mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-11-30 08:24:11 +01:00
ebcb272da6
indoor from the name since it's used for both indoor and outdoor mode now. Increased default value to 0.4 to better reflect the GPS accuracy. git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2156 ebee16cc-31ac-478f-84a7-5cbb03baadba
142 lines
4.1 KiB
C
142 lines
4.1 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup UAVObjects OpenPilot UAVObjects
|
|
* @{
|
|
* @addtogroup AHRSCalibration AHRSCalibration
|
|
* @brief Contains the calibration settings for the @ref AHRSCommsModule
|
|
*
|
|
* Autogenerated files and functions for AHRSCalibration Object
|
|
* @{
|
|
*
|
|
* @file ahrscalibration.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Implementation of the AHRSCalibration object. This file has been
|
|
* automatically generated by the UAVObjectGenerator.
|
|
*
|
|
* @note Object definition file: ahrscalibration.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
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
#include "ahrscalibration.h"
|
|
|
|
// Private variables
|
|
static UAVObjHandle handle;
|
|
|
|
// Private functions
|
|
static void setDefaults(UAVObjHandle obj, uint16_t instId);
|
|
|
|
/**
|
|
* Initialize object.
|
|
* \return 0 Success
|
|
* \return -1 Failure
|
|
*/
|
|
int32_t AHRSCalibrationInitialize()
|
|
{
|
|
// Register object with the object manager
|
|
handle = UAVObjRegister(AHRSCALIBRATION_OBJID, AHRSCALIBRATION_NAME, AHRSCALIBRATION_METANAME, 0,
|
|
AHRSCALIBRATION_ISSINGLEINST, AHRSCALIBRATION_ISSETTINGS, AHRSCALIBRATION_NUMBYTES, &setDefaults);
|
|
|
|
// Done
|
|
if (handle != 0)
|
|
{
|
|
return 0;
|
|
}
|
|
else
|
|
{
|
|
return -1;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Initialize object fields and metadata with the default values.
|
|
* If a default value is not specified the object fields
|
|
* will be initialized to zero.
|
|
*/
|
|
static void setDefaults(UAVObjHandle obj, uint16_t instId)
|
|
{
|
|
AHRSCalibrationData data;
|
|
UAVObjMetadata metadata;
|
|
|
|
// Initialize object fields to their default values
|
|
UAVObjGetInstanceData(obj, instId, &data);
|
|
memset(&data, 0, sizeof(AHRSCalibrationData));
|
|
data.measure_var = 0;
|
|
data.accel_bias[0] = -72;
|
|
data.accel_bias[1] = -72;
|
|
data.accel_bias[2] = 72;
|
|
data.accel_scale[0] = 0.003;
|
|
data.accel_scale[1] = 0.003;
|
|
data.accel_scale[2] = -0.003;
|
|
data.accel_var[0] = 5e-05;
|
|
data.accel_var[1] = 5e-05;
|
|
data.accel_var[2] = 5e-05;
|
|
data.gyro_bias[0] = 23;
|
|
data.gyro_bias[1] = -23;
|
|
data.gyro_bias[2] = 23;
|
|
data.gyro_scale[0] = -0.014;
|
|
data.gyro_scale[1] = 0.014;
|
|
data.gyro_scale[2] = -0.014;
|
|
data.gyro_var[0] = 0.0001;
|
|
data.gyro_var[1] = 0.0001;
|
|
data.gyro_var[2] = 0.0001;
|
|
data.mag_bias[0] = 0;
|
|
data.mag_bias[1] = 0;
|
|
data.mag_bias[2] = 0;
|
|
data.mag_scale[0] = 1;
|
|
data.mag_scale[1] = 1;
|
|
data.mag_scale[2] = 1;
|
|
data.mag_var[0] = 5e-05;
|
|
data.mag_var[1] = 5e-05;
|
|
data.mag_var[2] = 5e-05;
|
|
data.vel_var = 0.4;
|
|
data.pos_var = 0.4;
|
|
|
|
UAVObjSetInstanceData(obj, instId, &data);
|
|
|
|
// Initialize object metadata to their default values
|
|
metadata.access = ACCESS_READWRITE;
|
|
metadata.gcsAccess = ACCESS_READWRITE;
|
|
metadata.telemetryAcked = 1;
|
|
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
|
metadata.telemetryUpdatePeriod = 0;
|
|
metadata.gcsTelemetryAcked = 1;
|
|
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
|
|
metadata.gcsTelemetryUpdatePeriod = 0;
|
|
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
|
|
metadata.loggingUpdatePeriod = 0;
|
|
UAVObjSetMetadata(obj, &metadata);
|
|
}
|
|
|
|
/**
|
|
* Get object handle
|
|
*/
|
|
UAVObjHandle AHRSCalibrationHandle()
|
|
{
|
|
return handle;
|
|
}
|
|
|
|
/**
|
|
* @}
|
|
*/
|
|
|