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Code Issues Releases Activity

UAVObjects/AttitudeSettings: Remove unused object, moving data to AHRSettings.

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Added attitude bias to AHRSSettings.

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1855 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-10-03 18:14:34 +00:00 committed by peabody124
parent 754200f9cf
commit a9495e2cbb
20 changed files with 96 additions and 628 deletions
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20
flight/AHRS/ahrs.c
View File

@ -35,11 +35,9 @@
#include "ahrs.h"
#include "ahrs_adc.h"
#include "ahrs_timer.h"
#include "pios_opahrs_proto.h"
//#include "ahrs_fsm.h" /* lfsm_state */
#include "ahrs_spi_comm.h"
#include "insgps.h"
#include "CoordinateConversions.h"
#include "ahrs_spi_comm.h"
#define MAX_OVERSAMPLING 50
// For debugging the raw sensors
@ -198,7 +196,7 @@ int main()
float vel[3] = { 0, 0, 0 };
gps_data.quality = -1;
ahrs_algorithm = INSGPS_Algo;
ahrs_algorithm = AHRSSETTINGS_ALGORITHM_SIMPLE;
/* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init();
@ -245,6 +243,7 @@ int main()
}
/* we didn't connect the callbacks before because we have to wait
for all data to be up to date before doing anything*/
AHRSCalibrationConnectCallback(calibration_callback);
GPSPositionConnectCallback(gps_callback);
BaroAltitudeConnectCallback(altitude_callback);
@ -412,7 +411,7 @@ for all data to be up to date before doing anything*/
attitude_data.quaternion.q2 = Nav.q[1];
attitude_data.quaternion.q3 = Nav.q[2];
attitude_data.quaternion.q4 = Nav.q[3];
} else if (ahrs_algorithm == SIMPLE_Algo) {
} else if (ahrs_algorithm == AHRSSETTINGS_ALGORITHM_SIMPLE) {
float q[4];
float rpy[3];
/***************** SIMPLE ATTITUDE FROM NORTH AND ACCEL ************/
@ -728,15 +727,20 @@ void reset_values() {
void send_attitude(void)
{
AttitudeActualData attitude;
AHRSSettingsData settings;
AHRSSettingsGet(&settings);
attitude.q1 = attitude_data.quaternion.q1;
attitude.q2 = attitude_data.quaternion.q2;
attitude.q3 = attitude_data.quaternion.q3;
attitude.q4 = attitude_data.quaternion.q4;
float rpy[3];
Quaternion2RPY(&attitude_data.quaternion.q1, rpy);
attitude.Roll = rpy[0];
attitude.Pitch = rpy[1];
attitude.Yaw = rpy[2];
attitude.Roll = rpy[0] + settings.RollBias;
attitude.Pitch = rpy[1] + settings.PitchBias;
attitude.Yaw = rpy[2] + settings.YawBias;
if(attitude.Yaw > 360)
attitude.Yaw -= 360;
AttitudeActualSet(&attitude);
}

