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Flight/FlightSituation: Remove unused module
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1774 ebee16cc-31ac-478f-84a7-5cbb03baadba
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peabody124
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup FlightSituationModule FlightSituation Module
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* @brief Sensor Merge of all Flight data into most likely situation
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* @note This object updates the @ref FlightSituationActual UAVObject
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* @{
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*
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* @file flightsituation.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude stabilization module.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#include "openpilot.h"
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#include "flightsituation.h"
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#include "flightsituationactual.h"
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#include "attitudeactual.h"
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#include "altitudeactual.h"
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#include "headingactual.h"
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#include "positionactual.h"
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#include "systemsettings.h"
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// Private constants
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#define STACK_SIZE configMINIMAL_STACK_SIZE
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#define TASK_PRIORITY (tskIDLE_PRIORITY+4)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void flightSituationTask(void* parameters);
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/**
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* Module initialization
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*/
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int32_t FlightSituationInitialize()
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{
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// Initialize variables
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// Start main task
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xTaskCreate(flightSituationTask, (signed char*)"FlightSituation", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
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return 0;
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}
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/**
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* Module task
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*/
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static void flightSituationTask(void* parameters)
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{
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AttitudeActualData attitudeActual;
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AltitudeActualData altitudeActual;
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HeadingActualData headingActual;
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PositionActualData positionActual;
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SystemSettingsData systemSettings;
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FlightSituationActualData flightSituationActual;
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portTickType lastSysTime;
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// private variables
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float altitudeLast=0.0;
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1)
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{
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// Read settings and other objects
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SystemSettingsGet(&systemSettings);
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AttitudeActualGet(&attitudeActual);
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AltitudeActualGet(&altitudeActual);
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HeadingActualGet(&headingActual);
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PositionActualGet(&positionActual);
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FlightSituationActualGet(&flightSituationActual);
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// TODO: plausibility check of GPS data,
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// innertial navigation with kalman feed-in of GPS data
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// sensor fusion
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// STUB code:
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flightSituationActual.Latitude = positionActual.Latitude;
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flightSituationActual.Longitude = positionActual.Longitude;
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// TODO: fuse altitude information with GPS data plus
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// plausibility check
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// STUB Code:
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flightSituationActual.Altitude = altitudeActual.Altitude;
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// TODO: get altitude over ground from somewhere:
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// method 1: reflection sensor
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// method 2: crude database with ground hight information
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// method 3: manual setting of ground hight at start pos
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// STUB code:
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flightSituationActual.ATG = altitudeActual.Altitude;
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// TODO: use some more sophisticated Kalman filtering
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// and several sources (including speed and pitch!)
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// to get this one right
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flightSituationActual.Climbrate = 0.9*flightSituationActual.Climbrate + 0.1*((flightSituationActual.Altitude-altitudeLast)*10);
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// the times 10 is because timescale is 1/10th
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// of a second right now
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altitudeLast = flightSituationActual.Altitude;
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// TODO: heading: sensor fusion from AttitudeActual.yaw
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// and HeadingActual - with plausibility checks
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// BUT ??? what to do with heli- / multicopters
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// that can fly sideways?
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// Maybe the AHRS can give us a movement vector too?
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flightSituationActual.Heading = positionActual.Heading;
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// TODO: airspeed - is THE critical measure to prevent stall
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// and judge which maneuvers are safe.
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// However AFAIK we have no sensor for it yet, do we?
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// Even with moderate winds, a glider or other UAV
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// can easily fly (seemingly) backwards, so airspeed
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// and groundspeed can significantly differ!
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flightSituationActual.Airspeed = positionActual.Groundspeed;
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// TODO: this can possibly be taken from GPS
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// with just a bit of plausibility checking
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// and replacing by above if missing
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flightSituationActual.Course = positionActual.Heading;
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flightSituationActual.Groundspeed = positionActual.Groundspeed;
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FlightSituationActualSet(&flightSituationActual);
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// Clear alarms
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// TODO create a new alarm
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//AlarmsClear(SYSTEMALARMS_ALARM_STABILIZATION);
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// Wait until next update
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// TODO non-hardcoded update rate
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vTaskDelayUntil(&lastSysTime, 100 / portTICK_RATE_MS );
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}
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}
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/**
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* @}
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* @}
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*/
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@ -1,42 +0,0 @@
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup FlightSituationModule FlightSituation Module
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* @brief Sensor Merge of all Flight data into most likely situation
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* @note This object updates the @ref FlightSituationActual UAVObject
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* @{
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*
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* @file flightsituation.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Attitude stabilization module.
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef FLIGHTSITUATION_H
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#define FLIGHTSITUATION_H
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int32_t FlightSituationInitialize();
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#endif // FLIGHTSITUATION_H
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/**
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* @}
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* @}
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*/
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