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Code Issues Releases Activity

OP-32 Flight Initial release of Actuator (ServoOut) and ManualControl (ServoIn) modules, still work in progress (not fully tested).

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git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@632 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
vassilis 2010-05-17 01:58:38 +00:00 committed by vassilis
parent 3f79770f7f
commit 6b6740109e
24 changed files with 2149 additions and 6 deletions
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20
flight/OpenPilot/Makefile
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@ -81,6 +81,10 @@ MODTELEMETRY = $(OPMODULEDIR)/Telemetry
MODTELEMETRYINC = $(MODTELEMETRY)/inc
MODGPS = $(OPMODULEDIR)/GPS
MODGPSINC = $(MODGPS)/inc
MODMANUALCONTROL = $(OPMODULEDIR)/ManualControl
MODMANUALCONTROLINC = $(MODMANUALCONTROL)/inc
MODACTUATOR = $(OPMODULEDIR)/Actuator
MODACTUATORINC = $(MODACTUATOR)/inc
PIOS = ../PiOS
PIOSINC = $(PIOS)/inc
PIOSSTM32F10X = $(PIOS)/STM32F10x
@ -109,8 +113,10 @@ DOXYGENDIR = ../Doc/Doxygen
## MODULES
SRC = $(MODEXAMPLE)/examplemodevent.c $(MODEXAMPLE)/examplemodperiodic.c $(MODEXAMPLE)/examplemodthread.c
SRC += $(MODSYSTEM)/systemmod.c
SRC += $(MODTELEMETRY)/telemetry.c
SRC += $(MODTELEMETRY)/telemetry.c
SRC += $(MODGPS)/GPS.c $(MODGPS)/buffer.c
SRC += $(MODMANUALCONTROL)/manualcontrol.c
SRC += $(MODACTUATOR)/actuator.c
## OPENPILOT:
SRC += $(OPSYSTEM)/openpilot.c
@ -140,7 +146,15 @@ SRC += $(OPUAVOBJ)/gcstelemetrystats.c
SRC += $(OPUAVOBJ)/flighttelemetrystats.c
SRC += $(OPUAVOBJ)/systemstats.c
SRC += $(OPUAVOBJ)/systemalarms.c
SRC += $(OPUAVOBJ)/systemsettings.c
SRC += $(OPUAVOBJ)/telemetrysettings.c
SRC += $(OPUAVOBJ)/actuatorcommand.c
SRC += $(OPUAVOBJ)/actuatordesired.c
SRC += $(OPUAVOBJ)/actuatorsettings.c
SRC += $(OPUAVOBJ)/manualcontrolcommand.c
SRC += $(OPUAVOBJ)/manualcontrolsettings.c
SRC += $(OPUAVOBJ)/attitudedesired.c
SRC += $(OPUAVOBJ)/stabilizationsettings.c
## PIOS Hardware (STM32F10x)
SRC += $(PIOSSTM32F10X)/pios_sys.c
@ -262,6 +276,10 @@ EXTRAINCDIRS += $(MODTELEMETRY)
EXTRAINCDIRS += $(MODTELEMETRYINC)
EXTRAINCDIRS += $(MODGPS)
EXTRAINCDIRS += $(MODGPSINC)
EXTRAINCDIRS += $(MODMANUALCONTROL)
EXTRAINCDIRS += $(MODMANUALCONTROLINC)
EXTRAINCDIRS += $(MODACTUATOR)
EXTRAINCDIRS += $(MODACTUATORINC)
EXTRAINCDIRS += $(PIOS)
EXTRAINCDIRS += $(PIOSINC)
EXTRAINCDIRS += $(PIOSSTM32F10X)

238
flight/OpenPilot/Modules/Actuator/actuator.c Normal file
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@ -0,0 +1,238 @@
/**
******************************************************************************
*
* @file actuator.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Actuator module. Drives the actuators (servos, motors etc).
*
* @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 "actuator.h"
#include "actuatorsettings.h"
#include "systemsettings.h"
#include "actuatordesired.h"
#include "actuatorcommand.h"
// Private constants
#define MAX_QUEUE_SIZE 2
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xQueueHandle queue;
static xTaskHandle taskHandle;
// Private functions
static void actuatorTask(void* parameters);
static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd);
static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd);
static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd);
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral);
/**
* Module initialization
*/
int32_t ActuatorInitialize()
{
// Create object queue
queue = xQueueCreate(MAX_QUEUE_SIZE, sizeof(UAVObjEvent));
// Listen for ExampleObject1 updates
ActuatorDesiredConnectQueue(queue);
// Start main task
xTaskCreate(actuatorTask, (signed char*)"Actuator", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Main module task
*/
static void actuatorTask(void* parameters)
{
UAVObjEvent ev;
ActuatorSettingsData settings;
SystemSettingsData sysSettings;
ActuatorDesiredData desired;
ActuatorCommandData cmd;
// Set servo update frequency (done only on start-up)
ActuatorSettingsGet(&settings);
PIOS_Servo_SetHz(settings.ChannelUpdateFreq[0], settings.ChannelUpdateFreq[1]);
// Main task loop
while (1)
{
// Wait until the ActuatorDesired object is updated
while ( xQueueReceive(queue, &ev, portMAX_DELAY) != pdTRUE );
// Read settings
ActuatorSettingsGet(&settings);
SystemSettingsGet(&sysSettings);
// Reset ActuatorCommand to neutral values
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
cmd.Channel[n] = settings.ChannelNeutral[n];
}
// Read input object
ActuatorDesiredGet(&desired);
// Call appropriate mixer depending on the airframe configuration
if ( sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING )
{
if ( mixerFixedWing(&settings, &desired, &cmd) == -1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
}
}
else if ( sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON )
{
if ( mixerFixedWingElevon(&settings, &desired, &cmd) == -1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
}
}
else if ( sysSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL )
{
if ( mixerVTOL(&settings, &desired, &cmd) == -1 )
{
AlarmsSet(SYSTEMALARMS_ALARM_ACTUATOR, SYSTEMALARMS_ALARM_CRITICAL);
}
else
{
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
}
}
// Update servo outputs
for (int n = 0; n < ACTUATORCOMMAND_CHANNEL_NUMELEM; ++n)
{
PIOS_Servo_Set( n+1, cmd.Channel[n] );
}
// Update output object
ActuatorCommandSet(&cmd);
}
}
/**
* Mixer for Fixed Wing airframes. Converts desired roll,pitch,yaw and throttle to servo outputs.
* @return -1 if error, 0 if success
*/
static int32_t mixerFixedWing(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
{
// Check settings
if ( settings->FixedWingPitch1 == ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE ||
settings->FixedWingRoll1 == ACTUATORSETTINGS_FIXEDWINGROLL1_NONE ||
settings->FixedWingThrottle == ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE )
{
return -1;
}
// Set pitch servo command
cmd->Channel[ settings->FixedWingPitch1 ] = scaleChannel(desired->Pitch, settings->ChannelMax[ settings->FixedWingPitch1 ],
settings->ChannelMin[ settings->FixedWingPitch1 ],
settings->ChannelNeutral[ settings->FixedWingPitch1 ]);
if ( settings->FixedWingPitch2 != ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE )
{
cmd->Channel[ settings->FixedWingPitch2 ] = scaleChannel(desired->Pitch, settings->ChannelMax[ settings->FixedWingPitch2 ],
settings->ChannelMin[ settings->FixedWingPitch2 ],
settings->ChannelNeutral[ settings->FixedWingPitch2 ]);
}
// Set roll servo command
cmd->Channel[ settings->FixedWingRoll1 ] = scaleChannel(desired->Roll, settings->ChannelMax[ settings->FixedWingRoll1 ],
settings->ChannelMin[ settings->FixedWingRoll1 ],
settings->ChannelNeutral[ settings->FixedWingRoll1 ]);
if ( settings->FixedWingRoll2 != ACTUATORSETTINGS_FIXEDWINGROLL2_NONE )
{
cmd->Channel[ settings->FixedWingRoll2 ] = scaleChannel(desired->Roll, settings->ChannelMax[ settings->FixedWingRoll2 ],
settings->ChannelMin[ settings->FixedWingRoll2 ],
settings->ChannelNeutral[ settings->FixedWingRoll2 ]);
}
// Set yaw servo command
if ( settings->FixedWingYaw != ACTUATORSETTINGS_FIXEDWINGYAW_NONE )
{
cmd->Channel[ settings->FixedWingYaw ] = scaleChannel(desired->Yaw, settings->ChannelMax[ settings->FixedWingYaw ],
settings->ChannelMin[ settings->FixedWingYaw ],
settings->ChannelNeutral[ settings->FixedWingYaw ]);
}
// Set throttle servo command
cmd->Channel[ settings->FixedWingThrottle ] = scaleChannel(desired->Throttle, settings->ChannelMax[ settings->FixedWingThrottle ],
settings->ChannelMin[ settings->FixedWingThrottle ],
settings->ChannelNeutral[ settings->FixedWingThrottle ]);
// Done
return 0;
}
/**
* Mixer for Fixed Wing airframes with elevons. Converts desired roll,pitch,yaw and throttle to servo outputs.
* @return -1 if error, 0 if success
*/
static int32_t mixerFixedWingElevon(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
{
// TODO: Implement elevon mixer
return -1;
}
/**
* Mixer for VTOL (quads and octo copters). Converts desired roll,pitch,yaw and throttle to servo outputs.
* @return -1 if error, 0 if success
*/
static int32_t mixerVTOL(const ActuatorSettingsData* settings, const ActuatorDesiredData* desired, ActuatorCommandData* cmd)
{
// TODO: Implement VTOL mixer
return -1;
}
/**
* Convert channel from -1/+1 to servo pulse duration in microseconds
*/
static int16_t scaleChannel(float value, int16_t max, int16_t min, int16_t neutral)
{
int16_t valueScaled;
// Scale
if ( value >= 0.0)
{
valueScaled = (int16_t)(value*((float)(max-neutral))) + neutral;
}
else
{
valueScaled = (int16_t)(value*((float)(neutral-min))) + neutral;
}
return valueScaled;
}

