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Flight/Guidance: Initial template for guidance module

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Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used.
Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates)
UAVObjects/PositionActual: Remove unused GPS fields
UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object.  ALso make sure all the information telemetered around is in cm to avoid using floats.
UAVObject/GuidanceSettings: New guidance settings object for the guidance module
Flight/Posix: Add the new objects to the Posix sim
Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity.  All distances are in cm, and updated the PositionActual fields to reflect this and use int32.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-09-26 03:06:27 +00:00 committed by peabody124
parent ca4f3b53fa
commit 77b68e5169
55 changed files with 3069 additions and 467 deletions
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18
flight/AHRS/ahrs.c
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@ -898,15 +898,15 @@ void process_spi_request(void)
user_tx_v1.payload.user.v.rsp.update.quaternion.q4 =
attitude_data.quaternion.q4;
// TODO: separate this from INSGPS
user_tx_v1.payload.user.v.rsp.update.NED[0] = Nav.Pos[0];
user_tx_v1.payload.user.v.rsp.update.NED[1] = Nav.Pos[1];
user_tx_v1.payload.user.v.rsp.update.NED[2] = Nav.Pos[2];
user_tx_v1.payload.user.v.rsp.update.Vel[0] = Nav.Vel[0];
user_tx_v1.payload.user.v.rsp.update.Vel[1] = Nav.Vel[1];
user_tx_v1.payload.user.v.rsp.update.Vel[2] = Nav.Vel[2];
// compute the idle fraction
// convert all to cm/s
user_tx_v1.payload.user.v.rsp.update.NED[0] = Nav.Pos[0]*100;
user_tx_v1.payload.user.v.rsp.update.NED[1] = Nav.Pos[1]*100;
user_tx_v1.payload.user.v.rsp.update.NED[2] = Nav.Pos[2]*100;
user_tx_v1.payload.user.v.rsp.update.Vel[0] = Nav.Vel[0]*100;
user_tx_v1.payload.user.v.rsp.update.Vel[1] = Nav.Vel[1]*100;
user_tx_v1.payload.user.v.rsp.update.Vel[2] = Nav.Vel[2]*100;
// compute the idle fraction
user_tx_v1.payload.user.v.rsp.update.load =
((float)running_counts /
(float)(idle_counts + running_counts)) * 100;

BIN
flight/Doc/Architecture/OPModuleArchitecture.dia
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7
flight/OpenPilot/Makefile
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@ -57,13 +57,12 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry GPS ManualControl Altitude AHRSComms Stabilization/simple/Stabilization Watchdog
MODULES = Telemetry GPS ManualControl Altitude AHRSComms Stabilization/simple/Stabilization Guidance Watchdog
#matrix based actuator mixer
#MODULES += Actuator/matrix/Actuator
#original actuator with separate mixers for fixed wing, heli and VTOL
MODULES += Actuator
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
#MODULES = Telemetry
@ -186,6 +185,10 @@ SRC += $(OPUAVOBJ)/vtolstatus.c
SRC += $(OPUAVOBJ)/mixersettings.c
SRC += $(OPUAVOBJ)/mixerstatus.c
#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
SRC += $(OPUAVOBJ)/positiondesired.c
SRC += $(OPUAVOBJ)/velocitydesired.c
SRC += $(OPUAVOBJ)/velocityactual.c
SRC += $(OPUAVOBJ)/guidancesettings.c
endif
## PIOS Hardware (STM32F10x)

10
flight/OpenPilot/Makefile.posix
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@ -53,7 +53,7 @@ FLASH_TOOL = OPENOCD
USE_THUMB_MODE = YES
# List of modules to include
MODULES = Telemetry Stabilization/experimental/Stabilization ManualControl
MODULES = Telemetry Stabilization/experimental/Stabilization Navigation Guidance ManualControl
#MODULES = Telemetry GPS ManualControl Actuator Altitude Attitude Stabilization
#MODULES = Telemetry Example
#MODULES = Telemetry MK/MKSerial
@ -149,6 +149,9 @@ SRC += $(OPUAVOBJ)/stabilizationsettings.c
SRC += $(OPUAVOBJ)/ahrsstatus.c
SRC += $(OPUAVOBJ)/baroaltitude.c
SRC += $(OPUAVOBJ)/attitudeactual.c
SRC += $(OPUAVOBJ)/flightsituationactual.c
SRC += $(OPUAVOBJ)/navigationsettings.c
SRC += $(OPUAVOBJ)/navigationdesired.c
SRC += $(OPUAVOBJ)/flightbatterystate.c
SRC += $(OPUAVOBJ)/attituderaw.c
SRC += $(OPUAVOBJ)/homelocation.c
@ -161,6 +164,11 @@ SRC += $(OPUAVOBJ)/vtolsettings.c
SRC += $(OPUAVOBJ)/vtolstatus.c
SRC += $(OPUAVOBJ)/mixersettings.c
SRC += $(OPUAVOBJ)/mixerstatus.c
#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c
SRC += $(OPUAVOBJ)/positiondesired.c
SRC += $(OPUAVOBJ)/velocitydesired.c
SRC += $(OPUAVOBJ)/velocityactual.c
SRC += $(OPUAVOBJ)/guidancesettings.c
endif
## PIOS Hardware (posix)

17
flight/OpenPilot/Modules/AHRSComms/ahrs_comms.c
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@ -61,6 +61,7 @@
#include "stdbool.h"
#include "gpsposition.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "homelocation.h"
#include "ahrscalibration.h"
#include "CoordinateConversions.h"
@ -500,13 +501,17 @@ static void process_update(struct opahrs_msg_v1_rsp_update * update)
PositionActualData pos;
PositionActualGet(&pos);
pos.NED[0] = update->NED[0];
pos.NED[1] = update->NED[1];
pos.NED[2] = update->NED[2];
pos.Vel[0] = update->Vel[0];
pos.Vel[1] = update->Vel[1];
pos.Vel[2] = update->Vel[2];
pos.North = update->NED[0];
pos.East = update->NED[1];
pos.Down = update->NED[2];
PositionActualSet(&pos);
VelocityActualData vel;
VelocityActualGet(&vel);
vel.North = update->Vel[0];
vel.East = update->Vel[1];
vel.Down = update->Vel[2];
VelocityActualSet(&vel);
AhrsStatusData status;
AhrsStatusGet(&status);

160
flight/OpenPilot/Modules/FlightSituation/flightsituation.c Normal file
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@ -0,0 +1,160 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup FlightSituationModule FlightSituation Module
* @brief Sensor Merge of all Flight data into most likely situation
* @note This object updates the @ref FlightSituationActual UAVObject
* @{
*
* @file flightsituation.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "flightsituation.h"
#include "flightsituationactual.h"
#include "attitudeactual.h"
#include "altitudeactual.h"
#include "headingactual.h"
#include "positionactual.h"
#include "systemsettings.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void flightSituationTask(void* parameters);
/**
* Module initialization
*/
int32_t FlightSituationInitialize()
{
// Initialize variables
// Start main task
xTaskCreate(flightSituationTask, (signed char*)"FlightSituation", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module task
*/
static void flightSituationTask(void* parameters)
{
AttitudeActualData attitudeActual;
AltitudeActualData altitudeActual;
HeadingActualData headingActual;
PositionActualData positionActual;
SystemSettingsData systemSettings;
FlightSituationActualData flightSituationActual;
portTickType lastSysTime;
// private variables
float altitudeLast=0.0;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Read settings and other objects
SystemSettingsGet(&systemSettings);
AttitudeActualGet(&attitudeActual);
AltitudeActualGet(&altitudeActual);
HeadingActualGet(&headingActual);
PositionActualGet(&positionActual);
FlightSituationActualGet(&flightSituationActual);
// TODO: plausibility check of GPS data,
// innertial navigation with kalman feed-in of GPS data
// sensor fusion
// STUB code:
flightSituationActual.Latitude = positionActual.Latitude;
flightSituationActual.Longitude = positionActual.Longitude;
// TODO: fuse altitude information with GPS data plus
// plausibility check
// STUB Code:
flightSituationActual.Altitude = altitudeActual.Altitude;
// TODO: get altitude over ground from somewhere:
// method 1: reflection sensor
// method 2: crude database with ground hight information
// method 3: manual setting of ground hight at start pos
// STUB code:
flightSituationActual.ATG = altitudeActual.Altitude;
// TODO: use some more sophisticated Kalman filtering
// and several sources (including speed and pitch!)
// to get this one right
flightSituationActual.Climbrate = 0.9*flightSituationActual.Climbrate + 0.1*((flightSituationActual.Altitude-altitudeLast)*10);
// the times 10 is because timescale is 1/10th
// of a second right now
altitudeLast = flightSituationActual.Altitude;
// TODO: heading: sensor fusion from AttitudeActual.yaw
// and HeadingActual - with plausibility checks
// BUT ??? what to do with heli- / multicopters
// that can fly sideways?
// Maybe the AHRS can give us a movement vector too?
flightSituationActual.Heading = positionActual.Heading;
// TODO: airspeed - is THE critical measure to prevent stall
// and judge which maneuvers are safe.
// However AFAIK we have no sensor for it yet, do we?
// Even with moderate winds, a glider or other UAV
// can easily fly (seemingly) backwards, so airspeed
// and groundspeed can significantly differ!
flightSituationActual.Airspeed = positionActual.Groundspeed;
// TODO: this can possibly be taken from GPS
// with just a bit of plausibility checking
// and replacing by above if missing
flightSituationActual.Course = positionActual.Heading;
flightSituationActual.Groundspeed = positionActual.Groundspeed;
FlightSituationActualSet(&flightSituationActual);
// Clear alarms
// TODO create a new alarm
//AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
// Wait until next update
// TODO non-hardcoded update rate
vTaskDelayUntil(&lastSysTime, 100 / portTICK_RATE_MS );
}
}
/**
* @}
* @}
*/

42
flight/OpenPilot/Modules/FlightSituation/inc/flightsituation.h Normal file
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@ -0,0 +1,42 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup FlightSituationModule FlightSituation Module
* @brief Sensor Merge of all Flight data into most likely situation
* @note This object updates the @ref FlightSituationActual UAVObject
* @{
*
* @file flightsituation.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Attitude stabilization module.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef FLIGHTSITUATION_H
#define FLIGHTSITUATION_H
int32_t FlightSituationInitialize();
#endif // FLIGHTSITUATION_H
/**
* @}
* @}
*/

