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6f1e7b4e41
bias correction. This is useful for stabilization to get rid of the gyro bias. Making it an option is important for calibration. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2189 ebee16cc-31ac-478f-84a7-5cbb03baadba
119 lines
3.5 KiB
C
119 lines
3.5 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup AHRSSettings AHRSSettings
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* @brief Settings for the @ref AHRSCommsModule to control the algorithm and what is updated
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*
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* Autogenerated files and functions for AHRSSettings Object
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* @{
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*
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* @file ahrssettings.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the AHRSSettings 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: ahrssettings.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 "ahrssettings.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 AHRSSettingsInitialize()
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{
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// Register object with the object manager
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handle = UAVObjRegister(AHRSSETTINGS_OBJID, AHRSSETTINGS_NAME, AHRSSETTINGS_METANAME, 0,
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AHRSSETTINGS_ISSINGLEINST, AHRSSETTINGS_ISSETTINGS, AHRSSETTINGS_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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AHRSSettingsData 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(AHRSSettingsData));
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data.Algorithm = 1;
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data.Downsampling = 20;
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data.UpdatePeriod = 1;
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data.BiasCorrectedRaw = 0;
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data.YawBias = 0;
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data.PitchBias = 0;
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data.RollBias = 0;
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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 AHRSSettingsHandle()
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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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