mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2025-02-18 08:54:15 +01:00
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
105 lines
3.2 KiB
C++
105 lines
3.2 KiB
C++
/**
|
|
******************************************************************************
|
|
*
|
|
* @file guidancesettings.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @see The GNU Public License (GPL) Version 3
|
|
* @addtogroup GCSPlugins GCS Plugins
|
|
* @{
|
|
* @addtogroup UAVObjectsPlugin UAVObjects Plugin
|
|
* @{
|
|
*
|
|
* @note Object definition file: guidancesettings.xml.
|
|
* This is an automatically generated file.
|
|
* DO NOT modify manually.
|
|
*
|
|
* @brief The UAVUObjects GCS plugin
|
|
*****************************************************************************/
|
|
/*
|
|
* This program is free software; you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation; either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
|
|
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
|
* for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
*/
|
|
#ifndef GUIDANCESETTINGS_H
|
|
#define GUIDANCESETTINGS_H
|
|
|
|
#include "uavdataobject.h"
|
|
#include "uavobjectmanager.h"
|
|
|
|
class UAVOBJECTS_EXPORT GuidanceSettings: public UAVDataObject
|
|
{
|
|
Q_OBJECT
|
|
|
|
public:
|
|
// Field structure
|
|
typedef struct {
|
|
qint32 MaxGroundspeed;
|
|
float GroundVelocityP;
|
|
qint32 MaxVerticalSpeed;
|
|
float VertVelocityP;
|
|
float VelP;
|
|
float VelI;
|
|
float VelD;
|
|
float DownP;
|
|
float DownI;
|
|
float DownD;
|
|
float MaxVelIntegral;
|
|
float MaxThrottleIntegral;
|
|
qint32 VelUpdatePeriod;
|
|
qint32 VelPIDUpdatePeriod;
|
|
|
|
} __attribute__((packed)) DataFields;
|
|
|
|
// Field information
|
|
// Field MaxGroundspeed information
|
|
// Field GroundVelocityP information
|
|
// Field MaxVerticalSpeed information
|
|
// Field VertVelocityP information
|
|
// Field VelP information
|
|
// Field VelI information
|
|
// Field VelD information
|
|
// Field DownP information
|
|
// Field DownI information
|
|
// Field DownD information
|
|
// Field MaxVelIntegral information
|
|
// Field MaxThrottleIntegral information
|
|
// Field VelUpdatePeriod information
|
|
// Field VelPIDUpdatePeriod information
|
|
|
|
|
|
// Constants
|
|
static const quint32 OBJID = 2428005802U;
|
|
static const QString NAME;
|
|
static const bool ISSINGLEINST = 1;
|
|
static const bool ISSETTINGS = 1;
|
|
static const quint32 NUMBYTES = sizeof(DataFields);
|
|
|
|
// Functions
|
|
GuidanceSettings();
|
|
|
|
DataFields getData();
|
|
void setData(const DataFields& data);
|
|
Metadata getDefaultMetadata();
|
|
UAVDataObject* clone(quint32 instID);
|
|
|
|
static GuidanceSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
|
|
|
|
private:
|
|
DataFields data;
|
|
|
|
void setDefaultFieldValues();
|
|
|
|
};
|
|
|
|
#endif // GUIDANCESETTINGS_H
|