232
flight/OpenPilot/Modules/Guidance/guidance.c Normal file
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@ -0,0 +1,232 @@
/**
******************************************************************************
*
* @file guidance.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief This module compared @ref PositionActuatl to @ref ActiveWaypoint
* and sets @ref AttitudeDesired. It only does this when the FlightMode field
* of @ref ManualControlCommand is Auto.
*
* @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
*/
/**
* Input object: ActiveWaypoint
* Input object: PositionActual
* Input object: ManualControlCommand
* Output object: AttitudeDesired
*
* This module will periodically update the value of the AttitudeDesired object.
*
* The module executes in its own thread in this example.
*
* Modules have no API, all communication to other modules is done through UAVObjects.
* However modules may use the API exposed by shared libraries.
* See the OpenPilot wiki for more details.
* http://www.openpilot.org/OpenPilot_Application_Architecture
*
*/
#include "openpilot.h"
#include "guidance.h"
#include "guidancesettings.h"
#include "attitudeactual.h"
#include "attitudedesired.h"
#include "positiondesired.h" // object that will be updated by the module
#include "positionactual.h"
#include "manualcontrolcommand.h"
#include "stabilizationsettings.h"
#include "systemsettings.h"
#include "velocitydesired.h"
#include "velocityactual.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
// Private types
// Private variables
static xTaskHandle guidanceTaskHandle;
static xTaskHandle velocityPIDTaskHandle;
// Private functions
static void guidanceTask(void* parameters);
static void velocityPIDTask(void* parameters);
static float bound(float val, float min, float max);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceInitialize()
{
// Start main task
xTaskCreate(guidanceTask, (signed char*)"Guidance", STACK_SIZE, NULL, TASK_PRIORITY, &guidanceTaskHandle);
xTaskCreate(velocityPIDTask, (signed char*)"VelocityPID", STACK_SIZE, NULL, TASK_PRIORITY, &velocityPIDTaskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void guidanceTask(void* parameters)
{
SystemSettingsData systemSettings;
GuidanceSettingsData guidanceSettings;
ManualControlCommandData manualControl;
PositionActualData positionActual;
PositionDesiredData positionDesired;
VelocityDesiredData velocityDesired;
portTickType lastSysTime;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
ManualControlCommandGet(&manualControl);
SystemSettingsGet(&systemSettings);
GuidanceSettingsGet(&guidanceSettings);
if((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) &&
(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)) {
PositionActualGet(&positionActual);
PositionDesiredGet(&positionDesired);
// Note all distances in cm
float dNorth = positionDesired.North - positionActual.North;
float dEast = positionDesired.East - positionActual.East;
float distance = sqrt(pow(dNorth,2) + pow(dEast,2));
float groundspeed = guidanceSettings.GroundVelocityP * distance; //bound(guidanceSettings.GroundVelocityP * distance, 0, guidanceSettings.MaxGroundspeed);
float heading = atan2f(dEast,dNorth);
velocityDesired.North = groundspeed * cosf(heading);
velocityDesired.East = groundspeed * sinf(heading);
float dDown = positionDesired.Down - positionActual.Down;
velocityDesired.Down = bound(guidanceSettings.VertVelocityP * dDown, -guidanceSettings.MaxVerticalSpeed, guidanceSettings.MaxVerticalSpeed);
VelocityDesiredSet(&velocityDesired);
}
vTaskDelayUntil(&lastSysTime, guidanceSettings.VelUpdatePeriod / portTICK_RATE_MS );
}
}
/**
* Module thread, should not return.
*/
static void velocityPIDTask(void* parameters)
{
portTickType lastSysTime;
VelocityDesiredData velocityDesired;
VelocityActualData velocityActual;
AttitudeDesiredData attitudeDesired;
AttitudeActualData attitudeActual;
GuidanceSettingsData guidanceSettings;
StabilizationSettingsData stabSettings;
SystemSettingsData systemSettings;
ManualControlCommandData manualControl;
float northError;
float northDerivative;
float northIntegral;
float northErrorLast = 0;
float northCommand;
float eastError;
float eastDerivative;
float eastIntegral = 0;
float eastErrorLast = 0;
float eastCommand;
float downError;
float downDerivative;
float downIntegral = 0;
float downErrorLast = 0;
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
ManualControlCommandGet(&manualControl);
SystemSettingsGet(&systemSettings);
GuidanceSettingsGet(&guidanceSettings);
if((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) &&
(systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)) {
VelocityActualGet(&velocityActual);
VelocityDesiredGet(&velocityDesired);
AttitudeDesiredGet(&attitudeDesired);
VelocityDesiredGet(&velocityDesired);
AttitudeActualGet(&attitudeActual);
StabilizationSettingsGet(&stabSettings);
attitudeDesired.Yaw = 0; // try and face north
// Yaw and pitch output from ground speed PID loop
northError = velocityDesired.North - velocityActual.North;
northDerivative = (northError - northErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
northIntegral = bound(northIntegral+northError*guidanceSettings.VelPIDUpdatePeriod, -guidanceSettings.MaxVelIntegral, guidanceSettings.MaxVelIntegral);
northErrorLast = northError;
northCommand = northError*guidanceSettings.VelP + northDerivative*guidanceSettings.VelD + northIntegral*guidanceSettings.VelI;
eastError = velocityDesired.East - velocityActual.East;
eastDerivative = (eastError - eastErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
eastIntegral = bound(eastIntegral+eastError*guidanceSettings.VelPIDUpdatePeriod, -guidanceSettings.MaxVelIntegral, guidanceSettings.MaxVelIntegral);
eastErrorLast = eastError;
eastCommand = eastError*guidanceSettings.VelP + eastDerivative*guidanceSettings.VelD + eastIntegral*guidanceSettings.VelI;
// Project the north and east command signals into the pitch and roll based on yaw. For this to behave well the
// craft should move similarly for 5 deg roll versus 5 deg pitch
attitudeDesired.Pitch = bound(-northCommand * cosf(attitudeActual.Yaw * M_PI / 180) + eastCommand * sinf(attitudeActual.Yaw * M_PI / 180),
-stabSettings.PitchMax, stabSettings.PitchMax);
attitudeDesired.Roll = bound(-northCommand * sinf(attitudeActual.Yaw * M_PI / 180) + eastCommand * cosf(attitudeActual.Yaw * M_PI / 180),
-stabSettings.RollMax, stabSettings.RollMax);
downError = velocityDesired.Down - velocityActual.Down;
downDerivative = (downError - downErrorLast) / guidanceSettings.VelPIDUpdatePeriod;
downIntegral = bound(downIntegral+downError*guidanceSettings.VelPIDUpdatePeriod, -guidanceSettings.MaxThrottleIntegral, guidanceSettings.MaxThrottleIntegral);
downErrorLast = downError;
attitudeDesired.Throttle = bound(downError*guidanceSettings.DownP + downDerivative*guidanceSettings.DownD + downIntegral*guidanceSettings.DownI,
0, 1);
AttitudeDesiredSet(&attitudeDesired);
}
vTaskDelayUntil(&lastSysTime, guidanceSettings.VelPIDUpdatePeriod / portTICK_RATE_MS );
}
}
/**
* Bound input value between limits
*/
static float bound(float val, float min, float max)
{
if ( val < min )
{
val = min;
}
else if ( val > max )
{
val = max;
}
return val;
}

32
flight/OpenPilot/Modules/Guidance/inc/guidance.h Normal file
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@ -0,0 +1,32 @@
/**
******************************************************************************
*
* @file examplemodperiodic.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Example module to be used as a template for actual modules.
*
* @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 EXAMPLEMODPERIODIC_H
#define EXAMPLEMODPERIODIC_H
int32_t ExampleModPeriodicInitialize();
#endif // EXAMPLEMODPERIODIC_H

125
flight/OpenPilot/UAVObjects/guidancesettings.c Normal file
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@ -0,0 +1,125 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup GuidanceSettings GuidanceSettings
* @brief Settings for the @ref GuidanceModule
*
* Autogenerated files and functions for GuidanceSettings Object
* @{
*
* @file guidancesettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the GuidanceSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: guidancesettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "guidancesettings.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t GuidanceSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(GUIDANCESETTINGS_OBJID, GUIDANCESETTINGS_NAME, GUIDANCESETTINGS_METANAME, 0,
GUIDANCESETTINGS_ISSINGLEINST, GUIDANCESETTINGS_ISSETTINGS, GUIDANCESETTINGS_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
GuidanceSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(GuidanceSettingsData));
data.MaxGroundspeed = 100;
data.GroundVelocityP = 0.1;
data.MaxVerticalSpeed = 100;
data.VertVelocityP = 0.1;
data.VelP = 0.1;
data.VelI = 0.1;
data.VelD = 0;
data.DownP = 0;
data.DownI = 0;
data.DownD = 0;
data.MaxVelIntegral = 2;
data.MaxThrottleIntegral = 1;
data.VelUpdatePeriod = 100;
data.VelPIDUpdatePeriod = 20;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle GuidanceSettingsHandle()
{
return handle;
}
/**
* @}
*/

117
flight/OpenPilot/UAVObjects/inc/guidancesettings.h Normal file
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@ -0,0 +1,117 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup GuidanceSettings GuidanceSettings
* @brief Settings for the @ref GuidanceModule
*
* Autogenerated files and functions for GuidanceSettings Object
* @{
*
* @file guidancesettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the GuidanceSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: guidancesettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef GUIDANCESETTINGS_H
#define GUIDANCESETTINGS_H
// Object constants
#define GUIDANCESETTINGS_OBJID 2428005802U
#define GUIDANCESETTINGS_NAME "GuidanceSettings"
#define GUIDANCESETTINGS_METANAME "GuidanceSettingsMeta"
#define GUIDANCESETTINGS_ISSINGLEINST 1
#define GUIDANCESETTINGS_ISSETTINGS 1
#define GUIDANCESETTINGS_NUMBYTES sizeof(GuidanceSettingsData)
// Object access macros
/**
* @function GuidanceSettingsGet(dataOut)
* @brief Populate a GuidanceSettingsData object
* @param[out] dataOut
*/
#define GuidanceSettingsGet(dataOut) UAVObjGetData(GuidanceSettingsHandle(), dataOut)
#define GuidanceSettingsSet(dataIn) UAVObjSetData(GuidanceSettingsHandle(), dataIn)
#define GuidanceSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(GuidanceSettingsHandle(), instId, dataOut)
#define GuidanceSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(GuidanceSettingsHandle(), instId, dataIn)
#define GuidanceSettingsConnectQueue(queue) UAVObjConnectQueue(GuidanceSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define GuidanceSettingsConnectCallback(cb) UAVObjConnectCallback(GuidanceSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define GuidanceSettingsCreateInstance() UAVObjCreateInstance(GuidanceSettingsHandle())
#define GuidanceSettingsRequestUpdate() UAVObjRequestUpdate(GuidanceSettingsHandle())
#define GuidanceSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GuidanceSettingsHandle(), instId)
#define GuidanceSettingsUpdated() UAVObjUpdated(GuidanceSettingsHandle())
#define GuidanceSettingsInstUpdated(instId) UAVObjUpdated(GuidanceSettingsHandle(), instId)
#define GuidanceSettingsGetMetadata(dataOut) UAVObjGetMetadata(GuidanceSettingsHandle(), dataOut)
#define GuidanceSettingsSetMetadata(dataIn) UAVObjSetMetadata(GuidanceSettingsHandle(), dataIn)
#define GuidanceSettingsReadOnly(dataIn) UAVObjReadOnly(GuidanceSettingsHandle())
// Object data
typedef struct {
int32_t MaxGroundspeed;
float GroundVelocityP;
int32_t MaxVerticalSpeed;
float VertVelocityP;
float VelP;
float VelI;
float VelD;
float DownP;
float DownI;
float DownD;
float MaxVelIntegral;
float MaxThrottleIntegral;
int32_t VelUpdatePeriod;
int32_t VelPIDUpdatePeriod;
} __attribute__((packed)) GuidanceSettingsData;
// Field information
// Field MaxGroundspeed information
// Field GroundVelocityP information
// Field MaxVerticalSpeed information
// Field VertVelocityP information
// Field VelP information
// Field VelI information
// Field VelD information
// Field DownP information
// Field DownI information
// Field DownD information
// Field MaxVelIntegral information
// Field MaxThrottleIntegral information
// Field VelUpdatePeriod information
// Field VelPIDUpdatePeriod information
// Generic interface functions
int32_t GuidanceSettingsInitialize();
UAVObjHandle GuidanceSettingsHandle();
#endif // GUIDANCESETTINGS_H
/**
* @}
* @}
*/

