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Additional commenting on global variables

This commit is contained in:
Doug Weibel 2012-01-16 09:45:42 -07:00
parent ed9f7cb1b6
commit b4e58b50ee
2 changed files with 121 additions and 74 deletions
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181
ArduPlane/ArduPlane.pde
View File

@ -375,97 +375,158 @@ static float nav_gain_scaler = 1;
// deg * 100 dir of plane, A value of -1 indicates the course has not been set/is not in use // deg * 100 dir of plane, A value of -1 indicates the course has not been set/is not in use
static long hold_course = -1; // deg * 100 dir of plane static long hold_course = -1; // deg * 100 dir of plane
static byte nav_command_index; // active nav command memory location // There may be two active commands in Auto mode.
static byte non_nav_command_index; // active non-nav command memory location // This indicates the active navigation command by index number
static byte nav_command_ID = NO_COMMAND; // active nav command ID static byte nav_command_index;
static byte non_nav_command_ID = NO_COMMAND; // active non-nav command ID // This indicates the active non-navigation command by index number
static byte non_nav_command_index;
// This is the command type (eg navigate to waypoint) of the active navigation command
static byte nav_command_ID = NO_COMMAND;
static byte non_nav_command_ID = NO_COMMAND;
////////////////////////////////////////////////////////////////////////////////
// Airspeed // Airspeed
// -------- ////////////////////////////////////////////////////////////////////////////////
static int airspeed; // m/s * 100 // The current airspeed estimate/measurement in centimeters per second
static int airspeed_nudge; // m/s * 100 : additional airspeed based on throttle stick position in top 1/2 of range static int airspeed;
static long target_airspeed; // m/s * 100 (used for Auto-flap deployment in FBW_B mode) // The calculated airspeed to use in FBW-B. Also used in higher modes for insuring min ground speed is met.
static float airspeed_error; // m/s * 100 // Also used for flap deployment criteria. Centimeters per second.static long target_airspeed;
static long energy_error; // energy state error (kinetic + potential) for altitude hold static long target_airspeed;
static long airspeed_energy_error; // kinetic portion of energy error (m^2/s^2) // The difference between current and desired airspeed. Used in the pitch controller. Centimeters per second.
static float airspeed_error;
// The calculated total energy error (kinetic (altitude) plus potential (airspeed)).
// Used by the throttle controller
static long energy_error;
// kinetic portion of energy error (m^2/s^2)
static long airspeed_energy_error;
// An amount that the airspeed should be increased in auto modes based on the user positioning the
// throttle stick in the top half of the range. Centimeters per second.
static int airspeed_nudge;
// Similar to airspeed_nudge, but used when no airspeed sensor.
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
static int throttle_nudge = 0;
////////////////////////////////////////////////////////////////////////////////
// Ground speed // Ground speed
static long groundspeed_undershoot = 0; // m/s * 100 (>=0, where > 0 => amount below min ground speed) ////////////////////////////////////////////////////////////////////////////////
// The amount current ground speed is below min ground speed. Centimeters per second
static long groundspeed_undershoot = 0;
////////////////////////////////////////////////////////////////////////////////
// Location Errors // Location Errors
// --------------- ////////////////////////////////////////////////////////////////////////////////
static long bearing_error; // deg * 100 : 0 to 36000 // Difference between current bearing and desired bearing. Hundredths of a degree
static long altitude_error; // meters * 100 we are off in altitude static long bearing_error;
static float crosstrack_error; // meters we are off trackline // Difference between current altitude and desired altitude. Centimeters
static long altitude_error;
// Distance perpandicular to the course line that we are off trackline. Meters
static float crosstrack_error;
////////////////////////////////////////////////////////////////////////////////
// Battery Sensors // Battery Sensors
// --------------- ////////////////////////////////////////////////////////////////////////////////
static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery 1 Voltage, initialized above threshold for filter // Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup.
static float current_amps1; // Current (Amperes) draw from battery 1 static float battery_voltage1 = LOW_VOLTAGE * 1.05;
static float current_total1; // Totalized current (Amp-hours) from battery 1 // Battery pack 1 instantaneous currrent draw. Amperes
static float current_amps1;
// Totalized current (Amp-hours) from battery 1
static float current_total1;
// To Do - Add support for second battery pack // To Do - Add support for second battery pack
//static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery 2 Voltage, initialized above threshold for filter //static float battery_voltage2 = LOW_VOLTAGE * 1.05; // Battery 2 Voltage, initialized above threshold for filter
//static float current_amps2; // Current (Amperes) draw from battery 2 //static float current_amps2; // Current (Amperes) draw from battery 2
//static float current_total2; // Totalized current (Amp-hours) from battery 2 //static float current_total2; // Totalized current (Amp-hours) from battery 2
////////////////////////////////////////////////////////////////////////////////
// Airspeed Sensors // Airspeed Sensors
// ---------------- ////////////////////////////////////////////////////////////////////////////////
static float airspeed_raw; // Airspeed Sensor - is a float to better handle filtering // Raw differential pressure measurement (filtered). ADC units
static float airspeed_pressure; // airspeed as a pressure value static float airspeed_raw;
// Raw differential pressure less the zero pressure offset. ADC units
// Barometer Sensor variables static float airspeed_pressure;
// --------------------------
static unsigned long abs_pressure;
////////////////////////////////////////////////////////////////////////////////
// Altitude Sensor variables // Altitude Sensor variables
// ---------------------- ////////////////////////////////////////////////////////////////////////////////
// Raw absolute pressure measurement (filtered). ADC units