17
flight/Libraries/ahrs_comm_objects.c
View File

@ -4,7 +4,6 @@
static AttitudeRawData AttitudeRaw;
static AttitudeActualData AttitudeActual;
static AHRSCalibrationData AHRSCalibration;
static AttitudeSettingsData AttitudeSettings;
static AhrsStatusData AhrsStatus;
static BaroAltitudeData BaroAltitude;
static GPSPositionData GPSPosition;
@ -27,15 +26,14 @@ AhrsSharedObject objectHandles[MAX_AHRS_OBJECTS];
CREATEHANDLE(0, AttitudeRaw);
CREATEHANDLE(1, AttitudeActual);
CREATEHANDLE(2, AHRSCalibration);
CREATEHANDLE(3, AttitudeSettings);
CREATEHANDLE(4, AhrsStatus);
CREATEHANDLE(5, BaroAltitude);
CREATEHANDLE(6, GPSPosition);
CREATEHANDLE(7, PositionActual);
CREATEHANDLE(8, HomeLocation);
CREATEHANDLE(9, AHRSSettings);
CREATEHANDLE(3, AhrsStatus);
CREATEHANDLE(4, BaroAltitude);
CREATEHANDLE(5, GPSPosition);
CREATEHANDLE(6, PositionActual);
CREATEHANDLE(7, HomeLocation);
CREATEHANDLE(8, AHRSSettings);
#if 10 != MAX_AHRS_OBJECTS //sanity check
#if 9 != MAX_AHRS_OBJECTS //sanity check
#error We did not create the correct number of xxxHandle() functions
#endif
@ -68,7 +66,6 @@ void AhrsInitHandles(void)
ADDHANDLE(idx++, AttitudeRaw);
ADDHANDLE(idx++, AttitudeActual);
ADDHANDLE(idx++, AHRSCalibration);
ADDHANDLE(idx++, AttitudeSettings);
ADDHANDLE(idx++, AhrsStatus);
ADDHANDLE(idx++, BaroAltitude);
ADDHANDLE(idx++, GPSPosition);

4
flight/Libraries/inc/ahrs_comm_objects.h
View File

@ -3,7 +3,6 @@
#include "attitudeactual.h"
#include "attituderaw.h"
#include "attitudesettings.h"
#include "ahrsstatus.h"
#include "baroaltitude.h"
#include "gpsposition.h"
@ -19,7 +18,6 @@ typedef union {
AttitudeRawData AttitudeRaw;
AttitudeActualData AttitudeActual;
AHRSCalibrationData AHRSCalibration;
AttitudeSettingsData AttitudeSettings;
AhrsStatusData AhrsStatus;
BaroAltitudeData BaroAltitude;
GPSPositionData GPSPosition;
@ -30,7 +28,7 @@ typedef union {
/** The number of UAVObjects we will be dealing with.
*/
#define MAX_AHRS_OBJECTS 10
#define MAX_AHRS_OBJECTS 9
/** Our own version of a UAVObject.
*/

1
flight/OpenPilot/Makefile
View File

@ -175,7 +175,6 @@ SRC += $(OPUAVOBJ)/ahrssettings.c
SRC += $(OPUAVOBJ)/flightbatterystate.c
SRC += $(OPUAVOBJ)/attituderaw.c
SRC += $(OPUAVOBJ)/homelocation.c
SRC += $(OPUAVOBJ)/attitudesettings.c
SRC += $(OPUAVOBJ)/mixersettings.c
SRC += $(OPUAVOBJ)/mixerstatus.c
#SRC += $(OPUAVOBJ)/lesstabilizationsettings.c

8
flight/OpenPilot/Modules/ManualControl/manualcontrol.c
View File

@ -40,7 +40,7 @@
#include "manualcontrolcommand.h"
#include "actuatordesired.h"
#include "attitudedesired.h"
#include "attitudesettings.h"
#include "ahrssettings.h"
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
@ -260,12 +260,12 @@ static void manualControlTask(void *parameters)
}
if (cmd.Accessory3 < -.5) { //TODO: Make what happens here depend on GCS
AttitudeSettingsData attitudeSettings;
AttitudeSettingsGet(&attitudeSettings);
AHRSSettingsData attitudeSettings;
AHRSSettingsGet(&attitudeSettings);
// Hard coding a maximum bias of 15 for now... maybe mistake
attitudeSettings.PitchBias = cmd.Accessory1 * 15;
attitudeSettings.RollBias = cmd.Accessory2 * 15;
AttitudeSettingsSet(&attitudeSettings);
AHRSSettingsSet(&attitudeSettings);
} else if (cmd.Accessory3 > .9) {
// REALLY don't want to end up here accidentally. I've also saved by meta for Stabilization setting to be
// flight read only by default

