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e44045f422
Creating GuidanceModule together with PositionDesired UAVObject (as discussed), so dschin and me can work on it :-) Will compile and (on sim_posix) execute, but PID logic is yet untested and preliminary. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1722 ebee16cc-31ac-478f-84a7-5cbb03baadba
133 lines
3.9 KiB
C
133 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 GuidanceSettings GuidanceSettings
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* @brief PID settings used by the Guidance module to combine the @ref PositionActual and @ref PositionDesired to compute @ref AttitudeDesired
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*
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* Autogenerated files and functions for GuidanceSettings Object
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* @{
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*
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* @file guidancesettings.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the GuidanceSettings 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: 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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* @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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#include "openpilot.h"
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#include "guidancesettings.h"
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// Private variables
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static UAVObjHandle handle;
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// Private functions
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static void setDefaults(UAVObjHandle obj, uint16_t instId);
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/**
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* Initialize object.
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* \return 0 Success
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* \return -1 Failure
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*/
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int32_t GuidanceSettingsInitialize()
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{
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// Register object with the object manager
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handle = UAVObjRegister(GUIDANCESETTINGS_OBJID, GUIDANCESETTINGS_NAME, GUIDANCESETTINGS_METANAME, 0,
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GUIDANCESETTINGS_ISSINGLEINST, GUIDANCESETTINGS_ISSETTINGS, GUIDANCESETTINGS_NUMBYTES, &setDefaults);
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// Done
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if (handle != 0)
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{
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return 0;
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}
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else
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{
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return -1;
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}
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}
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/**
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* Initialize object fields and metadata with the default values.
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* If a default value is not specified the object fields
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* will be initialized to zero.
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*/
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static void setDefaults(UAVObjHandle obj, uint16_t instId)
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{
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GuidanceSettingsData data;
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UAVObjMetadata metadata;
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// Initialize object fields to their default values
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UAVObjGetInstanceData(obj, instId, &data);
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memset(&data, 0, sizeof(GuidanceSettingsData));
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data.UpdatePeriod = 10;
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data.RollMax = 35;
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data.PitchMax = 35;
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data.PitchMin = -35;
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data.PitchRollEpsilon = 10;
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data.ThrottleMax = 1;
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data.ThrottleMin = 0;
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data.SpeedMax = 100;
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data.SpeedMin = 10;
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data.SpeedKp = 0.04;
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data.SpeedKi = 4e-06;
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data.SpeedKd = 0.01;
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data.EnergyKp = 0.04;
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data.EnergyKi = 4e-06;
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data.EnergyKd = 0.01;
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data.LateralKp = 0.04;
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data.LateralKi = 4e-06;
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data.LateralKd = 0.01;
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data.CourseKp = 0.04;
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data.CourseKi = 4e-06;
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data.CourseKd = 0.01;
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UAVObjSetInstanceData(obj, instId, &data);
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// Initialize object metadata to their default values
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metadata.access = ACCESS_READWRITE;
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metadata.gcsAccess = ACCESS_READWRITE;
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metadata.telemetryAcked = 1;
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metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
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metadata.telemetryUpdatePeriod = 0;
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metadata.gcsTelemetryAcked = 1;
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metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
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metadata.gcsTelemetryUpdatePeriod = 0;
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metadata.loggingUpdateMode = UPDATEMODE_NEVER;
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metadata.loggingUpdatePeriod = 0;
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UAVObjSetMetadata(obj, &metadata);
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}
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/**
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* Get object handle
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*/
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UAVObjHandle GuidanceSettingsHandle()
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{
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return handle;
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}
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/**
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* @}
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*/
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