31
flight/OpenPilot/Modules/Actuator/inc/actuator.h Normal file
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@ -0,0 +1,31 @@
/**
******************************************************************************
*
* @file actuator.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Actuator module. Drives the actuators (servos, motors etc).
*
* @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 ACTUATOR_H
#define ACTUATOR_H
int32_t ActuatorInitialize();
#endif // ACTUATOR_H

31
flight/OpenPilot/Modules/ManualControl/inc/manualcontrol.h Normal file
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@ -0,0 +1,31 @@
/**
******************************************************************************
*
* @file manualcontrol.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ManualControl module. Handles safety R/C link and flight mode.
*
* @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 MANUALCONTROL_H
#define MANUALCONTROL_H
int32_t ManualControlInitialize();
#endif // MANUALCONTROL_H

213
flight/OpenPilot/Modules/ManualControl/manualcontrol.c Normal file
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@ -0,0 +1,213 @@
/**
******************************************************************************
*
* @file manualcontrol.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief ManualControl module. Handles safety R/C link and flight mode.
*
* @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 "manualcontrol.h"
#include "manualcontrolsettings.h"
#include "stabilizationsettings.h"
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "attitudedesired.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
#define UPDATE_PERIOD_MS 20
#define THROTTLE_FAILSAFE -0.1
#define FLIGHT_MODE_LIMIT 1.0/3.0
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void manualControlTask(void* parameters);
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral);
/**
* Module initialization
*/
int32_t ManualControlInitialize()
{
// Start main task
xTaskCreate(manualControlTask, (signed char*)"ManualControl", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module task
*/
static void manualControlTask(void* parameters)
{
ManualControlSettingsData settings;
StabilizationSettingsData stabSettings;
ManualControlCommandData cmd;
ActuatorDesiredData actuator;
AttitudeDesiredData attitude;
portTickType lastSysTime;
float flightMode;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Wait until next update
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD_MS / portTICK_RATE_MS );
// Read settings
ManualControlSettingsGet(&settings);
StabilizationSettingsGet(&stabSettings);
// Check settings, if error raise alarm
if ( settings.Roll >= MANUALCONTROLSETTINGS_ROLL_NONE ||
settings.Pitch >= MANUALCONTROLSETTINGS_PITCH_NONE ||
settings.Yaw >= MANUALCONTROLSETTINGS_YAW_NONE ||
settings.Throttle >= MANUALCONTROLSETTINGS_THROTTLE_NONE ||
settings.FlightMode >= MANUALCONTROLSETTINGS_FLIGHTMODE_NONE )
{
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL);
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
ManualControlCommandSet(&cmd);
continue;
}
// Read channel values in us
// TODO: settings.InputMode is currently ignored because PIOS will not allow runtime
// selection of PWM and PPM. The configuration is currently done at compile time in
// the pios_config.h file.
for (int n = 0; n < MANUALCONTROLCOMMAND_CHANNEL_NUMELEM; ++n)
{
#if defined(PIOS_INCLUDE_PWM)
cmd.Channel[n] = PIOS_PWM_Get(n);
#elif defined(PIOS_INCLUDE_PPM)
cmd.Channel[n] = PIOS_PPM_Get(n);
#elif defined(PIOS_INCLUDE_SPEKTRUM)
cmd.Channel[n] = PIOS_SPEKTRUM_Get(n);
#endif
}
// Calculate roll command in range +1 to -1
cmd.Roll = scaleChannel( cmd.Channel[settings.Roll], settings.ChannelMax[settings.Roll],
settings.ChannelMin[settings.Roll], settings.ChannelNeutral[settings.Roll] );
// Calculate pitch command in range +1 to -1
cmd.Pitch = scaleChannel( cmd.Channel[settings.Pitch], settings.ChannelMax[settings.Pitch],
settings.ChannelMin[settings.Pitch], settings.ChannelNeutral[settings.Pitch] );
// Calculate yaw command in range +1 to -1
cmd.Yaw = scaleChannel( cmd.Channel[settings.Yaw], settings.ChannelMax[settings.Yaw],
settings.ChannelMin[settings.Yaw], settings.ChannelNeutral[settings.Yaw] );
// Calculate throttle command in range +1 to -1
cmd.Throttle = scaleChannel( cmd.Channel[settings.Throttle], settings.ChannelMax[settings.Throttle],
settings.ChannelMin[settings.Throttle], settings.ChannelNeutral[settings.Throttle] );
// Update flight mode
flightMode = scaleChannel( cmd.Channel[settings.FlightMode], settings.ChannelMax[settings.FlightMode],
settings.ChannelMin[settings.FlightMode], settings.ChannelNeutral[settings.FlightMode] );
if (flightMode < -FLIGHT_MODE_LIMIT)
{
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL;
}
else if (flightMode > FLIGHT_MODE_LIMIT)
{
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
}
else
{
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED;
}
// Check for connection status (negative throttle values)
// The receiver failsafe for the throttle channel should be set to a value below the channel NEUTRAL
if ( cmd.Throttle < THROTTLE_FAILSAFE )
{
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_FALSE;
cmd.FlightMode = MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO;
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
}
else
{
cmd.Connected = MANUALCONTROLCOMMAND_CONNECTED_TRUE;
AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
if ( cmd.Throttle < 0 )
{
cmd.Throttle = 0;
}
}
// Update the ManualControlCommand object
ManualControlCommandSet(&cmd);
// Depending on the mode update the Stabilization or Actuator objects
if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL )
{
actuator.Roll = cmd.Roll;
actuator.Pitch = cmd.Pitch;
actuator.Yaw = cmd.Yaw;
actuator.Throttle = cmd.Throttle;
ActuatorDesiredSet(&actuator);
}
else if ( cmd.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED )
{
attitude.Roll = cmd.Roll*stabSettings.RollMax;
attitude.Pitch = cmd.Pitch*stabSettings.PitchMax;
attitude.Yaw = cmd.Yaw*180.0;
attitude.Throttle = cmd.Throttle*stabSettings.ThrottleMax;
AttitudeDesiredSet(&attitude);
}
}
}
/**
* Convert channel from servo pulse duration (microseconds) to scaled -1/+1 range.
*/
static float scaleChannel(int16_t value, int16_t max, int16_t min, int16_t neutral)
{
float valueScaled;
// Scale
if ( value >= neutral)
{
valueScaled = (float)(value-neutral)/(float)(max-neutral);
}
else
{
valueScaled = (float)(value-neutral)/(float)(neutral-min);
}
// Bound
if ( valueScaled > 1.0 )
{
valueScaled = 1.0;
}
else if ( valueScaled < -1.0 )
{
valueScaled = -1.0;
}
return valueScaled;
}