7
flight/OpenPilot/UAVObjects/ahrssettings.c
View File

@ -82,9 +82,10 @@ static void setDefaults(UAVObjHandle obj, uint16_t instId)
memset(&data, 0, sizeof(AHRSSettingsData));
data.Algorithm = 1;
data.Downsampling = 20;
data.UpdateRaw = 0;
data.UpdateFiltered = 1;
data.UpdatePeriod = 20;
data.UpdatePeriod = 1;
data.YawBias = 0;
data.PitchBias = 0;
data.RollBias = 0;
UAVObjSetInstanceData(obj, instId, &data);

113
flight/OpenPilot/UAVObjects/attitudesettings.c
View File

@ -1,113 +0,0 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup AttitudeSettings AttitudeSettings
* @brief Sets correction between airframe attitude and AHRS attitude
*
* Autogenerated files and functions for AttitudeSettings Object
* @{
*
* @file attitudesettings.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AttitudeSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: attitudesettings.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 "attitudesettings.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 AttitudeSettingsInitialize()
{
// Register object with the object manager
handle = UAVObjRegister(ATTITUDESETTINGS_OBJID, ATTITUDESETTINGS_NAME, ATTITUDESETTINGS_METANAME, 0,
ATTITUDESETTINGS_ISSINGLEINST, ATTITUDESETTINGS_ISSETTINGS, ATTITUDESETTINGS_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)
{
AttitudeSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AttitudeSettingsData));
data.PitchBias = 0;
data.RollBias = 0;
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 AttitudeSettingsHandle()
{
return handle;
}
/**
* @}
*/

18
flight/OpenPilot/UAVObjects/inc/ahrssettings.h
View File

@ -41,7 +41,7 @@
#define AHRSSETTINGS_H
// Object constants
#define AHRSSETTINGS_OBJID 4141274898U
#define AHRSSETTINGS_OBJID 1456050280U
#define AHRSSETTINGS_NAME "AHRSSettings"
#define AHRSSETTINGS_METANAME "AHRSSettingsMeta"
#define AHRSSETTINGS_ISSINGLEINST 1
@ -73,9 +73,10 @@
typedef struct {
uint8_t Algorithm;
uint8_t Downsampling;
uint8_t UpdateRaw;
uint8_t UpdateFiltered;
int32_t UpdatePeriod;
uint8_t UpdatePeriod;
float YawBias;
float PitchBias;
float RollBias;
} __attribute__((packed)) AHRSSettingsData;
@ -84,13 +85,10 @@ typedef struct {
/* Enumeration options for field Algorithm */
typedef enum { AHRSSETTINGS_ALGORITHM_SIMPLE=0, AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR_NOMAG=1, AHRSSETTINGS_ALGORITHM_INSGPS_INDOOR=2, AHRSSETTINGS_ALGORITHM_INSGPS_OUTDOOR=3 } AHRSSettingsAlgorithmOptions;
// Field Downsampling information
// Field UpdateRaw information
/* Enumeration options for field UpdateRaw */
typedef enum { AHRSSETTINGS_UPDATERAW_FALSE=0, AHRSSETTINGS_UPDATERAW_TRUE=1 } AHRSSettingsUpdateRawOptions;
// Field UpdateFiltered information
/* Enumeration options for field UpdateFiltered */
typedef enum { AHRSSETTINGS_UPDATEFILTERED_FALSE=0, AHRSSETTINGS_UPDATEFILTERED_TRUE=1 } AHRSSettingsUpdateFilteredOptions;
// Field UpdatePeriod information
// Field YawBias information
// Field PitchBias information
// Field RollBias information
// Generic interface functions