46
flight/OpenPilot/UAVObjects/inc/positionactual.h
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@ -3,7 +3,7 @@
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup PositionActual PositionActual
* @brief Deprecated for GPS position.
* @brief Contains the current position relative to @ref HomeLocation
*
* Autogenerated files and functions for PositionActual Object
@ -41,7 +41,7 @@
#define POSITIONACTUAL_H
// Object constants
#define POSITIONACTUAL_OBJID 3881752126U
#define POSITIONACTUAL_OBJID 3765671478U
#define POSITIONACTUAL_NAME "PositionActual"
#define POSITIONACTUAL_METANAME "PositionActualMeta"
#define POSITIONACTUAL_ISSINGLEINST 1
@ -71,46 +71,16 @@
// Object data
typedef struct {
uint8_t Status;
float Latitude;
float Longitude;
float Altitude;
float GeoidSeparation;
float Heading;
float Groundspeed;
float Airspeed;
float Climbrate;
int8_t Satellites;
float PDOP;
float HDOP;
float VDOP;
float NED[3];
float Vel[3];
int32_t North;
int32_t East;
int32_t Down;
} __attribute__((packed)) PositionActualData;
// Field information
// Field Status information
/* Enumeration options for field Status */
typedef enum { POSITIONACTUAL_STATUS_NOGPS=0, POSITIONACTUAL_STATUS_NOFIX=1, POSITIONACTUAL_STATUS_FIX2D=2, POSITIONACTUAL_STATUS_FIX3D=3 } PositionActualStatusOptions;
// Field Latitude information
// Field Longitude information
// Field Altitude information
// Field GeoidSeparation information
// Field Heading information
// Field Groundspeed information
// Field Airspeed information
// Field Climbrate information
// Field Satellites information
// Field PDOP information
// Field HDOP information
// Field VDOP information
// Field NED information
/* Number of elements for field NED */
#define POSITIONACTUAL_NED_NUMELEM 3
// Field Vel information
/* Number of elements for field Vel */
#define POSITIONACTUAL_VEL_NUMELEM 3
// Field North information
// Field East information
// Field Down information
// Generic interface functions

95
flight/OpenPilot/UAVObjects/inc/positiondesired.h Normal file
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@ -0,0 +1,95 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup PositionDesired PositionDesired
* @brief The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner
*
* Autogenerated files and functions for PositionDesired Object
* @{
*
* @file positiondesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the PositionDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: positiondesired.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef POSITIONDESIRED_H
#define POSITIONDESIRED_H
// Object constants
#define POSITIONDESIRED_OBJID 801433018U
#define POSITIONDESIRED_NAME "PositionDesired"
#define POSITIONDESIRED_METANAME "PositionDesiredMeta"
#define POSITIONDESIRED_ISSINGLEINST 1
#define POSITIONDESIRED_ISSETTINGS 0
#define POSITIONDESIRED_NUMBYTES sizeof(PositionDesiredData)
// Object access macros
/**
* @function PositionDesiredGet(dataOut)
* @brief Populate a PositionDesiredData object
* @param[out] dataOut
*/
#define PositionDesiredGet(dataOut) UAVObjGetData(PositionDesiredHandle(), dataOut)
#define PositionDesiredSet(dataIn) UAVObjSetData(PositionDesiredHandle(), dataIn)
#define PositionDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(PositionDesiredHandle(), instId, dataOut)
#define PositionDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(PositionDesiredHandle(), instId, dataIn)
#define PositionDesiredConnectQueue(queue) UAVObjConnectQueue(PositionDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
#define PositionDesiredConnectCallback(cb) UAVObjConnectCallback(PositionDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
#define PositionDesiredCreateInstance() UAVObjCreateInstance(PositionDesiredHandle())
#define PositionDesiredRequestUpdate() UAVObjRequestUpdate(PositionDesiredHandle())
#define PositionDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(PositionDesiredHandle(), instId)
#define PositionDesiredUpdated() UAVObjUpdated(PositionDesiredHandle())
#define PositionDesiredInstUpdated(instId) UAVObjUpdated(PositionDesiredHandle(), instId)
#define PositionDesiredGetMetadata(dataOut) UAVObjGetMetadata(PositionDesiredHandle(), dataOut)
#define PositionDesiredSetMetadata(dataIn) UAVObjSetMetadata(PositionDesiredHandle(), dataIn)
#define PositionDesiredReadOnly(dataIn) UAVObjReadOnly(PositionDesiredHandle())
// Object data
typedef struct {
int32_t North;
int32_t East;
int32_t Down;
} __attribute__((packed)) PositionDesiredData;
// Field information
// Field North information
// Field East information
// Field Down information
// Generic interface functions
int32_t PositionDesiredInitialize();
UAVObjHandle PositionDesiredHandle();
#endif // POSITIONDESIRED_H
/**
* @}
* @}
*/

6
flight/OpenPilot/UAVObjects/inc/systemalarms.h
View File

@ -71,7 +71,7 @@
// Object data
typedef struct {
uint8_t Alarm[11];
uint8_t Alarm[10];
} __attribute__((packed)) SystemAlarmsData;
@ -80,9 +80,9 @@ 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, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, SYSTEMALARMS_ALARM_GUIDANCE=9, SYSTEMALARMS_ALARM_AHRSCOMMS=10 } 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, SYSTEMALARMS_ALARM_STABILIZATION=8, SYSTEMALARMS_ALARM_AHRSCOMMS=9 } SystemAlarmsAlarmElem;
/* Number of elements for field Alarm */
#define SYSTEMALARMS_ALARM_NUMELEM 11
#define SYSTEMALARMS_ALARM_NUMELEM 10
// Generic interface functions

95
flight/OpenPilot/UAVObjects/inc/velocityactual.h Normal file
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@ -0,0 +1,95 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup VelocityActual VelocityActual
* @brief Updated by @ref AHRSCommsModule and used within @ref GuidanceModulefor velocity control
*
* Autogenerated files and functions for VelocityActual Object
* @{
*
* @file velocityactual.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the VelocityActual object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: velocityactual.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 VELOCITYACTUAL_H
#define VELOCITYACTUAL_H
// Object constants
#define VELOCITYACTUAL_OBJID 1207999624U
#define VELOCITYACTUAL_NAME "VelocityActual"
#define VELOCITYACTUAL_METANAME "VelocityActualMeta"
#define VELOCITYACTUAL_ISSINGLEINST 1
#define VELOCITYACTUAL_ISSETTINGS 0
#define VELOCITYACTUAL_NUMBYTES sizeof(VelocityActualData)
// Object access macros
/**
* @function VelocityActualGet(dataOut)
* @brief Populate a VelocityActualData object
* @param[out] dataOut
*/
#define VelocityActualGet(dataOut) UAVObjGetData(VelocityActualHandle(), dataOut)
#define VelocityActualSet(dataIn) UAVObjSetData(VelocityActualHandle(), dataIn)
#define VelocityActualInstGet(instId, dataOut) UAVObjGetInstanceData(VelocityActualHandle(), instId, dataOut)
#define VelocityActualInstSet(instId, dataIn) UAVObjSetInstanceData(VelocityActualHandle(), instId, dataIn)
#define VelocityActualConnectQueue(queue) UAVObjConnectQueue(VelocityActualHandle(), queue, EV_MASK_ALL_UPDATES)
#define VelocityActualConnectCallback(cb) UAVObjConnectCallback(VelocityActualHandle(), cb, EV_MASK_ALL_UPDATES)
#define VelocityActualCreateInstance() UAVObjCreateInstance(VelocityActualHandle())
#define VelocityActualRequestUpdate() UAVObjRequestUpdate(VelocityActualHandle())
#define VelocityActualRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(VelocityActualHandle(), instId)
#define VelocityActualUpdated() UAVObjUpdated(VelocityActualHandle())
#define VelocityActualInstUpdated(instId) UAVObjUpdated(VelocityActualHandle(), instId)
#define VelocityActualGetMetadata(dataOut) UAVObjGetMetadata(VelocityActualHandle(), dataOut)
#define VelocityActualSetMetadata(dataIn) UAVObjSetMetadata(VelocityActualHandle(), dataIn)
#define VelocityActualReadOnly(dataIn) UAVObjReadOnly(VelocityActualHandle())
// Object data
typedef struct {
int32_t North;
int32_t East;
int32_t Down;
} __attribute__((packed)) VelocityActualData;
// Field information
// Field North information
// Field East information
// Field Down information
// Generic interface functions
int32_t VelocityActualInitialize();
UAVObjHandle VelocityActualHandle();
#endif // VELOCITYACTUAL_H
/**
* @}
* @}
*/

95
flight/OpenPilot/UAVObjects/inc/velocitydesired.h Normal file
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@ -0,0 +1,95 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup VelocityDesired VelocityDesired
* @brief Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).
*
* Autogenerated files and functions for VelocityDesired Object
* @{
*
* @file velocitydesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the VelocityDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: velocitydesired.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 VELOCITYDESIRED_H
#define VELOCITYDESIRED_H
// Object constants
#define VELOCITYDESIRED_OBJID 305094202U
#define VELOCITYDESIRED_NAME "VelocityDesired"
#define VELOCITYDESIRED_METANAME "VelocityDesiredMeta"
#define VELOCITYDESIRED_ISSINGLEINST 1
#define VELOCITYDESIRED_ISSETTINGS 0
#define VELOCITYDESIRED_NUMBYTES sizeof(VelocityDesiredData)
// Object access macros
/**
* @function VelocityDesiredGet(dataOut)
* @brief Populate a VelocityDesiredData object
* @param[out] dataOut
*/
#define VelocityDesiredGet(dataOut) UAVObjGetData(VelocityDesiredHandle(), dataOut)
#define VelocityDesiredSet(dataIn) UAVObjSetData(VelocityDesiredHandle(), dataIn)
#define VelocityDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(VelocityDesiredHandle(), instId, dataOut)
#define VelocityDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(VelocityDesiredHandle(), instId, dataIn)
#define VelocityDesiredConnectQueue(queue) UAVObjConnectQueue(VelocityDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
#define VelocityDesiredConnectCallback(cb) UAVObjConnectCallback(VelocityDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
#define VelocityDesiredCreateInstance() UAVObjCreateInstance(VelocityDesiredHandle())
#define VelocityDesiredRequestUpdate() UAVObjRequestUpdate(VelocityDesiredHandle())
#define VelocityDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(VelocityDesiredHandle(), instId)
#define VelocityDesiredUpdated() UAVObjUpdated(VelocityDesiredHandle())
#define VelocityDesiredInstUpdated(instId) UAVObjUpdated(VelocityDesiredHandle(), instId)
#define VelocityDesiredGetMetadata(dataOut) UAVObjGetMetadata(VelocityDesiredHandle(), dataOut)
#define VelocityDesiredSetMetadata(dataIn) UAVObjSetMetadata(VelocityDesiredHandle(), dataIn)
#define VelocityDesiredReadOnly(dataIn) UAVObjReadOnly(VelocityDesiredHandle())
// Object data
typedef struct {
int32_t North;
int32_t East;
int32_t Down;
} __attribute__((packed)) VelocityDesiredData;
// Field information
// Field North information
// Field East information
// Field Down information
// Generic interface functions
int32_t VelocityDesiredInitialize();
UAVObjHandle VelocityDesiredHandle();
#endif // VELOCITYDESIRED_H
/**
* @}
* @}
*/