6
flight/OpenPilot/System/openpilot.c
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@ -33,6 +33,8 @@
#include "examplemodevent.h"
#include "examplemodperiodic.h"
#include "examplemodthread.h"
#include "manualcontrol.h"
#include "actuator.h"
/* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
@ -130,10 +132,12 @@ void OpenPilotInit()
//ExampleModThreadInitialize();
//ExampleModEventInitialize();
GpsInitialize();
ManualControlInitialize();
ActuatorInitialize();
/* Create test tasks */
//xTaskCreate(TaskTesting, (signed portCHAR *)"Testing", configMINIMAL_STACK_SIZE , NULL, 4, NULL);
xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskHIDTest, (signed portCHAR *)"HIDTest", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskServos, (signed portCHAR *)"Servos", configMINIMAL_STACK_SIZE , NULL, 3, NULL);
//xTaskCreate(TaskSDCard, (signed portCHAR *)"SDCard", configMINIMAL_STACK_SIZE, NULL, (tskIDLE_PRIORITY + 2), NULL);
}

100
flight/OpenPilot/UAVObjects/actuatorcommand.c Normal file
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@ -0,0 +1,100 @@
/**
******************************************************************************
*
* @file actuatorcommand.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorCommand object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatorcommand.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 "actuatorcommand.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 ActuatorCommandInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(ACTUATORCOMMAND_OBJID, ACTUATORCOMMAND_NAME, ACTUATORCOMMAND_METANAME, 0,
ACTUATORCOMMAND_ISSINGLEINST, ACTUATORCOMMAND_ISSETTINGS, ACTUATORCOMMAND_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)
{
ActuatorCommandData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ActuatorCommandData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle ActuatorCommandHandle()
{
return handle;
}

100
flight/OpenPilot/UAVObjects/actuatordesired.c Normal file
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@ -0,0 +1,100 @@
/**
******************************************************************************
*
* @file actuatordesired.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatordesired.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 "actuatordesired.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 ActuatorDesiredInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(ACTUATORDESIRED_OBJID, ACTUATORDESIRED_NAME, ACTUATORDESIRED_METANAME, 0,
ACTUATORDESIRED_ISSINGLEINST, ACTUATORDESIRED_ISSETTINGS, ACTUATORDESIRED_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)
{
ActuatorDesiredData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ActuatorDesiredData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle ActuatorDesiredHandle()
{
return handle;
}

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/**
******************************************************************************
*
* @file actuatorsettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatorsettings.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 "actuatorsettings.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 ActuatorSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(ACTUATORSETTINGS_OBJID, ACTUATORSETTINGS_NAME, ACTUATORSETTINGS_METANAME, 0,
ACTUATORSETTINGS_ISSINGLEINST, ACTUATORSETTINGS_ISSETTINGS, ACTUATORSETTINGS_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)
{
ActuatorSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ActuatorSettingsData));
data.FixedWingRoll1 = 8;
data.FixedWingRoll2 = 8;
data.FixedWingPitch1 = 8;
data.FixedWingPitch2 = 8;
data.FixedWingYaw = 8;
data.FixedWingThrottle = 8;
data.VTOLMotorN = 8;
data.VTOLMotorNE = 8;
data.VTOLMotorE = 8;
data.VTOLMotorSE = 8;
data.VTOLMotorS = 8;
data.VTOLMotorSW = 8;
data.VTOLMotorW = 8;
data.VTOLMotorNW = 8;
data.ChannelUpdateFreq[0] = 50;
data.ChannelUpdateFreq[1] = 50;
data.ChannelMax[0] = 2000;
data.ChannelMax[1] = 2000;
data.ChannelMax[2] = 2000;
data.ChannelMax[3] = 2000;
data.ChannelMax[4] = 2000;
data.ChannelMax[5] = 2000;
data.ChannelMax[6] = 2000;
data.ChannelMax[7] = 2000;
data.ChannelNeutral[0] = 1500;
data.ChannelNeutral[1] = 1500;
data.ChannelNeutral[2] = 1500;
data.ChannelNeutral[3] = 1500;
data.ChannelNeutral[4] = 1500;
data.ChannelNeutral[5] = 1500;
data.ChannelNeutral[6] = 1500;
data.ChannelNeutral[7] = 1500;
data.ChannelMin[0] = 1000;
data.ChannelMin[1] = 1000;
data.ChannelMin[2] = 1000;
data.ChannelMin[3] = 1000;
data.ChannelMin[4] = 1000;
data.ChannelMin[5] = 1000;
data.ChannelMin[6] = 1000;
data.ChannelMin[7] = 1000;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
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 ActuatorSettingsHandle()
{
return handle;
}

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/**
******************************************************************************
*
* @file attitudedesired.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AttitudeDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: attitudedesired.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 "attitudedesired.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 AttitudeDesiredInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(ATTITUDEDESIRED_OBJID, ATTITUDEDESIRED_NAME, ATTITUDEDESIRED_METANAME, 0,
ATTITUDEDESIRED_ISSINGLEINST, ATTITUDEDESIRED_ISSETTINGS, ATTITUDEDESIRED_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)
{
AttitudeDesiredData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AttitudeDesiredData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle AttitudeDesiredHandle()
{
return handle;
}