93
flight/OpenPilot/UAVObjects/inc/attitudesettings.h
View File

@ -1,93 +0,0 @@
/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup AttitudeSettings AttitudeSettings
* @brief Sets correction between airframe attitude and AHRS attitude
*
* Autogenerated files and functions for AttitudeSettings Object
* @{
*
* @file attitudesettings.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the AttitudeSettings object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: attitudesettings.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 ATTITUDESETTINGS_H
#define ATTITUDESETTINGS_H
// Object constants
#define ATTITUDESETTINGS_OBJID 1065705802U
#define ATTITUDESETTINGS_NAME "AttitudeSettings"
#define ATTITUDESETTINGS_METANAME "AttitudeSettingsMeta"
#define ATTITUDESETTINGS_ISSINGLEINST 1
#define ATTITUDESETTINGS_ISSETTINGS 1
#define ATTITUDESETTINGS_NUMBYTES sizeof(AttitudeSettingsData)
// Object access macros
/**
* @function AttitudeSettingsGet(dataOut)
* @brief Populate a AttitudeSettingsData object
* @param[out] dataOut
*/
#define AttitudeSettingsGet(dataOut) UAVObjGetData(AttitudeSettingsHandle(), dataOut)
#define AttitudeSettingsSet(dataIn) UAVObjSetData(AttitudeSettingsHandle(), dataIn)
#define AttitudeSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(AttitudeSettingsHandle(), instId, dataOut)
#define AttitudeSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(AttitudeSettingsHandle(), instId, dataIn)
#define AttitudeSettingsConnectQueue(queue) UAVObjConnectQueue(AttitudeSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
#define AttitudeSettingsConnectCallback(cb) UAVObjConnectCallback(AttitudeSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
#define AttitudeSettingsCreateInstance() UAVObjCreateInstance(AttitudeSettingsHandle())
#define AttitudeSettingsRequestUpdate() UAVObjRequestUpdate(AttitudeSettingsHandle())
#define AttitudeSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(AttitudeSettingsHandle(), instId)
#define AttitudeSettingsUpdated() UAVObjUpdated(AttitudeSettingsHandle())
#define AttitudeSettingsInstUpdated(instId) UAVObjUpdated(AttitudeSettingsHandle(), instId)
#define AttitudeSettingsGetMetadata(dataOut) UAVObjGetMetadata(AttitudeSettingsHandle(), dataOut)
#define AttitudeSettingsSetMetadata(dataIn) UAVObjSetMetadata(AttitudeSettingsHandle(), dataIn)
#define AttitudeSettingsReadOnly(dataIn) UAVObjReadOnly(AttitudeSettingsHandle())
// Object data
typedef struct {
float PitchBias;
float RollBias;
} __attribute__((packed)) AttitudeSettingsData;
// Field information
// Field PitchBias information
// Field RollBias information
// Generic interface functions
int32_t AttitudeSettingsInitialize();
UAVObjHandle AttitudeSettingsHandle();
#endif // ATTITUDESETTINGS_H
/**
* @}
* @}
*/

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

@ -37,7 +37,6 @@
#include "attitudeactual.h"
#include "attitudedesired.h"
#include "attituderaw.h"
#include "attitudesettings.h"
#include "baroaltitude.h"
#include "exampleobject1.h"
#include "exampleobject2.h"
@ -81,7 +80,6 @@ void UAVObjectsInitializeAll()
AttitudeActualInitialize();
AttitudeDesiredInitialize();
AttitudeRawInitialize();
AttitudeSettingsInitialize();
BaroAltitudeInitialize();
ExampleObject1Initialize();
ExampleObject2Initialize();

