mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-02 10:24:11 +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
98 lines
4.3 KiB
C
98 lines
4.3 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup UAVObjects OpenPilot UAVObjects
|
|
* @{
|
|
* @addtogroup SystemAlarms SystemAlarms
|
|
* @brief Alarms from OpenPilot to indicate failure conditions or warnings. Set by various modules.
|
|
*
|
|
* Autogenerated files and functions for SystemAlarms Object
|
|
|
|
* @{
|
|
*
|
|
* @file systemalarms.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Implementation of the SystemAlarms object. This file has been
|
|
* automatically generated by the UAVObjectGenerator.
|
|
*
|
|
* @note Object definition file: systemalarms.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 SYSTEMALARMS_H
|
|
#define SYSTEMALARMS_H
|
|
|
|
// Object constants
|
|
#define SYSTEMALARMS_OBJID 2311311584U
|
|
#define SYSTEMALARMS_NAME "SystemAlarms"
|
|
#define SYSTEMALARMS_METANAME "SystemAlarmsMeta"
|
|
#define SYSTEMALARMS_ISSINGLEINST 1
|
|
#define SYSTEMALARMS_ISSETTINGS 0
|
|
#define SYSTEMALARMS_NUMBYTES sizeof(SystemAlarmsData)
|
|
|
|
// Object access macros
|
|
/**
|
|
* @function SystemAlarmsGet(dataOut)
|
|
* @brief Populate a SystemAlarmsData object
|
|
* @param[out] dataOut
|
|
*/
|
|
#define SystemAlarmsGet(dataOut) UAVObjGetData(SystemAlarmsHandle(), dataOut)
|
|
#define SystemAlarmsSet(dataIn) UAVObjSetData(SystemAlarmsHandle(), dataIn)
|
|
#define SystemAlarmsInstGet(instId, dataOut) UAVObjGetInstanceData(SystemAlarmsHandle(), instId, dataOut)
|
|
#define SystemAlarmsInstSet(instId, dataIn) UAVObjSetInstanceData(SystemAlarmsHandle(), instId, dataIn)
|
|
#define SystemAlarmsConnectQueue(queue) UAVObjConnectQueue(SystemAlarmsHandle(), queue, EV_MASK_ALL_UPDATES)
|
|
#define SystemAlarmsConnectCallback(cb) UAVObjConnectCallback(SystemAlarmsHandle(), cb, EV_MASK_ALL_UPDATES)
|
|
#define SystemAlarmsCreateInstance() UAVObjCreateInstance(SystemAlarmsHandle())
|
|
#define SystemAlarmsRequestUpdate() UAVObjRequestUpdate(SystemAlarmsHandle())
|
|
#define SystemAlarmsRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(SystemAlarmsHandle(), instId)
|
|
#define SystemAlarmsUpdated() UAVObjUpdated(SystemAlarmsHandle())
|
|
#define SystemAlarmsInstUpdated(instId) UAVObjUpdated(SystemAlarmsHandle(), instId)
|
|
#define SystemAlarmsGetMetadata(dataOut) UAVObjGetMetadata(SystemAlarmsHandle(), dataOut)
|
|
#define SystemAlarmsSetMetadata(dataIn) UAVObjSetMetadata(SystemAlarmsHandle(), dataIn)
|
|
#define SystemAlarmsReadOnly(dataIn) UAVObjReadOnly(SystemAlarmsHandle())
|
|
|
|
// Object data
|
|
typedef struct {
|
|
uint8_t Alarm[10];
|
|
|
|
} __attribute__((packed)) SystemAlarmsData;
|
|
|
|
// Field information
|
|
// Field Alarm information
|
|
/* Enumeration options for field Alarm */
|
|
typedef enum { SYSTEMALARMS_ALARM_OK=0, SYSTEMALARMS_ALARM_WARNING=1, SYSTEMALARMS_ALARM_ERROR=2, SYSTEMALARMS_ALARM_CRITICAL=3 } SystemAlarmsAlarmOptions;
|
|
/* Array element names for field Alarm */
|
|
typedef enum { SYSTEMALARMS_ALARM_OUTOFMEMORY=0, SYSTEMALARMS_ALARM_STACKOVERFLOW=1, SYSTEMALARMS_ALARM_CPUOVERLOAD=2, SYSTEMALARMS_ALARM_EVENTSYSTEM=3, SYSTEMALARMS_ALARM_SDCARD=4, SYSTEMALARMS_ALARM_TELEMETRY=5, SYSTEMALARMS_ALARM_MANUALCONTROL=6, SYSTEMALARMS_ALARM_ACTUATOR=7, SYSTEMALARMS_ALARM_STABILIZATION=8, SYSTEMALARMS_ALARM_AHRSCOMMS=9 } SystemAlarmsAlarmElem;
|
|
/* Number of elements for field Alarm */
|
|
#define SYSTEMALARMS_ALARM_NUMELEM 10
|
|
|
|
|
|
// Generic interface functions
|
|
int32_t SystemAlarmsInitialize();
|
|
UAVObjHandle SystemAlarmsHandle();
|
|
|
|
#endif // SYSTEMALARMS_H
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|