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up in the final code. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2110 ebee16cc-31ac-478f-84a7-5cbb03baadba
122 lines
4.8 KiB
C
122 lines
4.8 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 Settings for the @ref GuidanceModule
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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.h
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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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#ifndef GUIDANCESETTINGS_H
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#define GUIDANCESETTINGS_H
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// Object constants
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#define GUIDANCESETTINGS_OBJID 2071403670U
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#define GUIDANCESETTINGS_NAME "GuidanceSettings"
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#define GUIDANCESETTINGS_METANAME "GuidanceSettingsMeta"
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#define GUIDANCESETTINGS_ISSINGLEINST 1
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#define GUIDANCESETTINGS_ISSETTINGS 1
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#define GUIDANCESETTINGS_NUMBYTES sizeof(GuidanceSettingsData)
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// Object access macros
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/**
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* @function GuidanceSettingsGet(dataOut)
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* @brief Populate a GuidanceSettingsData object
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* @param[out] dataOut
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*/
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#define GuidanceSettingsGet(dataOut) UAVObjGetData(GuidanceSettingsHandle(), dataOut)
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#define GuidanceSettingsSet(dataIn) UAVObjSetData(GuidanceSettingsHandle(), dataIn)
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#define GuidanceSettingsInstGet(instId, dataOut) UAVObjGetInstanceData(GuidanceSettingsHandle(), instId, dataOut)
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#define GuidanceSettingsInstSet(instId, dataIn) UAVObjSetInstanceData(GuidanceSettingsHandle(), instId, dataIn)
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#define GuidanceSettingsConnectQueue(queue) UAVObjConnectQueue(GuidanceSettingsHandle(), queue, EV_MASK_ALL_UPDATES)
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#define GuidanceSettingsConnectCallback(cb) UAVObjConnectCallback(GuidanceSettingsHandle(), cb, EV_MASK_ALL_UPDATES)
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#define GuidanceSettingsCreateInstance() UAVObjCreateInstance(GuidanceSettingsHandle())
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#define GuidanceSettingsRequestUpdate() UAVObjRequestUpdate(GuidanceSettingsHandle())
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#define GuidanceSettingsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(GuidanceSettingsHandle(), instId)
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#define GuidanceSettingsUpdated() UAVObjUpdated(GuidanceSettingsHandle())
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#define GuidanceSettingsInstUpdated(instId) UAVObjUpdated(GuidanceSettingsHandle(), instId)
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#define GuidanceSettingsGetMetadata(dataOut) UAVObjGetMetadata(GuidanceSettingsHandle(), dataOut)
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#define GuidanceSettingsSetMetadata(dataIn) UAVObjSetMetadata(GuidanceSettingsHandle(), dataIn)
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#define GuidanceSettingsReadOnly(dataIn) UAVObjReadOnly(GuidanceSettingsHandle())
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// Object data
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typedef struct {
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uint8_t GuidanceMode;
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int32_t MaxGroundspeed;
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float GroundVelocityP;
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int32_t 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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int32_t VelUpdatePeriod;
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int32_t VelPIDUpdatePeriod;
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} __attribute__((packed)) GuidanceSettingsData;
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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 { GUIDANCESETTINGS_GUIDANCEMODE_DUAL_LOOP=0, GUIDANCESETTINGS_GUIDANCEMODE_VELOCITY_CONTROL=1, GUIDANCESETTINGS_GUIDANCEMODE_POSITION_PID=2 } GuidanceSettingsGuidanceModeOptions;
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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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// Generic interface functions
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int32_t GuidanceSettingsInitialize();
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UAVObjHandle GuidanceSettingsHandle();
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#endif // GUIDANCESETTINGS_H
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/**
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* @}
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* @}
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*/
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