2
flight/OpenPilot/UAVObjects/positionactual.c
View File

@ -3,7 +3,7 @@
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup PositionActual PositionActual
* @brief Deprecated for GPS position.
* @brief Contains the current position relative to @ref HomeLocation
*
* Autogenerated files and functions for PositionActual Object
* @{

111
flight/OpenPilot/UAVObjects/positiondesired.c Normal file
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@ -0,0 +1,111 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup PositionDesired PositionDesired
* @brief The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner
*
* Autogenerated files and functions for PositionDesired Object
* @{
*
* @file positiondesired.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the PositionDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: positiondesired.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @see The GNU Public License (GPL) Version 3
*
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "openpilot.h"
#include "positiondesired.h"
// Private variables
static UAVObjHandle handle;
// Private functions
static void setDefaults(UAVObjHandle obj, uint16_t instId);
/**
* Initialize object.
* \return 0 Success
* \return -1 Failure
*/
int32_t PositionDesiredInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(POSITIONDESIRED_OBJID, POSITIONDESIRED_NAME, POSITIONDESIRED_METANAME, 0,
POSITIONDESIRED_ISSINGLEINST, POSITIONDESIRED_ISSETTINGS, POSITIONDESIRED_NUMBYTES, &setDefaults);
// Done
if (handle != 0)
{
return 0;
}
else
{
return -1;
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
PositionDesiredData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(PositionDesiredData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle PositionDesiredHandle()
{
return handle;
}
/**
* @}
*/

8
flight/OpenPilot/UAVObjects/uavobjectsinit.c
View File

@ -48,6 +48,7 @@
#include "gpsposition.h"
#include "gpssatellites.h"
#include "gpstime.h"
#include "guidancesettings.h"
#include "homelocation.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
@ -55,11 +56,14 @@
#include "mixerstatus.h"
#include "objectpersistence.h"
#include "positionactual.h"
#include "positiondesired.h"
#include "stabilizationsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
#include "systemstats.h"
#include "telemetrysettings.h"
#include "velocityactual.h"
#include "velocitydesired.h"
#include "vtolsettings.h"
#include "vtolstatus.h"
@ -90,6 +94,7 @@ void UAVObjectsInitializeAll()
GPSPositionInitialize();
GPSSatellitesInitialize();
GPSTimeInitialize();
GuidanceSettingsInitialize();
HomeLocationInitialize();
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
@ -97,11 +102,14 @@ void UAVObjectsInitializeAll()
MixerStatusInitialize();
ObjectPersistenceInitialize();
PositionActualInitialize();
PositionDesiredInitialize();
StabilizationSettingsInitialize();
SystemAlarmsInitialize();
SystemSettingsInitialize();
SystemStatsInitialize();
TelemetrySettingsInitialize();
VelocityActualInitialize();
VelocityDesiredInitialize();
VTOLSettingsInitialize();
VTOLStatusInitialize();

111
flight/OpenPilot/UAVObjects/velocityactual.c Normal file
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@ -0,0 +1,111 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup VelocityActual VelocityActual
* @brief Updated by @ref AHRSCommsModule and used within @ref GuidanceModulefor velocity control
*
* Autogenerated files and functions for VelocityActual Object
* @{
*
* @file velocityactual.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the VelocityActual object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: velocityactual.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 "velocityactual.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 VelocityActualInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(VELOCITYACTUAL_OBJID, VELOCITYACTUAL_NAME, VELOCITYACTUAL_METANAME, 0,
VELOCITYACTUAL_ISSINGLEINST, VELOCITYACTUAL_ISSETTINGS, VELOCITYACTUAL_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)
{
VelocityActualData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(VelocityActualData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle VelocityActualHandle()
{
return handle;
}
/**
* @}
*/

111
flight/OpenPilot/UAVObjects/velocitydesired.c Normal file
View File

@ -0,0 +1,111 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup VelocityDesired VelocityDesired
* @brief Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).
*
* Autogenerated files and functions for VelocityDesired Object
* @{
*
* @file velocitydesired.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the VelocityDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: velocitydesired.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 "velocitydesired.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 VelocityDesiredInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(VELOCITYDESIRED_OBJID, VELOCITYDESIRED_NAME, VELOCITYDESIRED_METANAME, 0,
VELOCITYDESIRED_ISSINGLEINST, VELOCITYDESIRED_ISSETTINGS, VELOCITYDESIRED_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)
{
VelocityDesiredData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(VelocityDesiredData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Get object handle
*/
UAVObjHandle VelocityDesiredHandle()
{
return handle;
}
/**
* @}
*/

4
flight/PiOS/inc/pios_opahrs_proto.h
View File

@ -319,8 +319,8 @@ struct opahrs_msg_v1_rsp_update {
float q3;
float q4;
} quaternion;
float NED[3];
float Vel[3];
int32_t NED[3];
int32_t Vel[3];
uint8_t load;
uint8_t idle_time;
uint8_t run_time;

46
flight/Project/OpenPilotOSX/OpenPilotOSX.xcodeproj/project.pbxproj
View File

@ -32,22 +32,6 @@
654330231218E9780063F913 /* insgps.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = insgps.c; path = ../../AHRS/insgps.c; sourceTree = SOURCE_ROOT; };
6543304F121980300063F913 /* insgps.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = insgps.h; sourceTree = "<group>"; };
655268BC121FBD2900410C6E /* ahrscalibration.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = ahrscalibration.xml; sourceTree = "<group>"; };
655E4A05124B1CFC00687939 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
655E4A06124B1CFC00687939 /* STM32103CB_AHRS.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM32103CB_AHRS.h; sourceTree = "<group>"; };
655E4A07124B1CFC00687939 /* STM3210E_OP.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = STM3210E_OP.h; sourceTree = "<group>"; };
65632C62124DC5F700469B77 /* ahrscalibration.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrscalibration.h; sourceTree = "<group>"; };
65632C63124DC5F700469B77 /* ahrssettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrssettings.h; sourceTree = "<group>"; };
65632C64124DC5F700469B77 /* attituderaw.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attituderaw.h; sourceTree = "<group>"; };
65632C65124DC5F700469B77 /* attitudesettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = attitudesettings.h; sourceTree = "<group>"; };
65632C66124DC5F700469B77 /* baroaltitude.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = baroaltitude.h; sourceTree = "<group>"; };
65632C67124DC5F700469B77 /* gpsposition.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = gpsposition.h; sourceTree = "<group>"; };
65632C68124DC5F700469B77 /* gpssatellites.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = gpssatellites.h; sourceTree = "<group>"; };
65632C69124DC5F700469B77 /* gpstime.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = gpstime.h; sourceTree = "<group>"; };
65632C6A124DC5F700469B77 /* homelocation.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = homelocation.h; sourceTree = "<group>"; };
65632C6B124DC5F700469B77 /* mixersettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = mixersettings.h; sourceTree = "<group>"; };
65632C6C124DC5F700469B77 /* mixerstatus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = mixerstatus.h; sourceTree = "<group>"; };
65632C6D124DC5F700469B77 /* vtolsettings.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = vtolsettings.h; sourceTree = "<group>"; };
65632C6E124DC5F700469B77 /* vtolstatus.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = vtolstatus.h; sourceTree = "<group>"; };
657CEEAD121DB6C8007A1FBE /* homelocation.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = homelocation.xml; sourceTree = "<group>"; };
657CEEB7121DBC63007A1FBE /* CoordinateConversions.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = CoordinateConversions.c; sourceTree = "<group>"; };
657CEEB9121DBC63007A1FBE /* CoordinateConversions.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = CoordinateConversions.h; sourceTree = "<group>"; };
@ -2599,6 +2583,7 @@
65B7E6AE120DF1E2000C1123 /* ahrs.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = ahrs.c; path = ../../AHRS/ahrs.c; sourceTree = SOURCE_ROOT; };
65B7E6B0120DF1E2000C1123 /* ahrs.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs.h; sourceTree = "<group>"; };
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = ahrs_fsm.h; sourceTree = "<group>"; };
65B7E6B3120DF1E2000C1123 /* pios_board.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_board.h; sourceTree = "<group>"; };
65B7E6B4120DF1E2000C1123 /* pios_config.h */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.h; path = pios_config.h; sourceTree = "<group>"; };
65B7E6B6120DF1E2000C1123 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../AHRS/Makefile; sourceTree = SOURCE_ROOT; };
65B7E6B7120DF1E2000C1123 /* pios_board.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = pios_board.c; path = ../../AHRS/pios_board.c; sourceTree = SOURCE_ROOT; };
@ -2608,6 +2593,8 @@
65C259561224BFAF0081B6ED /* ahrssettings.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = ahrssettings.c; sourceTree = "<group>"; };
65C259571224BFAF0081B6ED /* baroaltitude.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = baroaltitude.c; sourceTree = "<group>"; };
65C259581224BFAF0081B6ED /* gpsposition.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; path = gpsposition.c; sourceTree = "<group>"; };
65D2CA841248F9A400B1E7D6 /* mixersettings.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixersettings.xml; sourceTree = "<group>"; };
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text.xml; path = mixerstatus.xml; sourceTree = "<group>"; };
65E8EF1F11EEA61E00BBF654 /* Makefile */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.make; name = Makefile; path = ../../OpenPilot/Makefile; sourceTree = SOURCE_ROOT; };
65E8EF2011EEA61E00BBF654 /* Makefile.posix */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = text; name = Makefile.posix; path = ../../OpenPilot/Makefile.posix; sourceTree = SOURCE_ROOT; };
65E8EF2311EEA61E00BBF654 /* actuator.c */ = {isa = PBXFileReference; fileEncoding = 4; lastKnownFileType = sourcecode.c.c; name = actuator.c; path = ../../OpenPilot/Modules/Actuator/actuator.c; sourceTree = SOURCE_ROOT; };
@ -2942,16 +2929,6 @@
path = inc;
sourceTree = "<group>";
};
655E4A04124B1CFC00687939 /* Boards */ = {
isa = PBXGroup;
children = (
655E4A05124B1CFC00687939 /* pios_board.h */,
655E4A06124B1CFC00687939 /* STM32103CB_AHRS.h */,
655E4A07124B1CFC00687939 /* STM3210E_OP.h */,
);
path = Boards;
sourceTree = "<group>";
};
657CEEB5121DBC49007A1FBE /* flight */ = {
isa = PBXGroup;
children = (
@ -6733,6 +6710,8 @@
65B367E3121C2620003EAD18 /* uavobjectdefinition */ = {
isa = PBXGroup;
children = (
65D2CA841248F9A400B1E7D6 /* mixersettings.xml */,
65D2CA851248F9A400B1E7D6 /* mixerstatus.xml */,
655268BC121FBD2900410C6E /* ahrscalibration.xml */,
659ED317122226B60011010E /* ahrssettings.xml */,
65B367E7121C2620003EAD18 /* ahrsstatus.xml */,
@ -6795,6 +6774,7 @@
6543304F121980300063F913 /* insgps.h */,
65B7E6B0120DF1E2000C1123 /* ahrs.h */,
65B7E6B1120DF1E2000C1123 /* ahrs_fsm.h */,
65B7E6B3120DF1E2000C1123 /* pios_board.h */,
65B7E6B4120DF1E2000C1123 /* pios_config.h */,
);
name = inc;
@ -7181,19 +7161,6 @@
65E8EF8011EEA61E00BBF654 /* inc */ = {
isa = PBXGroup;
children = (
65632C62124DC5F700469B77 /* ahrscalibration.h */,
65632C63124DC5F700469B77 /* ahrssettings.h */,
65632C64124DC5F700469B77 /* attituderaw.h */,
65632C65124DC5F700469B77 /* attitudesettings.h */,
65632C66124DC5F700469B77 /* baroaltitude.h */,
65632C67124DC5F700469B77 /* gpsposition.h */,
65632C68124DC5F700469B77 /* gpssatellites.h */,
65632C69124DC5F700469B77 /* gpstime.h */,
65632C6A124DC5F700469B77 /* homelocation.h */,
65632C6B124DC5F700469B77 /* mixersettings.h */,
65632C6C124DC5F700469B77 /* mixerstatus.h */,
65632C6D124DC5F700469B77 /* vtolsettings.h */,
65632C6E124DC5F700469B77 /* vtolstatus.h */,
65E8EF8111EEA61E00BBF654 /* actuatorcommand.h */,
65E8EF8211EEA61E00BBF654 /* actuatordesired.h */,
65E8EF8311EEA61E00BBF654 /* actuatorsettings.h */,
@ -7247,7 +7214,6 @@
65E8F02F11EFF25C00BBF654 /* PiOS */ = {
isa = PBXGroup;
children = (
655E4A04124B1CFC00687939 /* Boards */,
65E8F03011EFF25C00BBF654 /* Common */,
65E8F03811EFF25C00BBF654 /* inc */,
65E8F05711EFF25C00BBF654 /* pios.h */,

