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https://bitbucket.org/librepilot/librepilot.git
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2621d07574
- Added FlighSituation Module (development module for sensor fusion, mostly stub, possibly renamed later) - Added Navigation Module (development module for navigating towards a point in space - DEVELOPMENT CODE, NOT STABLE YET (I am testing around with this)) - Changed Stabilization Module (uses local reference frame now. Stable except for code cleanup/review. Tested in simulator and outperforms old code.) git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1154 ebee16cc-31ac-478f-84a7-5cbb03baadba
138 lines
4.8 KiB
C++
138 lines
4.8 KiB
C++
/**
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******************************************************************************
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*
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* @file navigationdesired.cpp
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @see The GNU Public License (GPL) Version 3
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* @addtogroup GCSPlugins GCS Plugins
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* @{
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* @addtogroup UAVObjectsPlugin UAVObjects Plugin
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* @{
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*
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* @note Object definition file: navigationdesired.xml.
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* This is an automatically generated file.
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* DO NOT modify manually.
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*
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* @brief The UAVUObjects GCS plugin
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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 "navigationdesired.h"
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#include "uavobjectfield.h"
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const QString NavigationDesired::NAME = QString("NavigationDesired");
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/**
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* Constructor
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*/
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NavigationDesired::NavigationDesired(): UAVDataObject(OBJID, ISSINGLEINST, ISSETTINGS, NAME)
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{
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// Create fields
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QList<UAVObjectField*> fields;
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QStringList LatitudeElemNames;
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LatitudeElemNames.append("0");
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fields.append( new UAVObjectField(QString("Latitude"), QString("degrees"), UAVObjectField::FLOAT32, LatitudeElemNames, QStringList()) );
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QStringList LongitudeElemNames;
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LongitudeElemNames.append("0");
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fields.append( new UAVObjectField(QString("Longitude"), QString("degrees"), UAVObjectField::FLOAT32, LongitudeElemNames, QStringList()) );
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QStringList AltitudeElemNames;
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AltitudeElemNames.append("0");
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fields.append( new UAVObjectField(QString("Altitude"), QString("meters"), UAVObjectField::FLOAT32, AltitudeElemNames, QStringList()) );
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QStringList SpeedElemNames;
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SpeedElemNames.append("0");
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fields.append( new UAVObjectField(QString("Speed"), QString("m/s"), UAVObjectField::FLOAT32, SpeedElemNames, QStringList()) );
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// Initialize object
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initializeFields(fields, (quint8*)&data, NUMBYTES);
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// Set the default field values
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setDefaultFieldValues();
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}
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/**
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* Get the default metadata for this object
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*/
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UAVObject::Metadata NavigationDesired::getDefaultMetadata()
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{
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UAVObject::Metadata metadata;
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metadata.flightAccess = ACCESS_READWRITE;
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metadata.gcsAccess = ACCESS_READWRITE;
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metadata.gcsTelemetryAcked = 0;
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metadata.gcsTelemetryUpdateMode = UAVObject::UPDATEMODE_MANUAL;
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metadata.gcsTelemetryUpdatePeriod = 0;
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metadata.flightTelemetryAcked = 0;
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metadata.flightTelemetryUpdateMode = UAVObject::UPDATEMODE_PERIODIC;
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metadata.flightTelemetryUpdatePeriod = 1000;
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metadata.loggingUpdateMode = UAVObject::UPDATEMODE_NEVER;
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metadata.loggingUpdatePeriod = 0;
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return metadata;
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}
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/**
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* Initialize object fields with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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*/
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void NavigationDesired::setDefaultFieldValues()
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{
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}
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/**
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* Get the object data fields
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*/
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NavigationDesired::DataFields NavigationDesired::getData()
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{
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QMutexLocker locker(mutex);
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return data;
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}
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/**
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* Set the object data fields
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*/
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void NavigationDesired::setData(const DataFields& data)
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{
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QMutexLocker locker(mutex);
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// Get metadata
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Metadata mdata = getMetadata();
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// Update object if the access mode permits
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if ( mdata.gcsAccess == ACCESS_READWRITE )
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{
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this->data = data;
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emit objectUpdatedAuto(this); // trigger object updated event
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emit objectUpdated(this);
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}
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}
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/**
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* Create a clone of this object, a new instance ID must be specified.
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* Do not use this function directly to create new instances, the
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* UAVObjectManager should be used instead.
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*/
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UAVDataObject* NavigationDesired::clone(quint32 instID)
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{
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NavigationDesired* obj = new NavigationDesired();
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obj->initialize(instID, this->getMetaObject());
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return obj;
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}
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/**
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* Static function to retrieve an instance of the object.
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*/
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NavigationDesired* NavigationDesired::GetInstance(UAVObjectManager* objMngr, quint32 instID)
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{
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return dynamic_cast<NavigationDesired*>(objMngr->getObject(NavigationDesired::OBJID, instID));
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}
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