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Code Issues Releases Activity

Pathplanner: removed pathPlannersettings and preprogrammed (hardcoded) paths

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This commit is contained in:
Corvus Corax 2012-11-05 16:04:45 +01:00
parent cc8e56f170
commit e8232ba825
2 changed files with 0 additions and 195 deletions
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185
flight/Modules/PathPlanner/pathplanner.c
View File

@ -37,7 +37,6 @@
#include "pathaction.h"
#include "pathdesired.h"
#include "pathstatus.h"
#include "pathplannersettings.h"
#include "positionactual.h"
#include "velocityactual.h"
#include "waypoint.h"
@ -55,12 +54,8 @@
// Private functions
static void pathPlannerTask(void *parameters);
static void settingsUpdated(UAVObjEvent * ev);
static void updatePathDesired(UAVObjEvent * ev);
static void setWaypoint(uint16_t num);
static void WaypointCreateInstances(uint16_t num);
static void createPathBox();
static void createPathLogo();
static uint8_t pathConditionCheck();
static uint8_t conditionNone();
@ -77,7 +72,6 @@ static uint8_t conditionImmediate();
// Private variables
static xTaskHandle taskHandle;
static PathPlannerSettingsData pathPlannerSettings;
static WaypointActiveData waypointActive;
static WaypointData waypoint;
static PathActionData pathAction;
@ -105,7 +99,6 @@ int32_t PathPlannerInitialize()
{
taskHandle = NULL;
PathPlannerSettingsInitialize();
PathActionInitialize();
PathStatusInitialize();
PathDesiredInitialize();
@ -125,10 +118,6 @@ MODULE_INITCALL(PathPlannerInitialize, PathPlannerStart)
*/
static void pathPlannerTask(void *parameters)
{
// update settings on change
PathPlannerSettingsConnectCallback(settingsUpdated);
settingsUpdated(PathPlannerSettingsHandle());
// when the active waypoint changes, update pathDesired
WaypointConnectCallback(updatePathDesired);
WaypointActiveConnectCallback(updatePathDesired);
@ -218,25 +207,6 @@ static void pathPlannerTask(void *parameters)
}
}
// standard settings updated callback
void settingsUpdated(UAVObjEvent * ev) {
uint8_t preprogrammedPath = pathPlannerSettings.PreprogrammedPath;
PathPlannerSettingsGet(&pathPlannerSettings);
if (pathPlannerSettings.PreprogrammedPath != preprogrammedPath) {
switch(pathPlannerSettings.PreprogrammedPath) {
case PATHPLANNERSETTINGS_PREPROGRAMMEDPATH_NONE:
break;
case PATHPLANNERSETTINGS_PREPROGRAMMEDPATH_10M_BOX:
createPathBox();
break;
case PATHPLANNERSETTINGS_PREPROGRAMMEDPATH_LOGO:
createPathLogo();
break;
}
}
}
// callback function when waypoints changed in any way, update pathDesired
void updatePathDesired(UAVObjEvent * ev) {
@ -300,17 +270,6 @@ static void setWaypoint(uint16_t num) {
}
// helper function to make sure there are enough waypoint instances
static void WaypointCreateInstances(uint16_t num) {
uint16_t t;
for (t=UAVObjGetNumInstances(WaypointHandle());t<num;t++) {
WaypointCreateInstance();
}
}
// execute the apropriate condition and report result
static uint8_t pathConditionCheck() {
// i thought about a lookup table, but a switch is saver considering there could be invalid EndCondition ID's
@ -541,150 +500,6 @@ static uint8_t conditionImmediate() {
return true;
}
// demo path - box
static void createPathBox()
{
uint16_t t;
for (t=UAVObjGetNumInstances(PathActionHandle());t<10;t++) {
PathActionCreateInstance();
}
PathActionData action;
PathActionInstGet(0,&action);
action.Mode = PATHACTION_MODE_FLYVECTOR;
action.ModeParameters[0]=0;
action.ModeParameters[1]=0;
action.ModeParameters[2]=0;
action.ModeParameters[3]=0;
action.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING;
action.ConditionParameters[0] = 0;
action.ConditionParameters[1] = 0;