8
ground/src/plugins/hitlnew/fgsimulator.cpp
View File

@ -220,15 +220,15 @@ void FGSimulator::processUpdate(const QByteArray& inp)
attActual->setData(attActualData);
// Update gps objects
PositionActual::DataFields gpsData;
memset(&gpsData, 0, sizeof(PositionActual::DataFields));
GPSPosition::DataFields gpsData;
memset(&gpsData, 0, sizeof(GPSPosition::DataFields));
gpsData.Altitude = altitude;
gpsData.Heading = heading;
gpsData.Groundspeed = groundspeed;
gpsData.Latitude = latitude;
gpsData.Longitude = longitude;
gpsData.Satellites = 10;
gpsData.Status = PositionActual::STATUS_FIX3D;
posActual->setData(gpsData);
gpsData.Status = GPSPosition::STATUS_FIX3D;
gpsPos->setData(gpsData);
}

8
ground/src/plugins/hitlnew/il2simulator.cpp
View File

@ -230,9 +230,9 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
attActual->setData(attActualData);
// Update gps objects
PositionActual::DataFields gpsData;
memset(&gpsData, 0, sizeof(PositionActual::DataFields));
gpsData.Altitude = current.Z;
GPSPosition::DataFields gpsData;
memset(&gpsData, 0, sizeof(GPSPosition::DataFields));
gpsData.Altitude = current.Z;
gpsData.Heading = current.azimuth;
gpsData.Groundspeed = current.groundspeed;
gpsData.Latitude = settings.latitude.toFloat() + current.Y * DEG2M;
@ -259,6 +259,6 @@ void IL2Simulator::processUpdate(const QByteArray& inp)
// issue manual update
attActual->updated();
altActual->updated();
posActual->updated();
gpsPos->updated();
}

4
ground/src/plugins/hitlnew/simulator.cpp
View File

@ -118,7 +118,7 @@ void Simulator::onStart()
actDesired = ActuatorDesired::GetInstance(objManager);
altActual = BaroAltitude::GetInstance(objManager);
attActual = AttitudeActual::GetInstance(objManager);
posActual = PositionActual::GetInstance(objManager);
gpsPos = GPSPosition::GetInstance(objManager);
telStats = GCSTelemetryStats::GetInstance(objManager);
// Listen to autopilot connection events
@ -202,7 +202,7 @@ void Simulator::setupObjects()
setupInputObject(actDesired, 75);
setupOutputObject(altActual, 250);
setupOutputObject(attActual, 75);
setupOutputObject(posActual, 250);
setupOutputObject(gpsPos, 250);
}
void Simulator::setupInputObject(UAVObject* obj, int updatePeriod)

4
ground/src/plugins/hitlnew/simulator.h
View File

@ -39,7 +39,7 @@
// #include "uavobjects/altitudeactual.h"
#include "uavobjects/baroaltitude.h"
#include "uavobjects/attitudeactual.h"
#include "uavobjects/positionactual.h"
#include "uavobjects/gpsposition.h"
#include "uavobjects/gcstelemetrystats.h"
@ -145,7 +145,7 @@ protected:
ActuatorDesired* actDesired;
BaroAltitude* altActual;
AttitudeActual* attActual;
PositionActual* posActual;
GPSPosition* gpsPos;
GCSTelemetryStats* telStats;
SimulatorSettings settings;

6
ground/src/plugins/opmap/opmapgadgetwidget.cpp
View File

@ -1466,9 +1466,9 @@ QPointF OPMapGadgetWidget::getLatLon()
BaseECEF[2] = obj->getField(QString("ECEF"))->getDouble(2);
obj = dynamic_cast<UAVDataObject*>(m_objManager->getObject(QString("PositionActual")));
NED[0] = obj->getField(QString("NED"))->getDouble(0);
NED[1] = obj->getField(QString("NED"))->getDouble(1);
NED[2] = obj->getField(QString("NED"))->getDouble(2);
NED[0] = obj->getField(QString("North"))->getDouble() / 100;
NED[1] = obj->getField(QString("East"))->getDouble() / 100;
NED[2] = obj->getField(QString("Down"))->getDouble() / 100;
Utils::CoordinateConversions().GetLLA(BaseECEF, NED, LLA);
return QPointF(LLA[0],LLA[1]);

12
ground/src/plugins/scope/scopegadgetwidget.cpp
View File

@ -351,18 +351,6 @@ void TestDataGen::genTestData()
baroAltitudeData.Pressure = baroAltitudeData.Altitude * 0.01 + baroAltitudeData.Temperature;
baroAltitude->setData(baroAltitudeData);
// Update gps objects
PositionActual::DataFields gpsData;
gpsData.Altitude = 0;
gpsData.Heading = 0;
gpsData.Groundspeed = 0;
gpsData.Latitude = 0;
gpsData.Longitude = 0;
gpsData.Satellites = 10;
gps->setData(gpsData);
// Update Attitude Raw data
AttitudeRaw::DataFields attData;
// attData.accels[0] = 4 * sin(2 * testTime) + 1 * cos(6 * testTime) + 4;

181
ground/src/plugins/uavobjects/guidancesettings.cpp Normal file
View File

@ -0,0 +1,181 @@
/**
******************************************************************************
*
* @file guidancesettings.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: guidancesettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "guidancesettings.h"
#include "uavobjectfield.h"
const QString GuidanceSettings::NAME = QString("GuidanceSettings");
/**
* Constructor
*/
GuidanceSettings::GuidanceSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList MaxGroundspeedElemNames;
MaxGroundspeedElemNames.append("0");
fields.append( new UAVObjectField(QString("MaxGroundspeed"), QString("cm/s"), UAVObjectField::INT32, MaxGroundspeedElemNames, QStringList()) );
QStringList GroundVelocityPElemNames;
GroundVelocityPElemNames.append("0");
fields.append( new UAVObjectField(QString("GroundVelocityP"), QString(""), UAVObjectField::FLOAT32, GroundVelocityPElemNames, QStringList()) );
QStringList MaxVerticalSpeedElemNames;
MaxVerticalSpeedElemNames.append("0");
fields.append( new UAVObjectField(QString("MaxVerticalSpeed"), QString("cm/s"), UAVObjectField::INT32, MaxVerticalSpeedElemNames, QStringList()) );
QStringList VertVelocityPElemNames;
VertVelocityPElemNames.append("0");
fields.append( new UAVObjectField(QString("VertVelocityP"), QString(""), UAVObjectField::FLOAT32, VertVelocityPElemNames, QStringList()) );
QStringList VelPElemNames;
VelPElemNames.append("0");
fields.append( new UAVObjectField(QString("VelP"), QString(""), UAVObjectField::FLOAT32, VelPElemNames, QStringList()) );
QStringList VelIElemNames;
VelIElemNames.append("0");
fields.append( new UAVObjectField(QString("VelI"), QString(""), UAVObjectField::FLOAT32, VelIElemNames, QStringList()) );
QStringList VelDElemNames;
VelDElemNames.append("0");
fields.append( new UAVObjectField(QString("VelD"), QString(""), UAVObjectField::FLOAT32, VelDElemNames, QStringList()) );
QStringList DownPElemNames;
DownPElemNames.append("0");
fields.append( new UAVObjectField(QString("DownP"), QString(""), UAVObjectField::FLOAT32, DownPElemNames, QStringList()) );
QStringList DownIElemNames;
DownIElemNames.append("0");
fields.append( new UAVObjectField(QString("DownI"), QString(""), UAVObjectField::FLOAT32, DownIElemNames, QStringList()) );
QStringList DownDElemNames;
DownDElemNames.append("0");
fields.append( new UAVObjectField(QString("DownD"), QString(""), UAVObjectField::FLOAT32, DownDElemNames, QStringList()) );
QStringList MaxVelIntegralElemNames;
MaxVelIntegralElemNames.append("0");
fields.append( new UAVObjectField(QString("MaxVelIntegral"), QString("deg"), UAVObjectField::FLOAT32, MaxVelIntegralElemNames, QStringList()) );
QStringList MaxThrottleIntegralElemNames;
MaxThrottleIntegralElemNames.append("0");
fields.append( new UAVObjectField(QString("MaxThrottleIntegral"), QString("deg"), UAVObjectField::FLOAT32, MaxThrottleIntegralElemNames, QStringList()) );
QStringList VelUpdatePeriodElemNames;
VelUpdatePeriodElemNames.append("0");
fields.append( new UAVObjectField(QString("VelUpdatePeriod"), QString(""), UAVObjectField::INT32, VelUpdatePeriodElemNames, QStringList()) );
QStringList VelPIDUpdatePeriodElemNames;
VelPIDUpdatePeriodElemNames.append("0");
fields.append( new UAVObjectField(QString("VelPIDUpdatePeriod"), QString(""), UAVObjectField::INT32, VelPIDUpdatePeriodElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata GuidanceSettings::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 1;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void GuidanceSettings::setDefaultFieldValues()
{
data.MaxGroundspeed = 100;
data.GroundVelocityP = 0.1;
data.MaxVerticalSpeed = 100;
data.VertVelocityP = 0.1;
data.VelP = 0.1;
data.VelI = 0.1;
data.VelD = 0;
data.DownP = 0;
data.DownI = 0;
data.DownD = 0;
data.MaxVelIntegral = 2;
data.MaxThrottleIntegral = 1;
data.VelUpdatePeriod = 100;
data.VelPIDUpdatePeriod = 20;
}
/**
* Get the object data fields
*/
GuidanceSettings::DataFields GuidanceSettings::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void GuidanceSettings::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* GuidanceSettings::clone(quint32 instID)
{
GuidanceSettings* obj = new GuidanceSettings();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
GuidanceSettings* GuidanceSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<GuidanceSettings*>(objMngr->getObject(GuidanceSettings::OBJID, instID));
}

