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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
96 lines
3.9 KiB
C
96 lines
3.9 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup VelocityDesired VelocityDesired
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* @brief Used within @ref GuidanceModule to communicate between the task computing the desired velocity and the PID loop to achieve it (running at different rates).
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*
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* Autogenerated files and functions for VelocityDesired Object
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* @{
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*
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* @file velocitydesired.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the VelocityDesired 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: velocitydesired.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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#ifndef VELOCITYDESIRED_H
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#define VELOCITYDESIRED_H
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// Object constants
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#define VELOCITYDESIRED_OBJID 305094202U
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#define VELOCITYDESIRED_NAME "VelocityDesired"
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#define VELOCITYDESIRED_METANAME "VelocityDesiredMeta"
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#define VELOCITYDESIRED_ISSINGLEINST 1
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#define VELOCITYDESIRED_ISSETTINGS 0
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#define VELOCITYDESIRED_NUMBYTES sizeof(VelocityDesiredData)
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// Object access macros
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/**
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* @function VelocityDesiredGet(dataOut)
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* @brief Populate a VelocityDesiredData object
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* @param[out] dataOut
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*/
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#define VelocityDesiredGet(dataOut) UAVObjGetData(VelocityDesiredHandle(), dataOut)
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#define VelocityDesiredSet(dataIn) UAVObjSetData(VelocityDesiredHandle(), dataIn)
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#define VelocityDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(VelocityDesiredHandle(), instId, dataOut)
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#define VelocityDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(VelocityDesiredHandle(), instId, dataIn)
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#define VelocityDesiredConnectQueue(queue) UAVObjConnectQueue(VelocityDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
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#define VelocityDesiredConnectCallback(cb) UAVObjConnectCallback(VelocityDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
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#define VelocityDesiredCreateInstance() UAVObjCreateInstance(VelocityDesiredHandle())
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#define VelocityDesiredRequestUpdate() UAVObjRequestUpdate(VelocityDesiredHandle())
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#define VelocityDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(VelocityDesiredHandle(), instId)
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#define VelocityDesiredUpdated() UAVObjUpdated(VelocityDesiredHandle())
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#define VelocityDesiredInstUpdated(instId) UAVObjUpdated(VelocityDesiredHandle(), instId)
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#define VelocityDesiredGetMetadata(dataOut) UAVObjGetMetadata(VelocityDesiredHandle(), dataOut)
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#define VelocityDesiredSetMetadata(dataIn) UAVObjSetMetadata(VelocityDesiredHandle(), dataIn)
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#define VelocityDesiredReadOnly(dataIn) UAVObjReadOnly(VelocityDesiredHandle())
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// Object data
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typedef struct {
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int32_t North;
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int32_t East;
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int32_t Down;
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} __attribute__((packed)) VelocityDesiredData;
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// Field information
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// Field North information
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// Field East information
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// Field Down information
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// Generic interface functions
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int32_t VelocityDesiredInitialize();
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UAVObjHandle VelocityDesiredHandle();
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#endif // VELOCITYDESIRED_H
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/**
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* @}
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* @}
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*/
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