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Code Issues Releases Activity

Move Guidance to VtolPathFollower to make room for FWPathFollower

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This commit is contained in:
James Cotton 2012-05-08 00:25:59 -05:00
parent e4cec48f35
commit cbedb5b53b
4 changed files with 23 additions and 23 deletions
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16
flight/Modules/Guidance/inc/guidance.h → flight/Modules/VtolPathFollower/inc/vtolpathfollower.h
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@ -1,9 +1,9 @@
/**
******************************************************************************
*
* @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.
* @file vtolpathfollower.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Module to perform path following for VTOL.
*
* @see The GNU Public License (GPL) Version 3
*
@ -23,9 +23,9 @@
* 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
#ifndef VTOLPATHFOLLOWER_H
#define VTOLPATHFOLLOWER_H
int32_t ExampleModPeriodicInitialize();
int32_t GuidanceInitialize(void);
#endif // EXAMPLEMODPERIODIC_H
int32_t VtolPathFollowerInitialize(void);
#endif // VTOLPATHFOLLOWER_H

22
flight/Modules/Guidance/guidance.c → flight/Modules/VtolPathFollower/vtolpathfollower.c
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@ -1,8 +1,8 @@
/**
******************************************************************************
*
* @file guidance.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @file vtolpathfollower.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @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.
@ -46,7 +46,7 @@
#include "openpilot.h"
#include "paths.h"
#include "guidance.h"
#include "vtolpathfollower.h"
#include "accels.h"
#include "attitudeactual.h"
#include "pathdesired.h" // object that will be updated by the module
@ -74,11 +74,11 @@
// Private types
// Private variables
static xTaskHandle guidanceTaskHandle;
static xTaskHandle pathfollowerTaskHandle;
static xQueueHandle queue;
// Private functions
static void guidanceTask(void *parameters);
static void vtolPathFollowerTask(void *parameters);
static float bound(float val, float min, float max);
static void updateNedAccel();
@ -93,11 +93,11 @@ static GuidanceSettingsData guidanceSettings;
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceStart()
int32_t VtolPathFollowerStart()
{
// Start main task
xTaskCreate(guidanceTask, (signed char *)"Guidance", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &guidanceTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_GUIDANCE, guidanceTaskHandle);
xTaskCreate(vtolPathFollowerTask, (signed char *)"VtolPathFollower", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &pathfollowerTaskHandle);
TaskMonitorAdd(TASKINFO_RUNNING_PATHFOLLOWER, pathfollowerTaskHandle);
return 0;
}
@ -106,7 +106,7 @@ int32_t GuidanceStart()
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t GuidanceInitialize()
int32_t VtolPathFollowerInitialize()
{
GuidanceSettingsInitialize();
NedAccelInitialize();
@ -122,7 +122,7 @@ int32_t GuidanceInitialize()
return 0;
}
MODULE_INITCALL(GuidanceInitialize, GuidanceStart)
MODULE_INITCALL(VtolPathFollowerInitialize, VtolPathFollowerStart)
static float northVelIntegral = 0;
static float eastVelIntegral = 0;
@ -137,7 +137,7 @@ static uint8_t positionHoldLast = 0;
/**
* Module thread, should not return.
*/
static void guidanceTask(void *parameters)
static void vtolPathFollowerTask(void *parameters)
{
SystemSettingsData systemSettings;
FlightStatusData flightStatus;

2
flight/Revolution/Makefile
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@ -50,7 +50,7 @@ FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Sensors Attitude/revolution ManualControl Stabilization Altitude/revolution Actuator GPS FirmwareIAP
MODULES += AltitudeHold Guidance PathPlanner
MODULES += AltitudeHold VtolPathFollower PathPlanner
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry

6
shared/uavobjectdefinition/taskinfo.xml
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@ -1,9 +1,9 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,Guidance,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>