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
96 lines
3.9 KiB
C
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
|
|
|
|
/**
|
|
* @}
|
|
* @}
|
|
*/
|