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a59d08b7af
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2327 ebee16cc-31ac-478f-84a7-5cbb03baadba
145 lines
4.2 KiB
C
145 lines
4.2 KiB
C
/**
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******************************************************************************
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* @addtogroup UAVObjects OpenPilot UAVObjects
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* @{
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* @addtogroup AHRSCalibration AHRSCalibration
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* @brief Contains the calibration settings for the @ref AHRSCommsModule
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*
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* Autogenerated files and functions for AHRSCalibration Object
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* @{
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*
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* @file ahrscalibration.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Implementation of the AHRSCalibration 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: ahrscalibration.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 "ahrscalibration.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 AHRSCalibrationInitialize()
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{
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// Register object with the object manager
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handle = UAVObjRegister(AHRSCALIBRATION_OBJID, AHRSCALIBRATION_NAME, AHRSCALIBRATION_METANAME, 0,
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AHRSCALIBRATION_ISSINGLEINST, AHRSCALIBRATION_ISSETTINGS, AHRSCALIBRATION_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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AHRSCalibrationData 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(AHRSCalibrationData));
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data.measure_var = 0;
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data.accel_bias[0] = -72;
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data.accel_bias[1] = -72;
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data.accel_bias[2] = 72;
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data.accel_scale[0] = 0.003;
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data.accel_scale[1] = 0.003;
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data.accel_scale[2] = -0.003;
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data.accel_var[0] = 5e-05;
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data.accel_var[1] = 5e-05;
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data.accel_var[2] = 5e-05;
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data.gyro_bias[0] = 23;
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data.gyro_bias[1] = -23;
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data.gyro_bias[2] = 23;
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data.gyro_scale[0] = -0.014;
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data.gyro_scale[1] = 0.014;
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data.gyro_scale[2] = -0.014;
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data.gyro_var[0] = 0.0001;
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data.gyro_var[1] = 0.0001;
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data.gyro_var[2] = 0.0001;
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data.gyro_tempcompfactor[0] = 0;
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data.gyro_tempcompfactor[1] = 0;
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data.gyro_tempcompfactor[2] = 0;
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data.mag_bias[0] = 0;
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data.mag_bias[1] = 0;
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data.mag_bias[2] = 0;
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data.mag_scale[0] = 1;
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data.mag_scale[1] = 1;
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data.mag_scale[2] = 1;
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data.mag_var[0] = 5e-05;
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data.mag_var[1] = 5e-05;
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data.mag_var[2] = 5e-05;
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data.vel_var = 0.4;
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data.pos_var = 0.4;
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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 AHRSCalibrationHandle()
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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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