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/**
******************************************************************************
*
* @file actuatorcommand.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorCommand object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatorcommand.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 ACTUATORCOMMAND_H
#define ACTUATORCOMMAND_H
// Object constants
#define ACTUATORCOMMAND_OBJID 3909877022U
#define ACTUATORCOMMAND_NAME "ActuatorCommand"
#define ACTUATORCOMMAND_METANAME "ActuatorCommandMeta"
#define ACTUATORCOMMAND_ISSINGLEINST 1
#define ACTUATORCOMMAND_ISSETTINGS 0
#define ACTUATORCOMMAND_NUMBYTES sizeof(ActuatorCommandData)
// Object access macros
#define ActuatorCommandGet(dataOut) UAVObjGetData(ActuatorCommandHandle(), dataOut)
#define ActuatorCommandSet(dataIn) UAVObjSetData(ActuatorCommandHandle(), dataIn)
#define ActuatorCommandInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorCommandHandle(), instId, dataOut)
#define ActuatorCommandInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorCommandHandle(), instId, dataIn)
#define ActuatorCommandConnectQueue(queue) UAVObjConnectQueue(ActuatorCommandHandle(), queue, EV_MASK_ALL_UPDATES)
#define ActuatorCommandConnectCallback(cb) UAVObjConnectCallback(ActuatorCommandHandle(), cb, EV_MASK_ALL_UPDATES)
#define ActuatorCommandCreateInstance() UAVObjCreateInstance(ActuatorCommandHandle())
#define ActuatorCommandRequestUpdate() UAVObjRequestUpdate(ActuatorCommandHandle())
#define ActuatorCommandRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorCommandHandle(), instId)
#define ActuatorCommandUpdated() UAVObjUpdated(ActuatorCommandHandle())
#define ActuatorCommandInstUpdated(instId) UAVObjUpdated(ActuatorCommandHandle(), instId)
#define ActuatorCommandGetMetadata(dataOut) UAVObjGetMetadata(ActuatorCommandHandle(), dataOut)
#define ActuatorCommandSetMetadata(dataIn) UAVObjSetMetadata(ActuatorCommandHandle(), dataIn)
// Object data
typedef struct {
int16_t Channel[8];
} __attribute__((packed)) ActuatorCommandData;
// Field information
// Field Channel information
/* Number of elements for field Channel */
#define ACTUATORCOMMAND_CHANNEL_NUMELEM 8
// Generic interface functions
int32_t ActuatorCommandInitialize();
UAVObjHandle ActuatorCommandHandle();
#endif // ACTUATORCOMMAND_H

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/**
******************************************************************************
*
* @file actuatordesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatordesired.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 ACTUATORDESIRED_H
#define ACTUATORDESIRED_H
// Object constants
#define ACTUATORDESIRED_OBJID 123085850U
#define ACTUATORDESIRED_NAME "ActuatorDesired"
#define ACTUATORDESIRED_METANAME "ActuatorDesiredMeta"
#define ACTUATORDESIRED_ISSINGLEINST 1
#define ACTUATORDESIRED_ISSETTINGS 0
#define ACTUATORDESIRED_NUMBYTES sizeof(ActuatorDesiredData)
// Object access macros
#define ActuatorDesiredGet(dataOut) UAVObjGetData(ActuatorDesiredHandle(), dataOut)
#define ActuatorDesiredSet(dataIn) UAVObjSetData(ActuatorDesiredHandle(), dataIn)
#define ActuatorDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorDesiredHandle(), instId, dataOut)
#define ActuatorDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorDesiredHandle(), instId, dataIn)
#define ActuatorDesiredConnectQueue(queue) UAVObjConnectQueue(ActuatorDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
#define ActuatorDesiredConnectCallback(cb) UAVObjConnectCallback(ActuatorDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
#define ActuatorDesiredCreateInstance() UAVObjCreateInstance(ActuatorDesiredHandle())
#define ActuatorDesiredRequestUpdate() UAVObjRequestUpdate(ActuatorDesiredHandle())
#define ActuatorDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorDesiredHandle(), instId)
#define ActuatorDesiredUpdated() UAVObjUpdated(ActuatorDesiredHandle())
#define ActuatorDesiredInstUpdated(instId) UAVObjUpdated(ActuatorDesiredHandle(), instId)
#define ActuatorDesiredGetMetadata(dataOut) UAVObjGetMetadata(ActuatorDesiredHandle(), dataOut)
#define ActuatorDesiredSetMetadata(dataIn) UAVObjSetMetadata(ActuatorDesiredHandle(), dataIn)
// Object data
typedef struct {
float Roll;
float Pitch;
float Yaw;
float Throttle;
} __attribute__((packed)) ActuatorDesiredData;
// Field information
// Field Roll information
// Field Pitch information
// Field Yaw information
// Field Throttle information
// Generic interface functions
int32_t ActuatorDesiredInitialize();
UAVObjHandle ActuatorDesiredHandle();
#endif // ACTUATORDESIRED_H

