
velocityDesired.North * guidanceSettings.VelocityFeedforward); velocityDesired.North * vtolpathfollowerSettings.VelocityFeedforward);
// Compute desired east command // Compute desired east command
eastError = velocityDesired.East - eastVel; eastError = velocityDesired.East - eastVel;
eastVelIntegral = bound(eastVelIntegral + eastError * dT * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI], eastVelIntegral = bound(eastVelIntegral + eastError * dT * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KI],
-guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT], -vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT],
guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]); vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_ILIMIT]);
eastCommand = (eastError * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] + eastCommand = (eastError * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KP] +
eastVelIntegral - eastVelIntegral -
nedAccel.East * guidanceSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] + nedAccel.East * vtolpathfollowerSettings.HorizontalVelPID[GUIDANCESETTINGS_HORIZONTALVELPID_KD] +
velocityDesired.East * guidanceSettings.VelocityFeedforward); velocityDesired.East * vtolpathfollowerSettings.VelocityFeedforward);
// Compute desired down command // Compute desired down command
downError = velocityDesired.Down - downVel; downError = velocityDesired.Down - downVel;
// Must flip this sign // Must flip this sign
downError = -downError; downError = -downError;
downVelIntegral = bound(downVelIntegral + downError * dT * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KI], downVelIntegral = bound(downVelIntegral + downError * dT * vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KI],
-guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT], -vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT],
guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT]); vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_ILIMIT]);
downCommand = (downError * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KP] + downCommand = (downError * vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KP] +
downVelIntegral - downVelIntegral -
nedAccel.Down * guidanceSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KD]); nedAccel.Down * vtolpathfollowerSettings.VerticalVelPID[GUIDANCESETTINGS_VERTICALVELPID_KD]);
stabDesired.Throttle = bound(downCommand + throttleOffset, 0, 1); stabDesired.Throttle = bound(downCommand + throttleOffset, 0, 1);
@ -517,12 +517,12 @@ static void updateVtolDesiredAttitude()
// craft should move similarly for 5 deg roll versus 5 deg pitch // craft should move similarly for 5 deg roll versus 5 deg pitch
stabDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) + stabDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) +
-eastCommand * sinf(attitudeActual.Yaw * M_PI / 180), -eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
-guidanceSettings.MaxRollPitch, guidanceSettings.MaxRollPitch); -vtolpathfollowerSettings.MaxRollPitch, vtolpathfollowerSettings.MaxRollPitch);
stabDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) + stabDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) +
eastCommand * cosf(attitudeActual.Yaw * M_PI / 180), eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
-guidanceSettings.MaxRollPitch, guidanceSettings.MaxRollPitch); -vtolpathfollowerSettings.MaxRollPitch, vtolpathfollowerSettings.MaxRollPitch);
if(guidanceSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_FALSE) { if(vtolpathfollowerSettings.ThrottleControl == GUIDANCESETTINGS_THROTTLECONTROL_FALSE) {
// For now override throttle with manual control. Disable at your risk, quad goes to China. // For now override throttle with manual control. Disable at your risk, quad goes to China.
ManualControlCommandData manualControl; ManualControlCommandData manualControl;
ManualControlCommandGet(&manualControl); ManualControlCommandGet(&manualControl);
@ -591,7 +591,7 @@ static float bound(float val, float min, float max)
static void SettingsUpdatedCb(UAVObjEvent * ev) static void SettingsUpdatedCb(UAVObjEvent * ev)
{ {
GuidanceSettingsGet(&guidanceSettings); VtolPathFollowerSettingsGet(&vtolpathfollowerSettings);
PathDesiredGet(&pathDesired); PathDesiredGet(&pathDesired);
} }

4
shared/uavobjectdefinition/fixedwingpathfollowersettings.xml
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@ -1,6 +1,6 @@
<xml> <xml>
<object name="GuidanceSettings" singleinstance="true" settings="true"> <object name="FixedWingPathFollowerSettings" singleinstance="true" settings="true">
<description>Settings for the @ref GuidanceModule</description> <description>Settings for the @ref FixedWingPathFollowerModule</description>
<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/> <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
<field name="PathMode" units="" type="enum" elements="1" options="ENDPOINT,PATH" defaultvalue="ENDPOINT"/> <field name="PathMode" units="" type="enum" elements="1" options="ENDPOINT,PATH" defaultvalue="ENDPOINT"/>
<field name="ReturnTobaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="75.0"/> <field name="ReturnTobaseAltitudeOffset" units="m" type="float" elements="1" defaultvalue="75.0"/>

2
shared/uavobjectdefinition/fixedwingpathfollowerstatus.xml
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@ -1,5 +1,5 @@
<xml> <xml>
<object name="GuidanceStatus" singleinstance="true" settings="false"> <object name="FixedWingPathFollowerStatus" singleinstance="true" settings="false">
<description>Object Storing Debugging Information on PID internals</description> <description>Object Storing Debugging Information on PID internals</description>
<field name="E" units="" type="float" elementnames="Course,Speed,Accel,Power" /> <field name="E" units="" type="float" elementnames="Course,Speed,Accel,Power" />
<field name="A" units="" type="float" elementnames="Course,Speed,Accel,Power" /> <field name="A" units="" type="float" elementnames="Course,Speed,Accel,Power" />

4
shared/uavobjectdefinition/guidancesettings.xml → shared/uavobjectdefinition/vtolpathfollowersettings.xml
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@ -1,6 +1,6 @@
<xml> <xml>
<object name="GuidanceSettings" singleinstance="true" settings="true"> <object name="VtolPathFollowerSettings" singleinstance="true" settings="true">
<description>Settings for the @ref GuidanceModule</description> <description>Settings for the @ref VtolPathFollowerModule</description>
<field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/> <field name="GuidanceMode" units="" type="enum" elements="1" options="DUAL_LOOP,VELOCITY_CONTROL" defaultvalue="DUAL_LOOP"/>
<field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/> <field name="HorizontalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="10"/>
<field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/> <field name="VerticalVelMax" units="m/s" type="uint16" elements="1" defaultvalue="1"/>