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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
132 lines
4.9 KiB
C
132 lines
4.9 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.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 2093064904U
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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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uint16_t UpdatePeriod;
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float RollMax;
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float PitchMax;
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float PitchMin;
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float PitchRollEpsilon;
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float ThrottleMax;
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float ThrottleMin;
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float SpeedMax;
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float SpeedMin;
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float SpeedKp;
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float SpeedKi;
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float SpeedKd;
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float EnergyKp;
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float EnergyKi;
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float EnergyKd;
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float LateralKp;
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float LateralKi;
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float LateralKd;
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float CourseKp;
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float CourseKi;
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float CourseKd;
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} __attribute__((packed)) GuidanceSettingsData;
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// Field information
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// Field UpdatePeriod information
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// Field RollMax information
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// Field PitchMax information
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// Field PitchMin information
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// Field PitchRollEpsilon information
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// Field ThrottleMax information
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// Field ThrottleMin information
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// Field SpeedMax information
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// Field SpeedMin information
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// Field SpeedKp information
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// Field SpeedKi information
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// Field SpeedKd information
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// Field EnergyKp information
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// Field EnergyKi information
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// Field EnergyKd information
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// Field LateralKp information
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// Field LateralKi information
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// Field LateralKd information
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// Field CourseKp information
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// Field CourseKi information
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// Field CourseKd 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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