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/**
******************************************************************************
*
* @file actuatorsettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ActuatorSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: actuatorsettings.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 ACTUATORSETTINGS_H
#define ACTUATORSETTINGS_H
// Object constants
#define ACTUATORSETTINGS_OBJID 3054509114U
#define ACTUATORSETTINGS_NAME "ActuatorSettings"
#define ACTUATORSETTINGS_METANAME "ActuatorSettingsMeta"
#define ACTUATORSETTINGS_ISSINGLEINST 1
#define ACTUATORSETTINGS_ISSETTINGS 1
#define ACTUATORSETTINGS_NUMBYTES sizeof(ActuatorSettingsData)
// Object access macros
#define ActuatorSettingsGet(dataOut) UAVObjGetData(ActuatorSettingsHandle(), dataOut)
#define ActuatorSettingsSet(dataIn) UAVObjSetData(ActuatorSettingsHandle(), dataIn)
#define ActuatorSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ActuatorSettingsHandle(), instId, dataOut)
#define ActuatorSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ActuatorSettingsHandle(), instId, dataIn)
#define ActuatorSettingsConnectQueue(queue) UAVObjConnectQueue(ActuatorSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define ActuatorSettingsConnectCallback(cb) UAVObjConnectCallback(ActuatorSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define ActuatorSettingsCreateInstance() UAVObjCreateInstance(ActuatorSettingsHandle())
#define ActuatorSettingsRequestUpdate() UAVObjRequestUpdate(ActuatorSettingsHandle())
#define ActuatorSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ActuatorSettingsHandle(), instId)
#define ActuatorSettingsUpdated() UAVObjUpdated(ActuatorSettingsHandle())
#define ActuatorSettingsInstUpdated(instId) UAVObjUpdated(ActuatorSettingsHandle(), instId)
#define ActuatorSettingsGetMetadata(dataOut) UAVObjGetMetadata(ActuatorSettingsHandle(), dataOut)
#define ActuatorSettingsSetMetadata(dataIn) UAVObjSetMetadata(ActuatorSettingsHandle(), dataIn)
// Object data
typedef struct {
uint8_t FixedWingRoll1;
uint8_t FixedWingRoll2;
uint8_t FixedWingPitch1;
uint8_t FixedWingPitch2;
uint8_t FixedWingYaw;
uint8_t FixedWingThrottle;
uint8_t VTOLMotorN;
uint8_t VTOLMotorNE;
uint8_t VTOLMotorE;
uint8_t VTOLMotorSE;
uint8_t VTOLMotorS;
uint8_t VTOLMotorSW;
uint8_t VTOLMotorW;
uint8_t VTOLMotorNW;
int16_t ChannelUpdateFreq[2];
int16_t ChannelMax[8];
int16_t ChannelNeutral[8];
int16_t ChannelMin[8];
} __attribute__((packed)) ActuatorSettingsData;
// Field information
// Field FixedWingRoll1 information
/* Enumeration options for field FixedWingRoll1 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGROLL1_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGROLL1_NONE=8, } ActuatorSettingsFixedWingRoll1Options;
// Field FixedWingRoll2 information
/* Enumeration options for field FixedWingRoll2 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGROLL2_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGROLL2_NONE=8, } ActuatorSettingsFixedWingRoll2Options;
// Field FixedWingPitch1 information
/* Enumeration options for field FixedWingPitch1 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGPITCH1_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGPITCH1_NONE=8, } ActuatorSettingsFixedWingPitch1Options;
// Field FixedWingPitch2 information
/* Enumeration options for field FixedWingPitch2 */
typedef enum { ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGPITCH2_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGPITCH2_NONE=8, } ActuatorSettingsFixedWingPitch2Options;
// Field FixedWingYaw information
/* Enumeration options for field FixedWingYaw */
typedef enum { ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGYAW_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGYAW_NONE=8, } ActuatorSettingsFixedWingYawOptions;
// Field FixedWingThrottle information
/* Enumeration options for field FixedWingThrottle */
typedef enum { ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL1=0, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL2=1, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL3=2, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL4=3, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL5=4, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL6=5, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL7=6, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_CHANNEL8=7, ACTUATORSETTINGS_FIXEDWINGTHROTTLE_NONE=8, } ActuatorSettingsFixedWingThrottleOptions;
// Field VTOLMotorN information
/* Enumeration options for field VTOLMotorN */
typedef enum { ACTUATORSETTINGS_VTOLMOTORN_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORN_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORN_NONE=8, } ActuatorSettingsVTOLMotorNOptions;
// Field VTOLMotorNE information
/* Enumeration options for field VTOLMotorNE */
typedef enum { ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORNE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORNE_NONE=8, } ActuatorSettingsVTOLMotorNEOptions;
// Field VTOLMotorE information
/* Enumeration options for field VTOLMotorE */
typedef enum { ACTUATORSETTINGS_VTOLMOTORE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORE_NONE=8, } ActuatorSettingsVTOLMotorEOptions;
// Field VTOLMotorSE information
/* Enumeration options for field VTOLMotorSE */
typedef enum { ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORSE_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORSE_NONE=8, } ActuatorSettingsVTOLMotorSEOptions;
// Field VTOLMotorS information
/* Enumeration options for field VTOLMotorS */
typedef enum { ACTUATORSETTINGS_VTOLMOTORS_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORS_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORS_NONE=8, } ActuatorSettingsVTOLMotorSOptions;
// Field VTOLMotorSW information
/* Enumeration options for field VTOLMotorSW */
typedef enum { ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORSW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORSW_NONE=8, } ActuatorSettingsVTOLMotorSWOptions;
// Field VTOLMotorW information
/* Enumeration options for field VTOLMotorW */
typedef enum { ACTUATORSETTINGS_VTOLMOTORW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORW_NONE=8, } ActuatorSettingsVTOLMotorWOptions;
// Field VTOLMotorNW information
/* Enumeration options for field VTOLMotorNW */
typedef enum { ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL1=0, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL2=1, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL3=2, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL4=3, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL5=4, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL6=5, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL7=6, ACTUATORSETTINGS_VTOLMOTORNW_CHANNEL8=7, ACTUATORSETTINGS_VTOLMOTORNW_NONE=8, } ActuatorSettingsVTOLMotorNWOptions;
// Field ChannelUpdateFreq information
/* Number of elements for field ChannelUpdateFreq */
#define ACTUATORSETTINGS_CHANNELUPDATEFREQ_NUMELEM 2
// Field ChannelMax information
/* Number of elements for field ChannelMax */
#define ACTUATORSETTINGS_CHANNELMAX_NUMELEM 8
// Field ChannelNeutral information
/* Number of elements for field ChannelNeutral */
#define ACTUATORSETTINGS_CHANNELNEUTRAL_NUMELEM 8
// Field ChannelMin information
/* Number of elements for field ChannelMin */
#define ACTUATORSETTINGS_CHANNELMIN_NUMELEM 8
// Generic interface functions
int32_t ActuatorSettingsInitialize();
UAVObjHandle ActuatorSettingsHandle();
#endif // ACTUATORSETTINGS_H

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/**
******************************************************************************
*
* @file attitudedesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AttitudeDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: attitudedesired.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 ATTITUDEDESIRED_H
#define ATTITUDEDESIRED_H
// Object constants
#define ATTITUDEDESIRED_OBJID 1412270808U
#define ATTITUDEDESIRED_NAME "AttitudeDesired"
#define ATTITUDEDESIRED_METANAME "AttitudeDesiredMeta"
#define ATTITUDEDESIRED_ISSINGLEINST 1
#define ATTITUDEDESIRED_ISSETTINGS 0
#define ATTITUDEDESIRED_NUMBYTES sizeof(AttitudeDesiredData)
// Object access macros
#define AttitudeDesiredGet(dataOut) UAVObjGetData(AttitudeDesiredHandle(), dataOut)
#define AttitudeDesiredSet(dataIn) UAVObjSetData(AttitudeDesiredHandle(), dataIn)
#define AttitudeDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(AttitudeDesiredHandle(), instId, dataOut)
#define AttitudeDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(AttitudeDesiredHandle(), instId, dataIn)
#define AttitudeDesiredConnectQueue(queue) UAVObjConnectQueue(AttitudeDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
#define AttitudeDesiredConnectCallback(cb) UAVObjConnectCallback(AttitudeDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
#define AttitudeDesiredCreateInstance() UAVObjCreateInstance(AttitudeDesiredHandle())
#define AttitudeDesiredRequestUpdate() UAVObjRequestUpdate(AttitudeDesiredHandle())
#define AttitudeDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AttitudeDesiredHandle(), instId)
#define AttitudeDesiredUpdated() UAVObjUpdated(AttitudeDesiredHandle())
#define AttitudeDesiredInstUpdated(instId) UAVObjUpdated(AttitudeDesiredHandle(), instId)
#define AttitudeDesiredGetMetadata(dataOut) UAVObjGetMetadata(AttitudeDesiredHandle(), dataOut)
#define AttitudeDesiredSetMetadata(dataIn) UAVObjSetMetadata(AttitudeDesiredHandle(), dataIn)
// Object data
typedef struct {
float Roll;
float Pitch;
float Yaw;
float Throttle;
} __attribute__((packed)) AttitudeDesiredData;
// Field information
// Field Roll information
// Field Pitch information
// Field Yaw information
// Field Throttle information
// Generic interface functions
int32_t AttitudeDesiredInitialize();
UAVObjHandle AttitudeDesiredHandle();
#endif // ATTITUDEDESIRED_H

