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Code Issues Releases Activity

added PathAction (again)

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This commit is contained in:
Corvus Corax 2012-05-21 11:49:19 +02:00
parent 09f25ab11b
commit 992e189bcd
4 changed files with 45 additions and 3 deletions
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2
flight/Revolution/UAVObjects.inc
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@ -59,7 +59,7 @@ UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += nedposition
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += overosyncstats
UAVOBJSRCFILENAMES += pathcommand
UAVOBJSRCFILENAMES += pathaction
UAVOBJSRCFILENAMES += pathdesired
UAVOBJSRCFILENAMES += pathplannersettings
UAVOBJSRCFILENAMES += pathstatus

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -54,7 +54,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/gpsposition.h \
$$UAVOBJECT_SYNTHETICS/gpstime.h \
$$UAVOBJECT_SYNTHETICS/gpssatellites.h \
$$UAVOBJECT_SYNTHETICS/pathcommand.h \
$$UAVOBJECT_SYNTHETICS/pathaction.h \
$$UAVOBJECT_SYNTHETICS/pathdesired.h \
$$UAVOBJECT_SYNTHETICS/pathplannersettings.h \
$$UAVOBJECT_SYNTHETICS/pathstatus.h \
@ -121,7 +121,7 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
$$UAVOBJECT_SYNTHETICS/gpstime.cpp \
$$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
$$UAVOBJECT_SYNTHETICS/pathcommand.cpp \
$$UAVOBJECT_SYNTHETICS/pathaction.cpp \
$$UAVOBJECT_SYNTHETICS/pathdesired.cpp \
$$UAVOBJECT_SYNTHETICS/pathplannersettings.cpp \
$$UAVOBJECT_SYNTHETICS/pathstatus.cpp \

28
shared/uavobjectdefinition/pathaction.xml Normal file
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@ -0,0 +1,28 @@
<xml>
<object name="PathAction" singleinstance="false" settings="false">
<description>A waypoint command the pathplanner is to use at a certain waypoint</description>
<field name="Mode" units="" type="enum" elements="1" options="FlyEndpoint,FlyVector,FlyCircleRight,FlyCircleLeft,
DriveEndpoint,DriveVector,DriveCircleLeft,DriveCircleRight,
FixedAttitude,
SetAccessory,
DisarmAlarm" default="Endpoint" />
<field name="ModeParameters" units="" type="float" elements="4" default="0"/>
<field name="EndCondition" units="" type="enum" elements="1" options="None,TimeOut,
DistanceToTarget,LegRemaining,PointingTowardsNext,
AboveAltitude,BelowAltitude,
PointingTowardsNext,
PythonScript,
Immediate" default="None" />
<field name="ConditionParameters" units="" type="float" elements="4" default="0"/>
<field name="Command" units="" type="enum" elements="1" options="OnConditionNextWaypoint,OnConditionJumpWaypoint,IfConditionJumpWaypointElseNextWaypoint" default="OnConditionNextWaypoint" />
<field name="JumpDestination" units="waypoint" type="uint8" elements="1" default="0"/>
<field name="ErrorDestination" units="waypoint" type="uint8" elements="1" default="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="4000"/>
<logging updatemode="periodic" period="1000"/>
</object>
</xml>

14
shared/uavobjectdefinition/pathstatus.xml Normal file
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@ -0,0 +1,14 @@
<xml>
<object name="PathStatus" singleinstance="true" settings="false">
<description>Status of the current path mode Can come from any @ref PathFollower module</description>
<field name="UID" units="" type="uint8" elements="1" default="0"/>
<!-- unique ID confirmed with pathfollower in pathstatus to acknowledge a change in PathDesired -->
<field name="Status" units="" type="enum" elements="1" options="InProgress,Completed,Warning,Critical"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="onchange" period="0"/>
<logging updatemode="onchange" period="0"/>
</object>
</xml>