30
ground/src/plugins/uavobjects/ahrssettings.cpp
View File

@ -53,21 +53,18 @@ AHRSSettings::AHRSSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAM
QStringList DownsamplingElemNames;
DownsamplingElemNames.append("0");
fields.append( new UAVObjectField(QString("Downsampling"), QString(""), UAVObjectField::UINT8, DownsamplingElemNames, QStringList()) );
QStringList UpdateRawElemNames;
UpdateRawElemNames.append("0");
QStringList UpdateRawEnumOptions;
UpdateRawEnumOptions.append("FALSE");
UpdateRawEnumOptions.append("TRUE");
fields.append( new UAVObjectField(QString("UpdateRaw"), QString("raw"), UAVObjectField::ENUM, UpdateRawElemNames, UpdateRawEnumOptions) );
QStringList UpdateFilteredElemNames;
UpdateFilteredElemNames.append("0");
QStringList UpdateFilteredEnumOptions;
UpdateFilteredEnumOptions.append("FALSE");
UpdateFilteredEnumOptions.append("TRUE");
fields.append( new UAVObjectField(QString("UpdateFiltered"), QString("raw"), UAVObjectField::ENUM, UpdateFilteredElemNames, UpdateFilteredEnumOptions) );
QStringList UpdatePeriodElemNames;
UpdatePeriodElemNames.append("0");
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::INT32, UpdatePeriodElemNames, QStringList()) );
fields.append( new UAVObjectField(QString("UpdatePeriod"), QString("ms"), UAVObjectField::UINT8, UpdatePeriodElemNames, QStringList()) );
QStringList YawBiasElemNames;
YawBiasElemNames.append("0");
fields.append( new UAVObjectField(QString("YawBias"), QString(""), UAVObjectField::FLOAT32, YawBiasElemNames, QStringList()) );
QStringList PitchBiasElemNames;
PitchBiasElemNames.append("0");
fields.append( new UAVObjectField(QString("PitchBias"), QString(""), UAVObjectField::FLOAT32, PitchBiasElemNames, QStringList()) );
QStringList RollBiasElemNames;
RollBiasElemNames.append("0");
fields.append( new UAVObjectField(QString("RollBias"), QString(""), UAVObjectField::FLOAT32, RollBiasElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
@ -103,9 +100,10 @@ void AHRSSettings::setDefaultFieldValues()
{
data.Algorithm = 1;
data.Downsampling = 20;
data.UpdateRaw = 0;
data.UpdateFiltered = 1;
data.UpdatePeriod = 20;
data.UpdatePeriod = 1;
data.YawBias = 0;
data.PitchBias = 0;
data.RollBias = 0;
}

18
ground/src/plugins/uavobjects/ahrssettings.h
View File

@ -45,9 +45,10 @@ public:
typedef struct {
quint8 Algorithm;
quint8 Downsampling;
quint8 UpdateRaw;
quint8 UpdateFiltered;
qint32 UpdatePeriod;
quint8 UpdatePeriod;
float YawBias;
float PitchBias;
float RollBias;
} __attribute__((packed)) DataFields;
@ -56,17 +57,14 @@ public:
/* Enumeration options for field Algorithm */
typedef enum { ALGORITHM_SIMPLE=0, ALGORITHM_INSGPS_INDOOR_NOMAG=1, ALGORITHM_INSGPS_INDOOR=2, ALGORITHM_INSGPS_OUTDOOR=3 } AlgorithmOptions;
// Field Downsampling information
// Field UpdateRaw information
/* Enumeration options for field UpdateRaw */
typedef enum { UPDATERAW_FALSE=0, UPDATERAW_TRUE=1 } UpdateRawOptions;
// Field UpdateFiltered information
/* Enumeration options for field UpdateFiltered */
typedef enum { UPDATEFILTERED_FALSE=0, UPDATEFILTERED_TRUE=1 } UpdateFilteredOptions;
// Field UpdatePeriod information
// Field YawBias information
// Field PitchBias information
// Field RollBias information
// Constants
static const quint32 OBJID = 4141274898U;
static const quint32 OBJID = 1456050280U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;