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/**
******************************************************************************
*
* @file manualcontrolcommand.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ManualControlCommand object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: manualcontrolcommand.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 MANUALCONTROLCOMMAND_H
#define MANUALCONTROLCOMMAND_H
// Object constants
#define MANUALCONTROLCOMMAND_OBJID 990495372U
#define MANUALCONTROLCOMMAND_NAME "ManualControlCommand"
#define MANUALCONTROLCOMMAND_METANAME "ManualControlCommandMeta"
#define MANUALCONTROLCOMMAND_ISSINGLEINST 1
#define MANUALCONTROLCOMMAND_ISSETTINGS 0
#define MANUALCONTROLCOMMAND_NUMBYTES sizeof(ManualControlCommandData)
// Object access macros
#define ManualControlCommandGet(dataOut) UAVObjGetData(ManualControlCommandHandle(), dataOut)
#define ManualControlCommandSet(dataIn) UAVObjSetData(ManualControlCommandHandle(), dataIn)
#define ManualControlCommandInstGet(instId, dataOut) UAVObjGetInstanceData(ManualControlCommandHandle(), instId, dataOut)
#define ManualControlCommandInstSet(instId, dataIn) UAVObjSetInstanceData(ManualControlCommandHandle(), instId, dataIn)
#define ManualControlCommandConnectQueue(queue) UAVObjConnectQueue(ManualControlCommandHandle(), queue, EV_MASK_ALL_UPDATES)
#define ManualControlCommandConnectCallback(cb) UAVObjConnectCallback(ManualControlCommandHandle(), cb, EV_MASK_ALL_UPDATES)
#define ManualControlCommandCreateInstance() UAVObjCreateInstance(ManualControlCommandHandle())
#define ManualControlCommandRequestUpdate() UAVObjRequestUpdate(ManualControlCommandHandle())
#define ManualControlCommandRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ManualControlCommandHandle(), instId)
#define ManualControlCommandUpdated() UAVObjUpdated(ManualControlCommandHandle())
#define ManualControlCommandInstUpdated(instId) UAVObjUpdated(ManualControlCommandHandle(), instId)
#define ManualControlCommandGetMetadata(dataOut) UAVObjGetMetadata(ManualControlCommandHandle(), dataOut)
#define ManualControlCommandSetMetadata(dataIn) UAVObjSetMetadata(ManualControlCommandHandle(), dataIn)
// Object data
typedef struct {
uint8_t Connected;
float Roll;
float Pitch;
float Yaw;
float Throttle;
uint8_t FlightMode;
int16_t Channel[8];
} __attribute__((packed)) ManualControlCommandData;
// Field information
// Field Connected information
/* Enumeration options for field Connected */
typedef enum { MANUALCONTROLCOMMAND_CONNECTED_FALSE=0, MANUALCONTROLCOMMAND_CONNECTED_TRUE=1, } ManualControlCommandConnectedOptions;
// Field Roll information
// Field Pitch information
// Field Yaw information
// Field Throttle information
// Field FlightMode information
/* Enumeration options for field FlightMode */
typedef enum { MANUALCONTROLCOMMAND_FLIGHTMODE_MANUAL=0, MANUALCONTROLCOMMAND_FLIGHTMODE_STABILIZED=1, MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO=2, } ManualControlCommandFlightModeOptions;
// Field Channel information
/* Number of elements for field Channel */
#define MANUALCONTROLCOMMAND_CHANNEL_NUMELEM 8
// Generic interface functions
int32_t ManualControlCommandInitialize();
UAVObjHandle ManualControlCommandHandle();
#endif // MANUALCONTROLCOMMAND_H

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flight/OpenPilot/UAVObjects/inc/manualcontrolsettings.h Normal file
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@ -0,0 +1,106 @@
/**
******************************************************************************
*
* @file manualcontrolsettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ManualControlSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: manualcontrolsettings.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 MANUALCONTROLSETTINGS_H
#define MANUALCONTROLSETTINGS_H
// Object constants
#define MANUALCONTROLSETTINGS_OBJID 2933673028U
#define MANUALCONTROLSETTINGS_NAME "ManualControlSettings"
#define MANUALCONTROLSETTINGS_METANAME "ManualControlSettingsMeta"
#define MANUALCONTROLSETTINGS_ISSINGLEINST 1
#define MANUALCONTROLSETTINGS_ISSETTINGS 1
#define MANUALCONTROLSETTINGS_NUMBYTES sizeof(ManualControlSettingsData)
// Object access macros
#define ManualControlSettingsGet(dataOut) UAVObjGetData(ManualControlSettingsHandle(), dataOut)
#define ManualControlSettingsSet(dataIn) UAVObjSetData(ManualControlSettingsHandle(), dataIn)
#define ManualControlSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(ManualControlSettingsHandle(), instId, dataOut)
#define ManualControlSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(ManualControlSettingsHandle(), instId, dataIn)
#define ManualControlSettingsConnectQueue(queue) UAVObjConnectQueue(ManualControlSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define ManualControlSettingsConnectCallback(cb) UAVObjConnectCallback(ManualControlSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define ManualControlSettingsCreateInstance() UAVObjCreateInstance(ManualControlSettingsHandle())
#define ManualControlSettingsRequestUpdate() UAVObjRequestUpdate(ManualControlSettingsHandle())
#define ManualControlSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(ManualControlSettingsHandle(), instId)
#define ManualControlSettingsUpdated() UAVObjUpdated(ManualControlSettingsHandle())
#define ManualControlSettingsInstUpdated(instId) UAVObjUpdated(ManualControlSettingsHandle(), instId)
#define ManualControlSettingsGetMetadata(dataOut) UAVObjGetMetadata(ManualControlSettingsHandle(), dataOut)
#define ManualControlSettingsSetMetadata(dataIn) UAVObjSetMetadata(ManualControlSettingsHandle(), dataIn)
// Object data
typedef struct {
uint8_t InputMode;
uint8_t Roll;
uint8_t Pitch;
uint8_t Yaw;
uint8_t Throttle;
uint8_t FlightMode;
int16_t ChannelMax[8];
int16_t ChannelNeutral[8];
int16_t ChannelMin[8];
} __attribute__((packed)) ManualControlSettingsData;
// Field information
// Field InputMode information
/* Enumeration options for field InputMode */
typedef enum { MANUALCONTROLSETTINGS_INPUTMODE_PWM=0, MANUALCONTROLSETTINGS_INPUTMODE_PPM=1, MANUALCONTROLSETTINGS_INPUTMODE_SPEKTRUM=2, } ManualControlSettingsInputModeOptions;
// Field Roll information
/* Enumeration options for field Roll */
typedef enum { MANUALCONTROLSETTINGS_ROLL_CHANNEL1=0, MANUALCONTROLSETTINGS_ROLL_CHANNEL2=1, MANUALCONTROLSETTINGS_ROLL_CHANNEL3=2, MANUALCONTROLSETTINGS_ROLL_CHANNEL4=3, MANUALCONTROLSETTINGS_ROLL_CHANNEL5=4, MANUALCONTROLSETTINGS_ROLL_CHANNEL6=5, MANUALCONTROLSETTINGS_ROLL_CHANNEL7=6, MANUALCONTROLSETTINGS_ROLL_CHANNEL8=7, MANUALCONTROLSETTINGS_ROLL_NONE=8, } ManualControlSettingsRollOptions;
// Field Pitch information
/* Enumeration options for field Pitch */
typedef enum { MANUALCONTROLSETTINGS_PITCH_CHANNEL1=0, MANUALCONTROLSETTINGS_PITCH_CHANNEL2=1, MANUALCONTROLSETTINGS_PITCH_CHANNEL3=2, MANUALCONTROLSETTINGS_PITCH_CHANNEL4=3, MANUALCONTROLSETTINGS_PITCH_CHANNEL5=4, MANUALCONTROLSETTINGS_PITCH_CHANNEL6=5, MANUALCONTROLSETTINGS_PITCH_CHANNEL7=6, MANUALCONTROLSETTINGS_PITCH_CHANNEL8=7, MANUALCONTROLSETTINGS_PITCH_NONE=8, } ManualControlSettingsPitchOptions;
// Field Yaw information
/* Enumeration options for field Yaw */
typedef enum { MANUALCONTROLSETTINGS_YAW_CHANNEL1=0, MANUALCONTROLSETTINGS_YAW_CHANNEL2=1, MANUALCONTROLSETTINGS_YAW_CHANNEL3=2, MANUALCONTROLSETTINGS_YAW_CHANNEL4=3, MANUALCONTROLSETTINGS_YAW_CHANNEL5=4, MANUALCONTROLSETTINGS_YAW_CHANNEL6=5, MANUALCONTROLSETTINGS_YAW_CHANNEL7=6, MANUALCONTROLSETTINGS_YAW_CHANNEL8=7, MANUALCONTROLSETTINGS_YAW_NONE=8, } ManualControlSettingsYawOptions;
// Field Throttle information
/* Enumeration options for field Throttle */
typedef enum { MANUALCONTROLSETTINGS_THROTTLE_CHANNEL1=0, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL2=1, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL3=2, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL4=3, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL5=4, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL6=5, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL7=6, MANUALCONTROLSETTINGS_THROTTLE_CHANNEL8=7, MANUALCONTROLSETTINGS_THROTTLE_NONE=8, } ManualControlSettingsThrottleOptions;
// Field FlightMode information
/* Enumeration options for field FlightMode */
typedef enum { MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL1=0, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL2=1, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL3=2, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL4=3, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL5=4, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL6=5, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL7=6, MANUALCONTROLSETTINGS_FLIGHTMODE_CHANNEL8=7, MANUALCONTROLSETTINGS_FLIGHTMODE_NONE=8, } ManualControlSettingsFlightModeOptions;
// Field ChannelMax information
/* Number of elements for field ChannelMax */
#define MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM 8
// Field ChannelNeutral information
/* Number of elements for field ChannelNeutral */
#define MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM 8
// Field ChannelMin information
/* Number of elements for field ChannelMin */
#define MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM 8
// Generic interface functions
int32_t ManualControlSettingsInitialize();
UAVObjHandle ManualControlSettingsHandle();
#endif // MANUALCONTROLSETTINGS_H

