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LibrePilot/flight/OpenPilot/UAVObjects/inc/positiondesired.h
peabody124 77b68e5169 Flight/Guidance: Initial template for guidance module
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
2010-09-26 03:06:27 +00:00

96 lines
3.9 KiB
C

/**
******************************************************************************
* @addtogroup UAVObjects OpenPilot UAVObjects
* @{
* @addtogroup PositionDesired PositionDesired
* @brief The position the craft is trying t achieve. Can come from GCS or @ref PathPlanner
*
* Autogenerated files and functions for PositionDesired Object
* @{
*
* @file positiondesired.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Implementation of the PositionDesired object. This file has been
* automatically generated by the UAVObjectGenerator.
*
* @note Object definition file: positiondesired.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 POSITIONDESIRED_H
#define POSITIONDESIRED_H
// Object constants
#define POSITIONDESIRED_OBJID 801433018U
#define POSITIONDESIRED_NAME "PositionDesired"
#define POSITIONDESIRED_METANAME "PositionDesiredMeta"
#define POSITIONDESIRED_ISSINGLEINST 1
#define POSITIONDESIRED_ISSETTINGS 0
#define POSITIONDESIRED_NUMBYTES sizeof(PositionDesiredData)
// Object access macros
/**
* @function PositionDesiredGet(dataOut)
* @brief Populate a PositionDesiredData object
* @param[out] dataOut
*/
#define PositionDesiredGet(dataOut) UAVObjGetData(PositionDesiredHandle(), dataOut)
#define PositionDesiredSet(dataIn) UAVObjSetData(PositionDesiredHandle(), dataIn)
#define PositionDesiredInstGet(instId, dataOut) UAVObjGetInstanceData(PositionDesiredHandle(), instId, dataOut)
#define PositionDesiredInstSet(instId, dataIn) UAVObjSetInstanceData(PositionDesiredHandle(), instId, dataIn)
#define PositionDesiredConnectQueue(queue) UAVObjConnectQueue(PositionDesiredHandle(), queue, EV_MASK_ALL_UPDATES)
#define PositionDesiredConnectCallback(cb) UAVObjConnectCallback(PositionDesiredHandle(), cb, EV_MASK_ALL_UPDATES)
#define PositionDesiredCreateInstance() UAVObjCreateInstance(PositionDesiredHandle())
#define PositionDesiredRequestUpdate() UAVObjRequestUpdate(PositionDesiredHandle())
#define PositionDesiredRequestInstUpdate(instId) UAVObjRequestInstanceUpdate(PositionDesiredHandle(), instId)
#define PositionDesiredUpdated() UAVObjUpdated(PositionDesiredHandle())
#define PositionDesiredInstUpdated(instId) UAVObjUpdated(PositionDesiredHandle(), instId)
#define PositionDesiredGetMetadata(dataOut) UAVObjGetMetadata(PositionDesiredHandle(), dataOut)
#define PositionDesiredSetMetadata(dataIn) UAVObjSetMetadata(PositionDesiredHandle(), dataIn)
#define PositionDesiredReadOnly(dataIn) UAVObjReadOnly(PositionDesiredHandle())
// Object data
typedef struct {
int32_t North;
int32_t East;
int32_t Down;
} __attribute__((packed)) PositionDesiredData;
// Field information
// Field North information
// Field East information
// Field Down information
// Generic interface functions
int32_t PositionDesiredInitialize();
UAVObjHandle PositionDesiredHandle();
#endif // POSITIONDESIRED_H
/**
* @}
* @}
*/