104
ground/src/plugins/uavobjects/guidancesettings.h Normal file
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@ -0,0 +1,104 @@
/**
******************************************************************************
*
* @file guidancesettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: guidancesettings.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef GUIDANCESETTINGS_H
#define GUIDANCESETTINGS_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT GuidanceSettings: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
qint32 MaxGroundspeed;
float GroundVelocityP;
qint32 MaxVerticalSpeed;
float VertVelocityP;
float VelP;
float VelI;
float VelD;
float DownP;
float DownI;
float DownD;
float MaxVelIntegral;
float MaxThrottleIntegral;
qint32 VelUpdatePeriod;
qint32 VelPIDUpdatePeriod;
} __attribute__((packed)) DataFields;
// Field information
// Field MaxGroundspeed information
// Field GroundVelocityP information
// Field MaxVerticalSpeed information
// Field VertVelocityP information
// Field VelP information
// Field VelI information
// Field VelD information
// Field DownP information
// Field DownI information
// Field DownD information
// Field MaxVelIntegral information
// Field MaxThrottleIntegral information
// Field VelUpdatePeriod information
// Field VelPIDUpdatePeriod information
// Constants
static const quint32 OBJID = 2428005802U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
GuidanceSettings();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static GuidanceSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // GUIDANCESETTINGS_H

216
ground/src/plugins/uavobjects/guidancesettings.py Normal file
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@ -0,0 +1,216 @@
##
##############################################################################
#
# @file guidancesettings.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the GuidanceSettings object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: guidancesettings.xml.
# This is an automatically generated file.
# DO NOT modify manually.
#
# @see The GNU Public License (GPL) Version 3
#
#############################################################################/
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'MaxGroundspeed',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'GroundVelocityP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'MaxVerticalSpeed',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VertVelocityP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VelP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VelI',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VelD',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'DownP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'DownI',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'DownD',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'MaxVelIntegral',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'MaxThrottleIntegral',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VelUpdatePeriod',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VelPIDUpdatePeriod',
'i',
1,
[
'0',
],
{
}
),
]
class GuidanceSettings(uavobject.UAVObject):
## Object constants
OBJID = 2428005802
NAME = "GuidanceSettings"
METANAME = "GuidanceSettingsMeta"
ISSINGLEINST = 1
ISSETTINGS = 1
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = GuidanceSettings()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

63
ground/src/plugins/uavobjects/positionactual.cpp
View File

@ -42,60 +42,15 @@ PositionActual::PositionActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS,
{
// Create fields
QList<UAVObjectField*> fields;
QStringList StatusElemNames;
StatusElemNames.append("0");
QStringList StatusEnumOptions;
StatusEnumOptions.append("NoGPS");
StatusEnumOptions.append("NoFix");
StatusEnumOptions.append("Fix2D");
StatusEnumOptions.append("Fix3D");
fields.append( new UAVObjectField(QString("Status"), QString(""), UAVObjectField::ENUM, StatusElemNames, StatusEnumOptions) );
QStringList LatitudeElemNames;
LatitudeElemNames.append("0");
fields.append( new UAVObjectField(QString("Latitude"), QString("degrees"), UAVObjectField::FLOAT32, LatitudeElemNames, QStringList()) );
QStringList LongitudeElemNames;
LongitudeElemNames.append("0");
fields.append( new UAVObjectField(QString("Longitude"), QString("degrees"), UAVObjectField::FLOAT32, LongitudeElemNames, QStringList()) );
QStringList AltitudeElemNames;
AltitudeElemNames.append("0");
fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
QStringList GeoidSeparationElemNames;
GeoidSeparationElemNames.append("0");
fields.append( new UAVObjectField(QString("GeoidSeparation"), QString("meters"), UAVObjectField::FLOAT32, GeoidSeparationElemNames, QStringList()) );
QStringList HeadingElemNames;
HeadingElemNames.append("0");
fields.append( new UAVObjectField(QString("Heading"), QString("degrees"), UAVObjectField::FLOAT32, HeadingElemNames, QStringList()) );
QStringList GroundspeedElemNames;
GroundspeedElemNames.append("0");
fields.append( new UAVObjectField(QString("Groundspeed"), QString("m/s"), UAVObjectField::FLOAT32, GroundspeedElemNames, QStringList()) );
QStringList AirspeedElemNames;
AirspeedElemNames.append("0");
fields.append( new UAVObjectField(QString("Airspeed"), QString("m/s"), UAVObjectField::FLOAT32, AirspeedElemNames, QStringList()) );
QStringList ClimbrateElemNames;
ClimbrateElemNames.append("0");
fields.append( new UAVObjectField(QString("Climbrate"), QString("m/s"), UAVObjectField::FLOAT32, ClimbrateElemNames, QStringList()) );
QStringList SatellitesElemNames;
SatellitesElemNames.append("0");
fields.append( new UAVObjectField(QString("Satellites"), QString(""), UAVObjectField::INT8, SatellitesElemNames, QStringList()) );
QStringList PDOPElemNames;
PDOPElemNames.append("0");
fields.append( new UAVObjectField(QString("PDOP"), QString(""), UAVObjectField::FLOAT32, PDOPElemNames, QStringList()) );
QStringList HDOPElemNames;
HDOPElemNames.append("0");
fields.append( new UAVObjectField(QString("HDOP"), QString(""), UAVObjectField::FLOAT32, HDOPElemNames, QStringList()) );
QStringList VDOPElemNames;
VDOPElemNames.append("0");
fields.append( new UAVObjectField(QString("VDOP"), QString(""), UAVObjectField::FLOAT32, VDOPElemNames, QStringList()) );
QStringList NEDElemNames;
NEDElemNames.append("0");
NEDElemNames.append("1");
NEDElemNames.append("2");
fields.append( new UAVObjectField(QString("NED"), QString("m"), UAVObjectField::FLOAT32, NEDElemNames, QStringList()) );
QStringList VelElemNames;
VelElemNames.append("0");
VelElemNames.append("1");
VelElemNames.append("2");
fields.append( new UAVObjectField(QString("Vel"), QString("m"), UAVObjectField::FLOAT32, VelElemNames, QStringList()) );
QStringList NorthElemNames;
NorthElemNames.append("0");
fields.append( new UAVObjectField(QString("North"), QString("cm"), UAVObjectField::INT32, NorthElemNames, QStringList()) );
QStringList EastElemNames;
EastElemNames.append("0");
fields.append( new UAVObjectField(QString("East"), QString("cm"), UAVObjectField::INT32, EastElemNames, QStringList()) );
QStringList DownElemNames;
DownElemNames.append("0");
fields.append( new UAVObjectField(QString("Down"), QString("cm"), UAVObjectField::INT32, DownElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);

44
ground/src/plugins/uavobjects/positionactual.h
View File

@ -43,50 +43,20 @@ class UAVOBJECTS_EXPORT PositionActual: public UAVDataObject
public:
// Field structure
typedef struct {
quint8 Status;
float Latitude;
float Longitude;
float Altitude;
float GeoidSeparation;
float Heading;
float Groundspeed;
float Airspeed;
float Climbrate;
qint8 Satellites;
float PDOP;
float HDOP;
float VDOP;
float NED[3];
float Vel[3];
qint32 North;
qint32 East;
qint32 Down;
} __attribute__((packed)) DataFields;
// Field information
// Field Status information
/* Enumeration options for field Status */
typedef enum { STATUS_NOGPS=0, STATUS_NOFIX=1, STATUS_FIX2D=2, STATUS_FIX3D=3 } StatusOptions;
// Field Latitude information
// Field Longitude information
// Field Altitude information
// Field GeoidSeparation information
// Field Heading information
// Field Groundspeed information
// Field Airspeed information
// Field Climbrate information
// Field Satellites information
// Field PDOP information
// Field HDOP information
// Field VDOP information
// Field NED information
/* Number of elements for field NED */
static const quint32 NED_NUMELEM = 3;
// Field Vel information
/* Number of elements for field Vel */
static const quint32 VEL_NUMELEM = 3;
// Field North information
// Field East information
// Field Down information
// Constants
static const quint32 OBJID = 3881752126U;
static const quint32 OBJID = 3765671478U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;

142
ground/src/plugins/uavobjects/positionactual.py
View File

@ -38,22 +38,8 @@ from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'Status',
'b',
1,
[
'0',
],
{
'0' : 'NoGPS',
'1' : 'NoFix',
'2' : 'Fix2D',
'3' : 'Fix3D',
}
),
uavobject.UAVObjectField(
'Latitude',
'f',
'North',
'i',
1,
[
'0',
@ -62,8 +48,8 @@ _fields = [ \
}
),
uavobject.UAVObjectField(
'Longitude',
'f',
'East',
'i',
1,
[
'0',
@ -72,8 +58,8 @@ _fields = [ \
}
),
uavobject.UAVObjectField(
'Altitude',
'f',
'Down',
'i',
1,
[
'0',
@ -81,126 +67,12 @@ _fields = [ \
{
}
),
uavobject.UAVObjectField(
'GeoidSeparation',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Heading',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Groundspeed',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Airspeed',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Climbrate',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Satellites',
'b',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'PDOP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'HDOP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'VDOP',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'NED',
'f',
3,
[
'0',
'1',
'2',
],
{
}
),
uavobject.UAVObjectField(
'Vel',
'f',
3,
[
'0',
'1',
'2',
],
{
}
),
]
class PositionActual(uavobject.UAVObject):
## Object constants
OBJID = 3881752126
OBJID = 3765671478
NAME = "PositionActual"
METANAME = "PositionActualMeta"
ISSINGLEINST = 1

134
ground/src/plugins/uavobjects/positiondesired.cpp Normal file
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@ -0,0 +1,134 @@
/**
******************************************************************************
*
* @file positiondesired.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: positiondesired.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "positiondesired.h"
#include "uavobjectfield.h"
const QString PositionDesired::NAME = QString("PositionDesired");
/**
* Constructor
*/
PositionDesired::PositionDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList NorthElemNames;
NorthElemNames.append("0");
fields.append( new UAVObjectField(QString("North"), QString("cm"), UAVObjectField::INT32, NorthElemNames, QStringList()) );
QStringList EastElemNames;
EastElemNames.append("0");
fields.append( new UAVObjectField(QString("East"), QString("cm"), UAVObjectField::INT32, EastElemNames, QStringList()) );
QStringList DownElemNames;
DownElemNames.append("0");
fields.append( new UAVObjectField(QString("Down"), QString("cm"), UAVObjectField::INT32, DownElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata PositionDesired::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_ONCHANGE;
metadata.flightTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void PositionDesired::setDefaultFieldValues()
{
}
/**
* Get the object data fields
*/
PositionDesired::DataFields PositionDesired::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void PositionDesired::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* PositionDesired::clone(quint32 instID)
{
PositionDesired* obj = new PositionDesired();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
PositionDesired* PositionDesired::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<PositionDesired*>(objMngr->getObject(PositionDesired::OBJID, instID));
}