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/**
******************************************************************************
*
* @file stabilizationsettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the StabilizationSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: stabilizationsettings.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 STABILIZATIONSETTINGS_H
#define STABILIZATIONSETTINGS_H
// Object constants
#define STABILIZATIONSETTINGS_OBJID 1855169608U
#define STABILIZATIONSETTINGS_NAME "StabilizationSettings"
#define STABILIZATIONSETTINGS_METANAME "StabilizationSettingsMeta"
#define STABILIZATIONSETTINGS_ISSINGLEINST 1
#define STABILIZATIONSETTINGS_ISSETTINGS 1
#define STABILIZATIONSETTINGS_NUMBYTES sizeof(StabilizationSettingsData)
// Object access macros
#define StabilizationSettingsGet(dataOut) UAVObjGetData(StabilizationSettingsHandle(), dataOut)
#define StabilizationSettingsSet(dataIn) UAVObjSetData(StabilizationSettingsHandle(), dataIn)
#define StabilizationSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(StabilizationSettingsHandle(), instId, dataOut)
#define StabilizationSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(StabilizationSettingsHandle(), instId, dataIn)
#define StabilizationSettingsConnectQueue(queue) UAVObjConnectQueue(StabilizationSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define StabilizationSettingsConnectCallback(cb) UAVObjConnectCallback(StabilizationSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define StabilizationSettingsCreateInstance() UAVObjCreateInstance(StabilizationSettingsHandle())
#define StabilizationSettingsRequestUpdate() UAVObjRequestUpdate(StabilizationSettingsHandle())
#define StabilizationSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(StabilizationSettingsHandle(), instId)
#define StabilizationSettingsUpdated() UAVObjUpdated(StabilizationSettingsHandle())
#define StabilizationSettingsInstUpdated(instId) UAVObjUpdated(StabilizationSettingsHandle(), instId)
#define StabilizationSettingsGetMetadata(dataOut) UAVObjGetMetadata(StabilizationSettingsHandle(), dataOut)
#define StabilizationSettingsSetMetadata(dataIn) UAVObjSetMetadata(StabilizationSettingsHandle(), dataIn)
// Object data
typedef struct {
float RollMax;
float PitchMax;
float ThrottleMax;
} __attribute__((packed)) StabilizationSettingsData;
// Field information
// Field RollMax information
// Field PitchMax information
// Field ThrottleMax information
// Generic interface functions
int32_t StabilizationSettingsInitialize();
UAVObjHandle StabilizationSettingsHandle();
#endif // STABILIZATIONSETTINGS_H

8
flight/OpenPilot/UAVObjects/inc/systemalarms.h
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@ -33,7 +33,7 @@
#define SYSTEMALARMS_H
// Object constants
#define SYSTEMALARMS_OBJID 2311311458U
#define SYSTEMALARMS_OBJID 2311311520U
#define SYSTEMALARMS_NAME "SystemAlarms"
#define SYSTEMALARMS_METANAME "SystemAlarmsMeta"
#define SYSTEMALARMS_ISSINGLEINST 1
@ -57,7 +57,7 @@
// Object data
typedef struct {
uint8_t Alarm[6];
uint8_t Alarm[8];
} __attribute__((packed)) SystemAlarmsData;
@ -66,9 +66,9 @@ typedef struct {
/* Enumeration options for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3, } SystemAlarmsAlarmOptions;
/* Array element names for field Alarm */
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, } SystemAlarmsAlarmElem;
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, } SystemAlarmsAlarmElem;
/* Number of elements for field Alarm */
#define SYSTEMALARMS_ALARM_NUMELEM 6
#define SYSTEMALARMS_ALARM_NUMELEM 8
// Generic interface functions

