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77b68e5169
Flight: Create PositionDesired (the active waypoint) UAVObject and make the FlightSituationActual no update since it not used. Flight: New velocity desired object that passes information between the look computing the desired velocity and the PID loop to get it (updated at different rates) UAVObjects/PositionActual: Remove unused GPS fields UAVObjects/PositionActual VelocityActual: Split the velocity into a separate object. ALso make sure all the information telemetered around is in cm to avoid using floats. UAVObject/GuidanceSettings: New guidance settings object for the guidance module Flight/Posix: Add the new objects to the Posix sim Flight/Guidance: Computes a desired velocity based on position error than runs a PID loop to control roll and pitch to achieve that velocity. All distances are in cm, and updated the PositionActual fields to reflect this and use int32. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1760 ebee16cc-31ac-478f-84a7-5cbb03baadba
107 lines
2.7 KiB
Python
107 lines
2.7 KiB
Python
##
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##############################################################################
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#
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# @file velocityactual.py
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# @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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# @brief Implementation of the VelocityActual object. This file has been
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# automatically generated by the UAVObjectGenerator.
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#
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# @note Object definition file: velocityactual.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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# @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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import uavobject
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import struct
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from collections import namedtuple
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# This is a list of instances of the data fields contained in this object
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_fields = [ \
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uavobject.UAVObjectField(
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'North',
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'i',
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1,
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[
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'0',
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],
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{
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}
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),
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uavobject.UAVObjectField(
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'East',
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'i',
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1,
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[
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'0',
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],
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{
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}
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),
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uavobject.UAVObjectField(
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'Down',
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'i',
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1,
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[
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'0',
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],
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{
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}
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),
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]
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class VelocityActual(uavobject.UAVObject):
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## Object constants
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OBJID = 1207999624
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NAME = "VelocityActual"
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METANAME = "VelocityActualMeta"
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ISSINGLEINST = 1
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ISSETTINGS = 0
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def __init__(self):
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uavobject.UAVObject.__init__(self,
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self.OBJID,
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self.NAME,
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self.METANAME,
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0,
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self.ISSINGLEINST)
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for f in _fields:
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self.add_field(f)
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def __str__(self):
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s = ("0x%08X (%10u) %-30s %3u bytes format '%s'\n"
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% (self.OBJID, self.OBJID, self.NAME, self.get_struct().size, self.get_struct().format))
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for f in self.get_tuple()._fields:
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s += ("\t%s\n" % f)
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return (s)
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def main():
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# Instantiate the object and dump out some interesting info
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x = VelocityActual()
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print (x)
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if __name__ == "__main__":
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#import pdb ; pdb.run('main()')
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main()
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