mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-03 11:24:10 +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
118 lines
4.5 KiB
C
118 lines
4.5 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup UAVObjects OpenPilot UAVObjects
|
|
* @{
|
|
* @addtogroup GuidanceSettings GuidanceSettings
|
|
* @brief Settings for the @ref GuidanceModule
|
|
*
|
|
* Autogenerated files and functions for GuidanceSettings Object
|
|
|
|
* @{
|
|
*
|
|
* @file guidancesettings.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Implementation of the GuidanceSettings object. This file has been
|
|
* automatically generated by the UAVObjectGenerator.
|
|
*
|
|
* @note Object definition file: guidancesettings.xml.
|
|
* This is an automatically generated file.
|
|
* DO NOT modify manually.
|
|
*
|
|
* @see The GNU Public License (GPL) Version 3
|
|
*
|
|
*****************************************************************************/
|
|
/*
|
|
* 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
|
|
|
|
// Object constants
|
|
#define GUIDANCESETTINGS_OBJID 2428005802U
|
|
#define GUIDANCESETTINGS_NAME "GuidanceSettings"
|
|
#define GUIDANCESETTINGS_METANAME "GuidanceSettingsMeta"
|
|
#define GUIDANCESETTINGS_ISSINGLEINST 1
|
|
#define GUIDANCESETTINGS_ISSETTINGS 1
|
|
#define GUIDANCESETTINGS_NUMBYTES sizeof(GuidanceSettingsData)
|
|
|
|
// Object access macros
|
|
/**
|
|
* @function GuidanceSettingsGet(dataOut)
|
|
* @brief Populate a GuidanceSettingsData object
|
|
* @param[out] dataOut
|
|
*/
|
|
#define GuidanceSettingsGet(dataOut) UAVObjGetData(GuidanceSettingsHandle(), dataOut)
|
|
#define GuidanceSettingsSet(dataIn) UAVObjSetData(GuidanceSettingsHandle(), dataIn)
|
|
#define GuidanceSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(GuidanceSettingsHandle(), instId, dataOut)
|
|
#define GuidanceSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(GuidanceSettingsHandle(), instId, dataIn)
|
|
#define GuidanceSettingsConnectQueue(queue) UAVObjConnectQueue(GuidanceSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
|
|
#define GuidanceSettingsConnectCallback(cb) UAVObjConnectCallback(GuidanceSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
|
|
#define GuidanceSettingsCreateInstance() UAVObjCreateInstance(GuidanceSettingsHandle())
|
|
#define GuidanceSettingsRequestUpdate() UAVObjRequestUpdate(GuidanceSettingsHandle())
|
|
#define GuidanceSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GuidanceSettingsHandle(), instId)
|
|
#define GuidanceSettingsUpdated() UAVObjUpdated(GuidanceSettingsHandle())
|
|
#define GuidanceSettingsInstUpdated(instId) UAVObjUpdated(GuidanceSettingsHandle(), instId)
|
|
#define GuidanceSettingsGetMetadata(dataOut) UAVObjGetMetadata(GuidanceSettingsHandle(), dataOut)
|
|
#define GuidanceSettingsSetMetadata(dataIn) UAVObjSetMetadata(GuidanceSettingsHandle(), dataIn)
|
|
#define GuidanceSettingsReadOnly(dataIn) UAVObjReadOnly(GuidanceSettingsHandle())
|
|
|
|
// Object data
|
|
typedef struct {
|
|
int32_t MaxGroundspeed;
|
|
float GroundVelocityP;
|
|
int32_t MaxVerticalSpeed;
|
|
float VertVelocityP;
|
|
float VelP;
|
|
float VelI;
|
|
float VelD;
|
|
float DownP;
|
|
float DownI;
|
|
float DownD;
|
|
float MaxVelIntegral;
|
|
float MaxThrottleIntegral;
|
|
int32_t VelUpdatePeriod;
|
|
int32_t VelPIDUpdatePeriod;
|
|
|
|
} __attribute__((packed)) GuidanceSettingsData;
|
|
|
|
// 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
|
|
|
|
|
|
// Generic interface functions
|
|
int32_t GuidanceSettingsInitialize();
|
|
UAVObjHandle GuidanceSettingsHandle();
|
|
|
|
#endif // GUIDANCESETTINGS_H
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|