rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2025-01-18 03:52:11 +01:00
Code Issues Releases Activity

New UAVObjects for programmable PathPlanner

Browse Source
This commit is contained in:
Corvus Corax 2012-05-21 10:21:49 +02:00
parent 1d4ec09860
commit 9dd94f98b6
5 changed files with 21 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
flight/Revolution/UAVObjects.inc
View File

@ -59,8 +59,10 @@ UAVOBJSRCFILENAMES += nedaccel
UAVOBJSRCFILENAMES += nedposition
UAVOBJSRCFILENAMES += objectpersistence
UAVOBJSRCFILENAMES += overosyncstats
UAVOBJSRCFILENAMES += pathplannersettings
UAVOBJSRCFILENAMES += pathcommand
UAVOBJSRCFILENAMES += pathdesired
UAVOBJSRCFILENAMES += pathplannersettings
UAVOBJSRCFILENAMES += pathstatus
UAVOBJSRCFILENAMES += positionactual
UAVOBJSRCFILENAMES += ratedesired
UAVOBJSRCFILENAMES += revocalibration

4
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
View File

@ -54,8 +54,10 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/gpsposition.h \
$$UAVOBJECT_SYNTHETICS/gpstime.h \
$$UAVOBJECT_SYNTHETICS/gpssatellites.h \
$$UAVOBJECT_SYNTHETICS/pathcommand.h \
$$UAVOBJECT_SYNTHETICS/pathdesired.h \
$$UAVOBJECT_SYNTHETICS/pathplannersettings.h \
$$UAVOBJECT_SYNTHETICS/pathstatus.h \
$$UAVOBJECT_SYNTHETICS/gpsvelocity.h \
$$UAVOBJECT_SYNTHETICS/positionactual.h \
$$UAVOBJECT_SYNTHETICS/flightbatterystate.h \
@ -119,8 +121,10 @@ SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/gpsposition.cpp \
$$UAVOBJECT_SYNTHETICS/gpstime.cpp \
$$UAVOBJECT_SYNTHETICS/gpssatellites.cpp \
$$UAVOBJECT_SYNTHETICS/pathcommand.cpp \
$$UAVOBJECT_SYNTHETICS/pathdesired.cpp \
$$UAVOBJECT_SYNTHETICS/pathplannersettings.cpp \
$$UAVOBJECT_SYNTHETICS/pathstatus.cpp \
$$UAVOBJECT_SYNTHETICS/gpsvelocity.cpp \
$$UAVOBJECT_SYNTHETICS/positionactual.cpp \
$$UAVOBJECT_SYNTHETICS/flightbatterystate.cpp \

15
shared/uavobjectdefinition/pathdesired.xml
View File

@ -7,9 +7,18 @@
<field name="StartingVelocity" units="m/s" type="float" elements="1" default="0"/>
<field name="EndingVelocity" units="m/s" type="float" elements="1" default="0"/>
<field name="Mode" units="" type="enum" elements="1" options="Endpoint,Path" default="0"/>
<!-- Endpoint Mode - Fly to end location and attempt to stay there -->
<!-- Path Mode - Attempt to fly a line from Start to End using specifed velocity -->
<field name="Mode" units="" type="enum" elements="1" options="FlyEndpoint,FlyVector,FlyCircleRight,FlyCircleLeft,
DriveEndpoint,DriveVector,DriveCircleLeft,DriveCircleRight,
FixedAttitude,
SetAccessory,
DisarmAlarm" default="0"/>
<!-- Endpoint mode - move directly towards endpoint regardless of position -->
<!-- Straight Mode - move across linear path through Start towards the waypoint end, adjusting velocity - continue straight -->
<!-- Circle Mode - move a circular pattern around End with radius End-Start (straight line in the vertical)-->
<field name="ModeParameters" units="" type="float" elements="4" default="0"/>
<field name="UID" units="" type="uint8" elements="1" default="0"/>
<!-- unique ID confirmed with pathfollower in pathstatus to acknowledge a change in PathDesired -->
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>

1
shared/uavobjectdefinition/pathplannersettings.xml
View File

@ -1,7 +1,6 @@
<xml>
<object name="PathPlannerSettings" singleinstance="true" settings="true">
<description>Settings for the @ref PathPlanner Module</description>
<field name="PathMode" units="" type="enum" elements="1" options="ENDPOINT,PATH" defaultvalue="PATH"/>
<field name="PreprogrammedPath" units="" type="enum" elements="1" options="NONE,10M_BOX,LOGO" defaultvalue="NONE"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

5
shared/uavobjectdefinition/waypoint.xml
View File

@ -2,9 +2,8 @@
<object name="Waypoint" singleinstance="false" settings="false">
<description>A waypoint the aircraft can try and hit. Used by the @ref PathPlanner module</description>
<field name="Position" units="m" type="float" elementnames="North, East, Down"/>
<field name="Velocity" units="m/s" type="float" elementnames="North, East, Down"/>
<field name="YawDesired" units="deg" type="float" elements="1"/>
<field name="Action" units="" type="enum" elements="1" options="Next,RTH,Loiter10s,Land"/>
<field name="Velocity" units="m/s" type="float" elements="1"/>
<field name="Action" units="" type="uint8" elements="1" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="4000"/>