58
ground/src/plugins/uavobjects/ahrssettings.py
View File

@ -61,33 +61,39 @@ _fields = [ \
{
}
),
uavobject.UAVObjectField(
'UpdateRaw',
'b',
1,
[
'0',
],
{
'0' : 'FALSE',
'1' : 'TRUE',
}
),
uavobject.UAVObjectField(
'UpdateFiltered',
'b',
1,
[
'0',
],
{
'0' : 'FALSE',
'1' : 'TRUE',
}
),
uavobject.UAVObjectField(
'UpdatePeriod',
'i',
'B',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'YawBias',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'PitchBias',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollBias',
'f',
1,
[
'0',
@ -100,7 +106,7 @@ _fields = [ \
class AHRSSettings(uavobject.UAVObject):
## Object constants
OBJID = 4141274898
OBJID = 1456050280
NAME = "AHRSSettings"
METANAME = "AHRSSettingsMeta"
ISSINGLEINST = 1

133
ground/src/plugins/uavobjects/attitudesettings.cpp
View File

@ -1,133 +0,0 @@
/**
******************************************************************************
*
* @file attitudesettings.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: attitudesettings.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 "attitudesettings.h"
#include "uavobjectfield.h"
const QString AttitudeSettings::NAME = QString("AttitudeSettings");
/**
* Constructor
*/
AttitudeSettings::AttitudeSettings(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
{
// Create fields
QList<UAVObjectField*> fields;
QStringList PitchBiasElemNames;
PitchBiasElemNames.append("0");
fields.append( new UAVObjectField(QString("PitchBias"), QString(""), UAVObjectField::FLOAT32, PitchBiasElemNames, QStringList()) );
QStringList RollBiasElemNames;
RollBiasElemNames.append("0");
fields.append( new UAVObjectField(QString("RollBias"), QString(""), UAVObjectField::FLOAT32, RollBiasElemNames, QStringList()) );
// Initialize object
initializeFields(fields, (quint8*)&data, NUMBYTES);
// Set the default field values
setDefaultFieldValues();
}
/**
* Get the default metadata for this object
*/
UAVObject::Metadata AttitudeSettings::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 AttitudeSettings::setDefaultFieldValues()
{
data.PitchBias = 0;
data.RollBias = 0;
}
/**
* Get the object data fields
*/
AttitudeSettings::DataFields AttitudeSettings::getData()
{
QMutexLocker locker(mutex);
return data;
}
/**
* Set the object data fields
*/
void AttitudeSettings::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* AttitudeSettings::clone(quint32 instID)
{
AttitudeSettings* obj = new AttitudeSettings();
obj->initialize(instID, this->getMetaObject());
return obj;
}
/**
* Static function to retrieve an instance of the object.
*/
AttitudeSettings* AttitudeSettings::GetInstance(UAVObjectManager* objMngr, quint32 instID)
{
return dynamic_cast<AttitudeSettings*>(objMngr->getObject(AttitudeSettings::OBJID, instID));
}

80
ground/src/plugins/uavobjects/attitudesettings.h
View File

@ -1,80 +0,0 @@
/**
******************************************************************************
*
* @file attitudesettings.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: attitudesettings.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 ATTITUDESETTINGS_H
#define ATTITUDESETTINGS_H
#include "uavdataobject.h"
#include "uavobjectmanager.h"
class UAVOBJECTS_EXPORT AttitudeSettings: public UAVDataObject
{
Q_OBJECT
public:
// Field structure
typedef struct {
float PitchBias;
float RollBias;
} __attribute__((packed)) DataFields;
// Field information
// Field PitchBias information
// Field RollBias information
// Constants
static const quint32 OBJID = 1065705802U;
static const QString NAME;
static const bool ISSINGLEINST = 1;
static const bool ISSETTINGS = 1;
static const quint32 NUMBYTES = sizeof(DataFields);
// Functions
AttitudeSettings();
DataFields getData();
void setData(const DataFields& data);
Metadata getDefaultMetadata();
UAVDataObject* clone(quint32 instID);
static AttitudeSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
private:
DataFields data;
void setDefaultFieldValues();
};
#endif // ATTITUDESETTINGS_H