82
ground/src/plugins/uavobjects/positiondesired.h Normal file
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@ -0,0 +1,82 @@
/**
******************************************************************************
*
* @file positiondesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: positiondesired.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef POSITIONDESIRED_H
#define POSITIONDESIRED_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT PositionDesired: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
qint32 North;
qint32 East;
qint32 Down;
} __attribute__((packed)) DataFields;
// Field information
// Field North information
// Field East information
// Field Down information
// Constants
static const quint32 OBJID = 801433018U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
PositionDesired();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static PositionDesired* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // POSITIONDESIRED_H

106
ground/src/plugins/uavobjects/positiondesired.py Normal file
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@ -0,0 +1,106 @@
##
##############################################################################
#
# @file positiondesired.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the PositionDesired object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: positiondesired.xml.
# This is an automatically generated file.
# DO NOT modify manually.
#
# @see The GNU Public License (GPL) Version 3
#
#############################################################################/
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'North',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'East',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Down',
'i',
1,
[
'0',
],
{
}
),
]
class PositionDesired(uavobject.UAVObject):
## Object constants
OBJID = 801433018
NAME = "PositionDesired"
METANAME = "PositionDesiredMeta"
ISSINGLEINST = 1
ISSETTINGS = 0
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = PositionDesired()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

1
ground/src/plugins/uavobjects/systemalarms.cpp
View File

@ -52,7 +52,6 @@ SystemAlarms::SystemAlarms(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
AlarmElemNames.append("ManualControl");
AlarmElemNames.append("Actuator");
AlarmElemNames.append("Stabilization");
AlarmElemNames.append("Guidance");
AlarmElemNames.append("AHRSComms");
QStringList AlarmEnumOptions;
AlarmEnumOptions.append("OK");

6
ground/src/plugins/uavobjects/systemalarms.h
View File

@ -43,7 +43,7 @@ class UAVOBJECTS_EXPORT SystemAlarms: public UAVDataObject
public:
// Field structure
typedef struct {
quint8 Alarm[11];
quint8 Alarm[10];
} __attribute__((packed)) DataFields;
@ -52,9 +52,9 @@ public:
/* Enumeration options for field Alarm */
typedef enum { ALARM_OK=0, ALARM_WARNING=1, ALARM_ERROR=2, ALARM_CRITICAL=3 } AlarmOptions;
/* Array element names for field Alarm */
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, ALARM_SDCARD=4, ALARM_TELEMETRY=5, ALARM_MANUALCONTROL=6, ALARM_ACTUATOR=7, ALARM_STABILIZATION=8, ALARM_GUIDANCE=9, ALARM_AHRSCOMMS=10 } AlarmElem;
typedef enum { ALARM_OUTOFMEMORY=0, ALARM_STACKOVERFLOW=1, ALARM_CPUOVERLOAD=2, ALARM_EVENTSYSTEM=3, ALARM_SDCARD=4, ALARM_TELEMETRY=5, ALARM_MANUALCONTROL=6, ALARM_ACTUATOR=7, ALARM_STABILIZATION=8, ALARM_AHRSCOMMS=9 } AlarmElem;
/* Number of elements for field Alarm */
static const quint32 ALARM_NUMELEM = 11;
static const quint32 ALARM_NUMELEM = 10;
// Constants

3
ground/src/plugins/uavobjects/systemalarms.py
View File

@ -40,7 +40,7 @@ _fields = [ \
uavobject.UAVObjectField(
'Alarm',
'b',
11,
10,
[
'OutOfMemory',
'StackOverflow',
@ -51,7 +51,6 @@ _fields = [ \
'ManualControl',
'Actuator',
'Stabilization',
'Guidance',
'AHRSComms',
],
{

189
ground/src/plugins/uavobjects/uavobjects.pro
View File

@ -1,89 +1,100 @@
TEMPLATE = lib
TARGET = UAVObjects
DEFINES += UAVOBJECTS_LIBRARY
include(../../openpilotgcsplugin.pri)
include(uavobjects_dependencies.pri)
HEADERS += uavobjects_global.h \
uavobject.h \
uavmetaobject.h \
uavobjectmanager.h \
uavdataobject.h \
uavobjectfield.h \
uavobjectsinit.h \
uavobjectsplugin.h \
examplesettings.h \
ahrsstatus.h \
ahrscalibration.h \
baroaltitude.h \
attitudeactual.h \
ahrssettings.h \
exampleobject2.h \
exampleobject1.h \
gcstelemetrystats.h \
attituderaw.h \
flighttelemetrystats.h \
systemstats.h \
systemalarms.h \
objectpersistence.h \
telemetrysettings.h \
systemsettings.h \
stabilizationsettings.h \
manualcontrolsettings.h \
manualcontrolcommand.h \
attitudedesired.h \
actuatorsettings.h \
actuatordesired.h \
actuatorcommand.h \
gpsposition.h \
gpstime.h \
gpssatellites.h \
positionactual.h \
flightbatterystate.h \
homelocation.h \
vtolsettings.h \
vtolstatus.h \
attitudesettings.h \
mixersettings.h \
mixerstatus.h
SOURCES += uavobject.cpp \
uavmetaobject.cpp \
uavobjectmanager.cpp \
uavdataobject.cpp \
uavobjectfield.cpp \
uavobjectsinit.cpp \
uavobjectsplugin.cpp \
ahrsstatus.cpp \
ahrscalibration.cpp \
baroaltitude.cpp \
attitudeactual.cpp \
ahrssettings.cpp \
examplesettings.cpp \
exampleobject2.cpp \
exampleobject1.cpp \
gcstelemetrystats.cpp \
attituderaw.cpp \
flighttelemetrystats.cpp \
systemstats.cpp \
systemalarms.cpp \
objectpersistence.cpp \
telemetrysettings.cpp \
systemsettings.cpp \
stabilizationsettings.cpp \
manualcontrolsettings.cpp \
manualcontrolcommand.cpp \
attitudedesired.cpp \
actuatorsettings.cpp \
actuatordesired.cpp \
actuatorcommand.cpp \
gpsposition.cpp \
gpstime.cpp \
gpssatellites.cpp \
positionactual.cpp \
flightbatterystate.cpp \
homelocation.cpp \
vtolsettings.cpp \
vtolstatus.cpp \
attitudesettings.cpp \
mixersettings.cpp \
mixerstatus.cpp
OTHER_FILES += UAVObjects.pluginspec
TEMPLATE = lib
TARGET = UAVObjects
DEFINES += UAVOBJECTS_LIBRARY
include(../../openpilotgcsplugin.pri)
include(uavobjects_dependencies.pri)
HEADERS += uavobjects_global.h \
uavobject.h \
uavmetaobject.h \
uavobjectmanager.h \
uavdataobject.h \
uavobjectfield.h \
uavobjectsinit.h \
uavobjectsplugin.h \
examplesettings.h \
ahrsstatus.h \
ahrscalibration.h \
baroaltitude.h \
attitudeactual.h \
ahrssettings.h \
exampleobject2.h \
exampleobject1.h \
gcstelemetrystats.h \
attituderaw.h \
flighttelemetrystats.h \
systemstats.h \
systemalarms.h \
objectpersistence.h \
telemetrysettings.h \
systemsettings.h \
stabilizationsettings.h \
manualcontrolsettings.h \
manualcontrolcommand.h \
attitudedesired.h \
actuatorsettings.h \
actuatordesired.h \
actuatorcommand.h \
gpsposition.h \
gpstime.h \
gpssatellites.h \
positionactual.h \
flightbatterystate.h \
homelocation.h \
vtolsettings.h \
vtolstatus.h \
attitudesettings.h \
mixersettings.h \
mixerstatus.h \
positiondesired.h \
velocitydesired.h \
velocityactual.h \
vtolstatus.h \
guidancesettings.h \
attitudesettings.h
SOURCES += uavobject.cpp \
uavmetaobject.cpp \
uavobjectmanager.cpp \
uavdataobject.cpp \
uavobjectfield.cpp \
uavobjectsinit.cpp \
uavobjectsplugin.cpp \
ahrsstatus.cpp \
ahrscalibration.cpp \
baroaltitude.cpp \
attitudeactual.cpp \
ahrssettings.cpp \
examplesettings.cpp \
exampleobject2.cpp \
exampleobject1.cpp \
gcstelemetrystats.cpp \
attituderaw.cpp \
flighttelemetrystats.cpp \
systemstats.cpp \
systemalarms.cpp \
objectpersistence.cpp \
telemetrysettings.cpp \
systemsettings.cpp \
stabilizationsettings.cpp \
manualcontrolsettings.cpp \
manualcontrolcommand.cpp \
attitudedesired.cpp \
actuatorsettings.cpp \
actuatordesired.cpp \
actuatorcommand.cpp \
gpsposition.cpp \
gpstime.cpp \
gpssatellites.cpp \
positionactual.cpp \
flightbatterystate.cpp \
homelocation.cpp \
vtolsettings.cpp \
vtolstatus.cpp \
attitudesettings.cpp \
mixersettings.cpp \
mixerstatus.cpp \
positiondesired.cpp \
velocitydesired.cpp \
velocityactual.cpp \
guidancesettings.cpp \
attitudesettings.cpp
OTHER_FILES += UAVObjects.pluginspec

8
ground/src/plugins/uavobjects/uavobjectsinit.cpp
View File

@ -50,6 +50,7 @@
#include "gpsposition.h"
#include "gpssatellites.h"
#include "gpstime.h"
#include "guidancesettings.h"
#include "homelocation.h"
#include "manualcontrolcommand.h"
#include "manualcontrolsettings.h"
@ -57,11 +58,14 @@
#include "mixerstatus.h"
#include "objectpersistence.h"
#include "positionactual.h"
#include "positiondesired.h"
#include "stabilizationsettings.h"
#include "systemalarms.h"
#include "systemsettings.h"
#include "systemstats.h"
#include "telemetrysettings.h"
#include "velocityactual.h"
#include "velocitydesired.h"
#include "vtolsettings.h"
#include "vtolstatus.h"
@ -92,6 +96,7 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
objMngr->registerObject( new GPSPosition() );
objMngr->registerObject( new GPSSatellites() );
objMngr->registerObject( new GPSTime() );
objMngr->registerObject( new GuidanceSettings() );
objMngr->registerObject( new HomeLocation() );
objMngr->registerObject( new ManualControlCommand() );
objMngr->registerObject( new ManualControlSettings() );
@ -99,11 +104,14 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
objMngr->registerObject( new MixerStatus() );
objMngr->registerObject( new ObjectPersistence() );
objMngr->registerObject( new PositionActual() );
objMngr->registerObject( new PositionDesired() );
objMngr->registerObject( new StabilizationSettings() );
objMngr->registerObject( new SystemAlarms() );
objMngr->registerObject( new SystemSettings() );
objMngr->registerObject( new SystemStats() );
objMngr->registerObject( new TelemetrySettings() );
objMngr->registerObject( new VelocityActual() );
objMngr->registerObject( new VelocityDesired() );
objMngr->registerObject( new VTOLSettings() );
objMngr->registerObject( new VTOLStatus() );

