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Additional commenting on global variables

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First pass done.
This commit is contained in:
Doug Weibel 2012-01-16 10:28:03 -07:00
parent b4e58b50ee
commit 797e0e27a9
1 changed files with 73 additions and 35 deletions
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108
ArduPlane/ArduPlane.pde
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@ -240,6 +240,15 @@ AP_AnalogSource_Arduino pitot_analog_source(CONFIG_PITOT_SOURCE_ANALOG_PIN, 4.0)
AP_RangeFinder_MaxsonarXL sonar(&pitot_analog_source, &sonar_mode_filter);
#endif
AP_Relay relay;
// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
AP_Mount camera_mount(g_gps, &dcm);
#endif
////////////////////////////////////////////////////////////////////////////////
// Global variables
////////////////////////////////////////////////////////////////////////////////
@ -528,60 +537,89 @@ static long condition_start;
// A value used in condition commands. For example the rate at which to change altitude.
static int condition_rate;
////////////////////////////////////////////////////////////////////////////////
// 3D Location vectors
// -------------------
static struct Location home; // home location
static struct Location prev_WP; // last waypoint
static struct Location current_loc; // current location
static struct Location next_WP; // next waypoint
static struct Location guided_WP; // guided mode waypoint
static struct Location next_nav_command; // command preloaded
static struct Location next_nonnav_command; // command preloaded
static long target_altitude; // used for altitude management between waypoints
static long offset_altitude; // used for altitude management between waypoints
static bool home_is_set; // Flag for if we have g_gps lock and have set the home location
// Location structure defined in AP_Common
////////////////////////////////////////////////////////////////////////////////
// The home location used for RTL. The location is set when we first get stable GPS lock
static struct Location home;
// Flag for if we have g_gps lock and have set the home location
static bool home_is_set;
// The location of the previous waypoint. Used for track following and altitude ramp calculations
static struct Location prev_WP;
// The plane's current location
static struct Location current_loc;
// The location of the current/active waypoint. Used for altitude ramp, track following and loiter calculations.
static struct Location next_WP;
// The location of the active waypoint in Guided mode.
static struct Location guided_WP;
// The location structure information from the Nav command being processed
static struct Location next_nav_command;
// The location structure information from the Non-Nav command being processed
static struct Location next_nonnav_command;
////////////////////////////////////////////////////////////////////////////////
// Altitude / Climb rate control
////////////////////////////////////////////////////////////////////////////////
// The current desired altitude. Altitude is linearly ramped between waypoints. Centimeters
static long target_altitude;
// Altitude difference between previous and current waypoint. Centimeters
static long offset_altitude;
////////////////////////////////////////////////////////////////////////////////
// IMU variables
// -------------
static float G_Dt = 0.02; // Integration time for the gyros (DCM algorithm)
////////////////////////////////////////////////////////////////////////////////
// The main loop execution time. Seconds
//This is the time between calls to the DCM algorithm and is the Integration time for the gyros.
static float G_Dt = 0.02;
////////////////////////////////////////////////////////////////////////////////
// Performance monitoring
// ----------------------
static long perf_mon_timer; // Metric based on accel gain deweighting
static int G_Dt_max = 0; // Max main loop cycle time in milliseconds
////////////////////////////////////////////////////////////////////////////////
// Timer used to accrue data and trigger recording of the performanc monitoring log message
static long perf_mon_timer;
// The maximum main loop execution time recorded in the current performance monitoring interval
static int G_Dt_max = 0;
// The number of gps fixes recorded in the current performance monitoring interval
static int gps_fix_count = 0;
// A variable used by developers to track performanc metrics.
// Currently used to record the number of GCS heartbeat messages received
static int pmTest1 = 0;
////////////////////////////////////////////////////////////////////////////////
// System Timers
// --------------
static unsigned long fast_loopTimer; // Time in miliseconds of main control loop
static unsigned long fast_loopTimeStamp; // Time Stamp when fast loop was complete
static uint8_t delta_ms_fast_loop; // Delta Time in miliseconds
////////////////////////////////////////////////////////////////////////////////
// Time in miliseconds of start of main control loop. Milliseconds
static unsigned long fast_loopTimer;
// Time Stamp when fast loop was complete. Milliseconds
static unsigned long fast_loopTimeStamp;
// Number of milliseconds used in last main loop cycle
static uint8_t delta_ms_fast_loop;
// Counter of main loop executions. Used for performance monitoring and failsafe processing
static uint16_t mainLoop_count;
static unsigned long medium_loopTimer; // Time in miliseconds of medium loop
static byte medium_loopCounter; // Counters for branching from main control loop to slower loops
// Time in miliseconds of start of medium control loop. Milliseconds
static unsigned long medium_loopTimer;
// Counters for branching from main control loop to slower loops
static byte medium_loopCounter;
// Number of milliseconds used in last medium loop cycle
static uint8_t delta_ms_medium_loop;
// Counters for branching from medium control loop to slower loops
static byte slow_loopCounter;
// Counter to trigger execution of very low rate processes
static byte superslow_loopCounter;
static byte counter_one_herz;
// Counter to trigger execution of 1 Hz processes
static byte counter_one_herz;
static unsigned long nav_loopTimer; // used to track the elapsed time for GPS nav
// used to track the elapsed time for navigation PID integral terms
static unsigned long nav_loopTimer;
// Elapsed time since last call to navigation pid functions
static unsigned long dTnav;
// % MCU cycles used
static float load;
static unsigned long dTnav; // Delta Time in milliseconds for navigation computations
static float load; // % MCU cycles used
AP_Relay relay;
// Camera/Antenna mount tracking and stabilisation stuff
// --------------------------------------
#if MOUNT == ENABLED
AP_Mount camera_mount(g_gps, &dcm);
#endif
////////////////////////////////////////////////////////////////////////////////