96
ground/src/plugins/uavobjects/attitudesettings.py
View File

@ -1,96 +0,0 @@
##
##############################################################################
#
# @file attitudesettings.py
# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
# @brief Implementation of the AttitudeSettings object. This file has been
# automatically generated by the UAVObjectGenerator.
#
# @note Object definition file: attitudesettings.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(
'PitchBias',
'f',
1,
[
'0',
],
{
}
),
uavobject.UAVObjectField(
'RollBias',
'f',
1,
[
'0',
],
{
}
),
]
class AttitudeSettings(uavobject.UAVObject):
## Object constants
OBJID = 1065705802
NAME = "AttitudeSettings"
METANAME = "AttitudeSettingsMeta"
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 = AttitudeSettings()
print (x)
if __name__ == "__main__":
#import pdb ; pdb.run('main()')
main()

6
ground/src/plugins/uavobjects/uavobjects.pro
View File

@ -45,8 +45,7 @@ HEADERS += uavobjects_global.h \
velocitydesired.h \
velocityactual.h \
guidancesettings.h \
positiondesired.h \
attitudesettings.h
positiondesired.h
SOURCES += uavobject.cpp \
uavmetaobject.cpp \
@ -89,6 +88,5 @@ SOURCES += uavobject.cpp \
velocitydesired.cpp \
velocityactual.cpp \
guidancesettings.cpp \
positiondesired.cpp \
attitudesettings.cpp
positiondesired.cpp
OTHER_FILES += UAVObjects.pluginspec

2
ground/src/plugins/uavobjects/uavobjectsinit.cpp
View File

@ -39,7 +39,6 @@
#include "attitudeactual.h"
#include "attitudedesired.h"
#include "attituderaw.h"
#include "attitudesettings.h"
#include "baroaltitude.h"
#include "exampleobject1.h"
#include "exampleobject2.h"
@ -83,7 +82,6 @@ void UAVObjectsInitialize(UAVObjectManager* objMngr)
objMngr->registerObject( new AttitudeActual() );
objMngr->registerObject( new AttitudeDesired() );
objMngr->registerObject( new AttitudeRaw() );
objMngr->registerObject( new AttitudeSettings() );
objMngr->registerObject( new BaroAltitude() );
objMngr->registerObject( new ExampleObject1() );
objMngr->registerObject( new ExampleObject2() );

7
ground/src/shared/uavobjectdefinition/ahrssettings.xml
View File

@ -3,9 +3,10 @@
<description>Settings for the @ref AHRSCommsModule to control the algorithm and what is updated</description>
<field name="Algorithm" units="" type="enum" elements="1" options="SIMPLE,INSGPS_INDOOR_NOMAG,INSGPS_INDOOR,INSGPS_OUTDOOR" defaultvalue="INSGPS_INDOOR_NOMAG"/>
<field name="Downsampling" units="" type="uint8" elements="1" defaultvalue="20"/>
<field name="UpdateRaw" units="raw" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="FALSE"/>
<field name="UpdateFiltered" units="raw" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>
<field name="UpdatePeriod" units="ms" type="int32" elements="1" defaultvalue="20"/>
<field name="UpdatePeriod" units="ms" type="uint8" elements="1" defaultvalue="1"/>
<field name="YawBias" units="" type="float" elements="1" defaultvalue="0"/>
<field name="PitchBias" units="" type="float" elements="1" defaultvalue="0"/>
<field name="RollBias" units="" type="float" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>

11
ground/src/shared/uavobjectdefinition/attitudesettings.xml
View File

@ -1,11 +0,0 @@
<xml>
<object name="AttitudeSettings" singleinstance="true" settings="true">
<description>Sets correction between airframe attitude and AHRS attitude</description>
<field name="PitchBias" units="" type="float" elements="1" defaultvalue="0"/>
<field name="RollBias" units="" type="float" elements="1" defaultvalue="0"/>
<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>