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up in the final code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2110 ebee16cc-31ac-478f-84a7-5cbb03baadba
109 lines
3.4 KiB
C++
109 lines
3.4 KiB
C++
/**
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******************************************************************************
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*
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* @file guidancesettings.h
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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: guidancesettings.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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#ifndef GUIDANCESETTINGS_H
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#define GUIDANCESETTINGS_H
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#include "uavdataobject.h"
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#include "uavobjectmanager.h"
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class UAVOBJECTS_EXPORT GuidanceSettings: public UAVDataObject
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{
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Q_OBJECT
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public:
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// Field structure
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typedef struct {
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quint8 GuidanceMode;
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qint32 MaxGroundspeed;
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float GroundVelocityP;
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qint32 MaxVerticalSpeed;
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float VertVelocityP;
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float VelP;
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float VelI;
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float VelD;
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float DownP;
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float DownI;
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float DownD;
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float MaxVelIntegral;
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float MaxThrottleIntegral;
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qint32 VelUpdatePeriod;
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qint32 VelPIDUpdatePeriod;
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} __attribute__((packed)) DataFields;
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// Field information
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// Field GuidanceMode information
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/* Enumeration options for field GuidanceMode */
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typedef enum { GUIDANCEMODE_DUAL_LOOP=0, GUIDANCEMODE_VELOCITY_CONTROL=1, GUIDANCEMODE_POSITION_PID=2 } GuidanceModeOptions;
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// Field MaxGroundspeed information
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// Field GroundVelocityP information
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// Field MaxVerticalSpeed information
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// Field VertVelocityP information
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// Field VelP information
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// Field VelI information
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// Field VelD information
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// Field DownP information
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// Field DownI information
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// Field DownD information
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// Field MaxVelIntegral information
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// Field MaxThrottleIntegral information
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// Field VelUpdatePeriod information
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// Field VelPIDUpdatePeriod information
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// Constants
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static const quint32 OBJID = 2071403670U;
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static const QString NAME;
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static const bool ISSINGLEINST = 1;
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static const bool ISSETTINGS = 1;
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static const quint32 NUMBYTES = sizeof(DataFields);
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// Functions
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GuidanceSettings();
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DataFields getData();
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void setData(const DataFields& data);
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Metadata getDefaultMetadata();
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UAVDataObject* clone(quint32 instID);
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static GuidanceSettings* GetInstance(UAVObjectManager* objMngr, quint32 instID = 0);
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private:
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DataFields data;
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void setDefaultFieldValues();
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};
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#endif // GUIDANCESETTINGS_H
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