134
ground/src/plugins/uavobjects/velocityactual.cpp Normal file
View File

@ -0,0 +1,134 @@
/**
******************************************************************************
*
* @file velocityactual.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: velocityactual.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "velocityactual.h"
#include "uavobjectfield.h"
const QString VelocityActual::NAME = QString("VelocityActual");
/**
* Constructor
*/
VelocityActual::VelocityActual(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList NorthElemNames;
NorthElemNames.append("0");
fields.append( new UAVObjectField(QString("North"), QString("cm/s"), UAVObjectField::INT32, NorthElemNames, QStringList()) );
QStringList EastElemNames;
EastElemNames.append("0");
fields.append( new UAVObjectField(QString("East"), QString("cm/s"), UAVObjectField::INT32, EastElemNames, QStringList()) );
QStringList DownElemNames;
DownElemNames.append("0");
fields.append( new UAVObjectField(QString("Down"), QString("cm/s"), UAVObjectField::INT32, DownElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata VelocityActual::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void VelocityActual::setDefaultFieldValues()
{
}
/**
* Get the object data fields
*/
VelocityActual::DataFields VelocityActual::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void VelocityActual::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* VelocityActual::clone(quint32 instID)
{
VelocityActual* obj = new VelocityActual();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
VelocityActual* VelocityActual::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<VelocityActual*>(objMngr->getObject(VelocityActual::OBJID, instID));
}

82
ground/src/plugins/uavobjects/velocityactual.h Normal file
View File

@ -0,0 +1,82 @@
/**
******************************************************************************
*
* @file velocityactual.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: velocityactual.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef VELOCITYACTUAL_H
#define VELOCITYACTUAL_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT VelocityActual: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
qint32 North;
qint32 East;
qint32 Down;
} __attribute__((packed)) DataFields;
// Field information
// Field North information
// Field East information
// Field Down information
// Constants
static const quint32 OBJID = 1207999624U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
VelocityActual();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static VelocityActual* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // VELOCITYACTUAL_H

106
ground/src/plugins/uavobjects/velocityactual.py Normal file
View File

@ -0,0 +1,106 @@
##
##############################################################################
#
# @file velocityactual.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the VelocityActual object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: velocityactual.xml.
# This is an automatically generated file.
# DO NOT modify manually.
#
# @see The GNU Public License (GPL) Version 3
#
#############################################################################/
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'North',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'East',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Down',
'i',
1,
[
'0',
],
{
}
),
]
class VelocityActual(uavobject.UAVObject):
## Object constants
OBJID = 1207999624
NAME = "VelocityActual"
METANAME = "VelocityActualMeta"
ISSINGLEINST = 1
ISSETTINGS = 0
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = VelocityActual()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

134
ground/src/plugins/uavobjects/velocitydesired.cpp Normal file
View File

@ -0,0 +1,134 @@
/**
******************************************************************************
*
* @file velocitydesired.cpp
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: velocitydesired.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "velocitydesired.h"
#include "uavobjectfield.h"
const QString VelocityDesired::NAME = QString("VelocityDesired");
/**
* Constructor
*/
VelocityDesired::VelocityDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList NorthElemNames;
NorthElemNames.append("0");
fields.append( new UAVObjectField(QString("North"), QString("cm/s"), UAVObjectField::INT32, NorthElemNames, QStringList()) );
QStringList EastElemNames;
EastElemNames.append("0");
fields.append( new UAVObjectField(QString("East"), QString("cm/s"), UAVObjectField::INT32, EastElemNames, QStringList()) );
QStringList DownElemNames;
DownElemNames.append("0");
fields.append( new UAVObjectField(QString("Down"), QString("cm/s"), UAVObjectField::INT32, DownElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata VelocityDesired::getDefaultMetadata()
{
UAVObject::Metadata metadata;
metadata.flightAccess = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.gcsTelemetryAcked = 0;
metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.flightTelemetryAcked = 0;
metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.flightTelemetryUpdatePeriod = 1000;
metadata.loggingUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
metadata.loggingUpdatePeriod = 1000;
return metadata;
}
/**
* Initialize object fields with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void VelocityDesired::setDefaultFieldValues()
{
}
/**
* Get the object data fields
*/
VelocityDesired::DataFields VelocityDesired::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void VelocityDesired::setData(const DataFields& data)
{
QMutexLocker locker(mutex);
// Get metadata
Metadata mdata = getMetadata();
// Update object if the access mode permits
if ( mdata.gcsAccess == ACCESS_READWRITE )
{
this->data = data;
emit objectUpdatedAuto(this); // trigger object updated event
emit objectUpdated(this);
}
}
/**
* Create a clone of this object, a new instance ID must be specified.
* Do not use this function directly to create new instances, the
* UAVObjectManager should be used instead.
*/
UAVDataObject* VelocityDesired::clone(quint32 instID)
{
VelocityDesired* obj = new VelocityDesired();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
VelocityDesired* VelocityDesired::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<VelocityDesired*>(objMngr->getObject(VelocityDesired::OBJID, instID));
}

82
ground/src/plugins/uavobjects/velocitydesired.h Normal file
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@ -0,0 +1,82 @@
/**
******************************************************************************
*
* @file velocitydesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @see The GNU Public License (GPL) Version 3
* @addtogroup GCSPlugins GCS Plugins
* @{
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
* @{
*
* @note Object definition file: velocitydesired.xml.
* This is an automatically generated file.
* DO NOT modify manually.
*
* @brief The UAVUObjects GCS plugin
*****************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef VELOCITYDESIRED_H
#define VELOCITYDESIRED_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT VelocityDesired: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
qint32 North;
qint32 East;
qint32 Down;
} __attribute__((packed)) DataFields;
// Field information
// Field North information
// Field East information
// Field Down information
// Constants
static const quint32 OBJID = 305094202U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 0;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
VelocityDesired();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static VelocityDesired* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // VELOCITYDESIRED_H

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ground/src/plugins/uavobjects/velocitydesired.py Normal file
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##
##############################################################################
#
# @file velocitydesired.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the VelocityDesired object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: velocitydesired.xml.
# This is an automatically generated file.
# DO NOT modify manually.
#
# @see The GNU Public License (GPL) Version 3
#
#############################################################################/
#
# This program is free software; you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation; either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful, but
# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
# for more details.
#
# You should have received a copy of the GNU General Public License along
# with this program; if not, write to the Free Software Foundation, Inc.,
# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
#
import uavobject
import struct
from collections import namedtuple
# This is a list of instances of the data fields contained in this object
_fields = [ \
uavobject.UAVObjectField(
'North',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'East',
'i',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'Down',
'i',
1,
[
'0',
],
{
}
),
]
class VelocityDesired(uavobject.UAVObject):
## Object constants
OBJID = 305094202
NAME = "VelocityDesired"
METANAME = "VelocityDesiredMeta"
ISSINGLEINST = 1
ISSETTINGS = 0
def __init__(self):
uavobject.UAVObject.__init__(self,
self.OBJID,
self.NAME,
self.METANAME,
0,
self.ISSINGLEINST)
for f in _fields:
self.add_field(f)
def __str__(self):
s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
for f in self.get_tuple()._fields:
s += ("\t%s\n" % f)
return (s)
def main():
# Instantiate the object and dump out some interesting info
x = VelocityDesired()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

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ground/src/shared/uavobjectdefinition/guidancesettings.xml Normal file
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<xml>
<object name="GuidanceSettings" singleinstance="true" settings="true">
<description>Settings for the @ref GuidanceModule</description>
<field name="MaxGroundspeed" units="cm/s" type="int32" elements="1" defaultvalue="100"/>
<field name="GroundVelocityP" units="" type="float" elements="1" defaultvalue="0.1"/>
<field name="MaxVerticalSpeed" units="cm/s" type="int32" elements="1" defaultvalue="100"/>
<field name="VertVelocityP" units="" type="float" elements="1" defaultvalue="0.1"/>
<field name="VelP" units="" type="float" elements="1" defaultvalue="0.1"/>
<field name="VelI" units="" type="float" elements="1" defaultvalue="0.1"/>
<field name="VelD" units="" type="float" elements="1" defaultvalue="0.0"/>
<field name="DownP" units="" type="float" elements="1" defaultvalue="0.0"/>
<field name="DownI" units="" type="float" elements="1" defaultvalue="0.0"/>
<field name="DownD" units="" type="float" elements="1" defaultvalue="0.0"/>
<field name="MaxVelIntegral" units="deg" type="float" elements="1" defaultvalue="2"/>
<field name="MaxThrottleIntegral" units="deg" type="float" elements="1" defaultvalue="1"/>
<field name="VelUpdatePeriod" units="" type="int32" elements="1" defaultvalue="100"/>
<field name="VelPIDUpdatePeriod" units="" type="int32" elements="1" defaultvalue="20"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

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ground/src/shared/uavobjectdefinition/positionactual.xml
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<xml>
<object name="PositionActual" singleinstance="true" settings="false">
<description>Deprecated for GPS position.</description>
<field name="Status" units="" type="enum" elements="1" options="NoGPS,NoFix,Fix2D,Fix3D"/>
<field name="Latitude" units="degrees" type="float" elements="1"/>
<field name="Longitude" units="degrees" type="float" elements="1"/>
<field name="Altitude" units="meters" type="float" elements="1"/>
<field name="GeoidSeparation" units="meters" type="float" elements="1"/>
<field name="Heading" units="degrees" type="float" elements="1"/>
<field name="Groundspeed" units="m/s" type="float" elements="1"/>
<field name="Airspeed" units="m/s" type="float" elements="1"/>
<field name="Climbrate" units="m/s" type="float" elements="1"/>
<field name="Satellites" units="" type="int8" elements="1"/>
<field name="PDOP" units="" type="float" elements="1"/>
<field name="HDOP" units="" type="float" elements="1"/>
<field name="VDOP" units="" type="float" elements="1"/>
<field name="NED" units="m" type="float" elements="3"/>
<field name="Vel" units="m" type="float" elements="3"/>
<description>Contains the current position relative to @ref HomeLocation</description>
<field name="North" units="cm" type="int32" elements="1"/>
<field name="East" units="cm" type="int32" elements="1"/>
<field name="Down" units="cm" type="int32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

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ground/src/shared/uavobjectdefinition/positiondesired.xml Normal file
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<xml>
<object name="PositionDesired" singleinstance="true" settings="false">
<description>The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner </description>
<field name="North" units="cm" type="int32" elements="1"/>
<field name="East" units="cm" type="int32" elements="1"/>
<field name="Down" units="cm" type="int32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>

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ground/src/shared/uavobjectdefinition/systemalarms.xml
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<object name="SystemAlarms" singleinstance="true" settings="false">
<description>Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.</description>
<field name="Alarm" units="" type="enum" options="OK,Warning,Error,Critical"
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Stabilization,Guidance,AHRSComms"/>
elementnames="OutOfMemory,StackOverflow,CPUOverload,EventSystem,SDCard,Telemetry,ManualControl,Actuator,Stabilization,AHRSComms"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="4000"/>

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ground/src/shared/uavobjectdefinition/velocityactual.xml Normal file
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<xml>
<object name="VelocityActual" singleinstance="true" settings="false">
<description>Updated by @ref AHRSCommsModule and used within @ref GuidanceModulefor velocity control</description>
<field name="North" units="cm/s" type="int32" elements="1"/>
<field name="East" units="cm/s" type="int32" elements="1"/>
<field name="Down" units="cm/s" type="int32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>

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ground/src/shared/uavobjectdefinition/velocitydesired.xml Normal file
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<xml>
<object name="VelocityDesired" singleinstance="true" settings="false">
<description>Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).</description>
<field name="North" units="cm/s" type="int32" elements="1"/>
<field name="East" units="cm/s" type="int32" elements="1"/>
<field name="Down" units="cm/s" type="int32" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>