static unsigned long abs_pressure;
// Altitude from the sonar sensor. Meters. Not yet implemented.
static int sonar_alt; static int sonar_alt;
////////////////////////////////////////////////////////////////////////////////
// flight mode specific // flight mode specific
// -------------------- ////////////////////////////////////////////////////////////////////////////////
static bool takeoff_complete = true; // Flag for using gps ground course instead of IMU yaw. Set false when takeoff command processes. // Flag for using gps ground course instead of IMU yaw. Set false when takeoff command in process.
static bool takeoff_complete = true;
// Flag to indicate if we have landed.
//Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
static bool land_complete; static bool land_complete;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
static long takeoff_altitude; static long takeoff_altitude;
// static int landing_distance; // meters; // Pitch to hold during landing command in the no airspeed sensor case. Hundredths of a degree
static int landing_pitch; // pitch for landing set by commands static int landing_pitch;
// Minimum pitch to hold during takeoff command execution. Hundredths of a degree
static int takeoff_pitch; static int takeoff_pitch;
////////////////////////////////////////////////////////////////////////////////
// Loiter management // Loiter management
// ----------------- ////////////////////////////////////////////////////////////////////////////////
static long old_target_bearing; // deg * 100 // Previous target bearing. Used to calculate loiter rotations. Hundredths of a degree
static int loiter_total; // deg : how many times to loiter * 360 static long old_target_bearing;
static int loiter_delta; // deg : how far we just turned // Total desired rotation in a loiter. Used for Loiter Turns commands. Degrees
static int loiter_sum; // deg : how far we have turned around a waypoint static int loiter_total;
static long loiter_time; // millis : when we started LOITER mode // The amount in degrees we have turned since recording old_target_bearing
static int loiter_time_max; // millis : how long to stay in LOITER mode static int loiter_delta;
// Total rotation in a loiter. Used for Loiter Turns commands and to check for missed waypoints. Degrees
static int loiter_sum;
// The amount of time we have been in a Loiter. Used for the Loiter Time command. Milliseconds.
static long loiter_time;
// The amount of time we should stay in a loiter for the Loiter Time command. Milliseconds.
static int loiter_time_max;
// these are the values for navigation control functions ////////////////////////////////////////////////////////////////////////////////
// ---------------------------------------------------- // Navigation control variables
static long nav_roll; // deg * 100 : target roll angle ////////////////////////////////////////////////////////////////////////////////
static long nav_pitch; // deg * 100 : target pitch angle // The instantaneous desired bank angle. Hundredths of a degree
static int throttle_nudge = 0; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel static long nav_roll;
// The instantaneous desired pitch angle. Hundredths of a degree
static long nav_pitch;
// Waypoints ////////////////////////////////////////////////////////////////////////////////
// --------- // Waypoint distances
static long wp_distance; // meters - distance between plane and next waypoint ////////////////////////////////////////////////////////////////////////////////
static long wp_totalDistance; // meters - distance between old and next waypoint // Distance between plane and next waypoint. Meters
static long wp_distance;
// Distance between previous and next waypoint. Meters
static long wp_totalDistance;
////////////////////////////////////////////////////////////////////////////////
// repeating event control // repeating event control
// ----------------------- ////////////////////////////////////////////////////////////////////////////////
static byte event_id; // what to do - see defines // Flag indicating current event type
static long event_timer; // when the event was asked for in ms static byte event_id;
static uint16_t event_delay; // how long to delay the next firing of event in millis // when the event was started in ms
static int event_repeat = 0; // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles static long event_timer;
static int event_value; // per command value, such as PWM for servos // how long to delay the next firing of event in millis
static int event_undo_value; // the value used to cycle events (alternate value to event_value) static uint16_t event_delay;
// how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
static int event_repeat = 0;
// per command value, such as PWM for servos
static int event_value;
// the value used to cycle events (alternate value to event_value)
static int event_undo_value;
// delay command ////////////////////////////////////////////////////////////////////////////////
// -------------- // Conditional command
static long condition_value; // used in condition commands (eg delay, change alt, etc.) ////////////////////////////////////////////////////////////////////////////////
// A value used in condition commands (eg delay, change alt, etc.)
// For example in a change altitude command, it is the altitude to change to.
static long condition_value;
// A starting value used to check the status of a conditional command.
// For example in a delay command the condition_start records that start time for the delay
static long condition_start; static long condition_start;
static int condition_rate; // A value used in condition commands. For example the rate at which to change altitude.
static int condition_rate;
// 3D Location vectors // 3D Location vectors
// ------------------- // -------------------

14
ArduPlane/commands_logic.pde
View File

@ -64,20 +64,6 @@ handle_process_condition_command()
do_change_alt(); do_change_alt();
break; break;
/* case MAV_CMD_NAV_LAND_OPTIONS: // TODO - Add the command or equiv to MAVLink (repair in verify_condition() also)
gcs_send_text_P(SEVERITY_LOW,PSTR("Landing options set"));
// pitch in deg, airspeed m/s, throttle %, track WP 1 or 0
landing_pitch = next_nav_command.lng * 100;
g.airspeed_cruise = next_nav_command.alt * 100;
g.throttle_cruise = next_nav_command.lat;
landing_distance = next_nav_command.p1;
SendDebug_P("MSG: throttle_cruise = ");
SendDebugln(g.throttle_cruise,DEC);
break;
*/
default: default:
break; break;
} }