action.ConditionParameters[2] = 0;
action.ConditionParameters[3] = 0;
action.Command = PATHACTION_COMMAND_ONCONDITIONNEXTWAYPOINT;
action.JumpDestination = 0;
action.ErrorDestination = 0;
PathActionInstSet(0,&action);
PathActionInstSet(1,&action);
PathActionInstSet(2,&action);
WaypointCreateInstances(6);
// Draw O
WaypointData waypoint;
waypoint.Action = 0;
waypoint.Velocity = 2;
waypoint.Position[0] = 5;
waypoint.Position[1] = 5;
waypoint.Position[2] = -10;
WaypointInstSet(0, &waypoint);
waypoint.Position[0] = -5;
waypoint.Position[1] = 5;
WaypointInstSet(1, &waypoint);
waypoint.Position[0] = -5;
waypoint.Position[1] = -5;
WaypointInstSet(2, &waypoint);
waypoint.Position[0] = 5;
waypoint.Position[1] = -5;
WaypointInstSet(3, &waypoint);
waypoint.Position[0] = 5;
waypoint.Position[1] = 5;
WaypointInstSet(4, &waypoint);
waypoint.Position[0] = 0;
waypoint.Position[1] = 0;
WaypointInstSet(5, &waypoint);
}
// demo path - logo
static void createPathLogo()
{
#define SIZE 10.0f
PathActionData action;
PathActionInstGet(0,&action);
action.Mode = PATHACTION_MODE_FLYVECTOR;
action.ModeParameters[0]=0;
action.ModeParameters[1]=0;
action.ModeParameters[2]=0;
action.ModeParameters[3]=0;
action.EndCondition = PATHACTION_ENDCONDITION_LEGREMAINING;
action.ConditionParameters[0] = 0;
action.ConditionParameters[1] = 0;
action.ConditionParameters[2] = 0;
action.ConditionParameters[3] = 0;
action.Command = PATHACTION_COMMAND_ONCONDITIONNEXTWAYPOINT;
action.JumpDestination = 0;
action.ErrorDestination = 0;
PathActionInstSet(0,&action);
uint16_t t;
for (t=UAVObjGetNumInstances(PathActionHandle());t<10;t++) {
PathActionCreateInstance();
}
WaypointCreateInstances(42);
// Draw O
WaypointData waypoint;
waypoint.Velocity = 2; // Since for now this isn't directional just set a mag
waypoint.Action = 0;
for(uint32_t i = 0; i < 20; i++) {
waypoint.Position[1] = SIZE * 30 * cos(i / 19.0 * 2 * M_PI);
waypoint.Position[0] = SIZE * 50 * sin(i / 19.0 * 2 * M_PI);
waypoint.Position[2] = -50;
WaypointInstSet(i, &waypoint);
}
// Draw P
for(uint32_t i = 20; i < 35; i++) {
waypoint.Position[1] = SIZE * (55 + 20 * cos(i / 10.0 * M_PI - M_PI / 2));
waypoint.Position[0] = SIZE * (25 + 25 * sin(i / 10.0 * M_PI - M_PI / 2));
waypoint.Position[2] = -50;
WaypointInstSet(i, &waypoint);
}
waypoint.Position[1] = SIZE * 35;
waypoint.Position[0] = SIZE * -50;
waypoint.Position[2] = -50;
WaypointInstSet(35, &waypoint);
// Draw Box
waypoint.Position[1] = SIZE * 35;
waypoint.Position[0] = SIZE * -60;
waypoint.Position[2] = -30;
WaypointInstSet(36, &waypoint);
waypoint.Position[1] = SIZE * 85;
waypoint.Position[0] = SIZE * -60;
waypoint.Position[2] = -30;
WaypointInstSet(37, &waypoint);
waypoint.Position[1] = SIZE * 85;
waypoint.Position[0] = SIZE * 60;
waypoint.Position[2] = -30;
WaypointInstSet(38, &waypoint);
waypoint.Position[1] = SIZE * -40;
waypoint.Position[0] = SIZE * 60;
waypoint.Position[2] = -30;
WaypointInstSet(39, &waypoint);
waypoint.Position[1] = SIZE * -40;
waypoint.Position[0] = SIZE * -60;
waypoint.Position[2] = -30;
WaypointInstSet(40, &waypoint);
waypoint.Position[1] = SIZE * 35;
waypoint.Position[0] = SIZE * -60;
waypoint.Position[2] = -30;
WaypointInstSet(41, &waypoint);
}
/**
* @}
* @}

10
shared/uavobjectdefinition/pathplannersettings.xml
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@ -1,10 +0,0 @@
<xml>
<object name="PathPlannerSettings" singleinstance="true" settings="true">
<description>Settings for the @ref PathPlanner Module</description>
<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"/>
<telemetryflight acked="true" updatemode="onchange" period="0"/>
<logging updatemode="manual" period="0"/>
</object>
</xml>