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/**
******************************************************************************
*
* @file systemsettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the SystemSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: systemsettings.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 SYSTEMSETTINGS_H
#define SYSTEMSETTINGS_H
// Object constants
#define SYSTEMSETTINGS_OBJID 59202798U
#define SYSTEMSETTINGS_NAME "SystemSettings"
#define SYSTEMSETTINGS_METANAME "SystemSettingsMeta"
#define SYSTEMSETTINGS_ISSINGLEINST 1
#define SYSTEMSETTINGS_ISSETTINGS 1
#define SYSTEMSETTINGS_NUMBYTES sizeof(SystemSettingsData)
// Object access macros
#define SystemSettingsGet(dataOut) UAVObjGetData(SystemSettingsHandle(), dataOut)
#define SystemSettingsSet(dataIn) UAVObjSetData(SystemSettingsHandle(), dataIn)
#define SystemSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(SystemSettingsHandle(), instId, dataOut)
#define SystemSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(SystemSettingsHandle(), instId, dataIn)
#define SystemSettingsConnectQueue(queue) UAVObjConnectQueue(SystemSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define SystemSettingsConnectCallback(cb) UAVObjConnectCallback(SystemSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define SystemSettingsCreateInstance() UAVObjCreateInstance(SystemSettingsHandle())
#define SystemSettingsRequestUpdate() UAVObjRequestUpdate(SystemSettingsHandle())
#define SystemSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SystemSettingsHandle(), instId)
#define SystemSettingsUpdated() UAVObjUpdated(SystemSettingsHandle())
#define SystemSettingsInstUpdated(instId) UAVObjUpdated(SystemSettingsHandle(), instId)
#define SystemSettingsGetMetadata(dataOut) UAVObjGetMetadata(SystemSettingsHandle(), dataOut)
#define SystemSettingsSetMetadata(dataIn) UAVObjSetMetadata(SystemSettingsHandle(), dataIn)
// Object data
typedef struct {
uint8_t AirframeType;
} __attribute__((packed)) SystemSettingsData;
// Field information
// Field AirframeType information
/* Enumeration options for field AirframeType */
typedef enum { SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWING=0, SYSTEMSETTINGS_AIRFRAMETYPE_FIXEDWINGELEVON=1, SYSTEMSETTINGS_AIRFRAMETYPE_VTOL=2, } SystemSettingsAirframeTypeOptions;
// Generic interface functions
int32_t SystemSettingsInitialize();
UAVObjHandle SystemSettingsHandle();
#endif // SYSTEMSETTINGS_H

100
flight/OpenPilot/UAVObjects/manualcontrolcommand.c Normal file
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@ -0,0 +1,100 @@
/**
******************************************************************************
*
* @file manualcontrolcommand.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ManualControlCommand object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: manualcontrolcommand.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 "manualcontrolcommand.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 ManualControlCommandInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(MANUALCONTROLCOMMAND_OBJID, MANUALCONTROLCOMMAND_NAME, MANUALCONTROLCOMMAND_METANAME, 0,
MANUALCONTROLCOMMAND_ISSINGLEINST, MANUALCONTROLCOMMAND_ISSETTINGS, MANUALCONTROLCOMMAND_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)
{
ManualControlCommandData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ManualControlCommandData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 3000;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle ManualControlCommandHandle()
{
return handle;
}

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/**
******************************************************************************
*
* @file manualcontrolsettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the ManualControlSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: manualcontrolsettings.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 "manualcontrolsettings.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 ManualControlSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(MANUALCONTROLSETTINGS_OBJID, MANUALCONTROLSETTINGS_NAME, MANUALCONTROLSETTINGS_METANAME, 0,
MANUALCONTROLSETTINGS_ISSINGLEINST, MANUALCONTROLSETTINGS_ISSETTINGS, MANUALCONTROLSETTINGS_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)
{
ManualControlSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ManualControlSettingsData));
data.InputMode = 0;
data.Roll = 0;
data.Pitch = 1;
data.Yaw = 2;
data.Throttle = 3;
data.FlightMode = 4;
data.ChannelMax[0] = 2000;
data.ChannelMax[1] = 2000;
data.ChannelMax[2] = 2000;
data.ChannelMax[3] = 2000;
data.ChannelMax[4] = 2000;
data.ChannelMax[5] = 2000;
data.ChannelMax[6] = 2000;
data.ChannelMax[7] = 2000;
data.ChannelNeutral[0] = 1500;
data.ChannelNeutral[1] = 1500;
data.ChannelNeutral[2] = 1500;
data.ChannelNeutral[3] = 1500;
data.ChannelNeutral[4] = 1500;
data.ChannelNeutral[5] = 1500;
data.ChannelNeutral[6] = 1500;
data.ChannelNeutral[7] = 1500;
data.ChannelMin[0] = 1000;
data.ChannelMin[1] = 1000;
data.ChannelMin[2] = 1000;
data.ChannelMin[3] = 1000;
data.ChannelMin[4] = 1000;
data.ChannelMin[5] = 1000;
data.ChannelMin[6] = 1000;
data.ChannelMin[7] = 1000;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
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 ManualControlSettingsHandle()
{
return handle;
}

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flight/OpenPilot/UAVObjects/stabilizationsettings.c Normal file
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/**
******************************************************************************
*
* @file stabilizationsettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the StabilizationSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: stabilizationsettings.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 "stabilizationsettings.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 StabilizationSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(STABILIZATIONSETTINGS_OBJID, STABILIZATIONSETTINGS_NAME, STABILIZATIONSETTINGS_METANAME, 0,
STABILIZATIONSETTINGS_ISSINGLEINST, STABILIZATIONSETTINGS_ISSETTINGS, STABILIZATIONSETTINGS_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)
{
StabilizationSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(StabilizationSettingsData));
data.RollMax = 35;
data.PitchMax = 35;
data.ThrottleMax = 100;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
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 StabilizationSettingsHandle()
{
return handle;
}

101
flight/OpenPilot/UAVObjects/systemsettings.c Normal file
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@ -0,0 +1,101 @@
/**
******************************************************************************
*
* @file systemsettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the SystemSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: systemsettings.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 "systemsettings.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 SystemSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(SYSTEMSETTINGS_OBJID, SYSTEMSETTINGS_NAME, SYSTEMSETTINGS_METANAME, 0,
SYSTEMSETTINGS_ISSINGLEINST, SYSTEMSETTINGS_ISSETTINGS, SYSTEMSETTINGS_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)
{
SystemSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(SystemSettingsData));
data.AirframeType = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
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 SystemSettingsHandle()
{
return handle;
}

16
flight/OpenPilot/UAVObjects/uavobjectsinit.c
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@ -28,14 +28,22 @@
*/
#include "openpilot.h"
#include "actuatorcommand.h"
#include "actuatordesired.h"
#include "actuatorsettings.h"
#include "attitudedesired.h"
#include "exampleobject1.h"
#include "exampleobject2.h"
#include "examplesettings.h"
#include "flighttelemetrystats.h"
#include "gcstelemetrystats.h"
#include "gpsobject.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
#include "objectpersistence.h"
#include "stabilizationsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
#include "systemstats.h"
#include "telemetrysettings.h"
@ -46,14 +54,22 @@
*/
void UAVObjectsInitializeAll()
{
ActuatorCommandInitialize();
ActuatorDesiredInitialize();
ActuatorSettingsInitialize();
AttitudeDesiredInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();
ExampleSettingsInitialize();
FlightTelemetryStatsInitialize();
GCSTelemetryStatsInitialize();
GpsObjectInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
ObjectPersistenceInitialize();
StabilizationSettingsInitialize();
SystemAlarmsInitialize();
SystemSettingsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();