mirror of https://github.com/ArduPilot/ardupilot
Additional commenting on global variables
This commit is contained in:
Doug Weibel
parent
ed9f7cb1b6
commit
b4e58b50ee
|
|
@ -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
|
||||
static long hold_course = -1; // deg * 100 dir of plane
|
||||
|
||||
static byte nav_command_index; // active nav command memory location
|
||||
static byte non_nav_command_index; // active non-nav command memory location
|
||||
static byte nav_command_ID = NO_COMMAND; // active nav command ID
|
||||
static byte non_nav_command_ID = NO_COMMAND; // active non-nav command ID
|
||||
// There may be two active commands in Auto mode.
|
||||
// This indicates the active navigation command by index number
|
||||
static byte nav_command_index;
|
||||
// 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
|
||||
// --------
|
||||
static int airspeed; // m/s * 100
|
||||
static int airspeed_nudge; // m/s * 100 : additional airspeed based on throttle stick position in top 1/2 of range
|
||||
static long target_airspeed; // m/s * 100 (used for Auto-flap deployment in FBW_B mode)
|
||||
static float airspeed_error; // m/s * 100
|
||||
static long energy_error; // energy state error (kinetic + potential) for altitude hold
|
||||
static long airspeed_energy_error; // kinetic portion of energy error (m^2/s^2)
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// The current airspeed estimate/measurement in centimeters per second
|
||||
static int airspeed;
|
||||
// The calculated airspeed to use in FBW-B. Also used in higher modes for insuring min ground speed is met.
|
||||
// Also used for flap deployment criteria. Centimeters per second.static long target_airspeed;
|
||||
static long target_airspeed;
|
||||
// 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
|
||||
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
|
||||
// ---------------
|
||||
static long bearing_error; // deg * 100 : 0 to 36000
|
||||
static long altitude_error; // meters * 100 we are off in altitude
|
||||
static float crosstrack_error; // meters we are off trackline
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Difference between current bearing and desired bearing. Hundredths of a degree
|
||||
static long bearing_error;
|
||||
// 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
|
||||
// ---------------
|
||||
static float battery_voltage1 = LOW_VOLTAGE * 1.05; // Battery 1 Voltage, initialized above threshold for filter
|
||||
static float current_amps1; // Current (Amperes) draw from battery 1
|
||||
static float current_total1; // Totalized current (Amp-hours) from battery 1
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Battery pack 1 voltage. Initialized above the low voltage threshold to pre-load the filter and prevent low voltage events at startup.
|
||||
static float battery_voltage1 = LOW_VOLTAGE * 1.05;
|
||||
// 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
|
||||
//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_total2; // Totalized current (Amp-hours) from battery 2
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Airspeed Sensors
|
||||
// ----------------
|
||||
static float airspeed_raw; // Airspeed Sensor - is a float to better handle filtering
|
||||
static float airspeed_pressure; // airspeed as a pressure value
|
||||
|
||||
// Barometer Sensor variables
|
||||
// --------------------------
|
||||
static unsigned long abs_pressure;
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Raw differential pressure measurement (filtered). ADC units
|
||||
static float airspeed_raw;
|
||||
// Raw differential pressure less the zero pressure offset. ADC units
|
||||
static float airspeed_pressure;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// 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;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// 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;
|
||||
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
|
||||
static long takeoff_altitude;
|
||||
// static int landing_distance; // meters;
|
||||
static int landing_pitch; // pitch for landing set by commands
|
||||
// Pitch to hold during landing command in the no airspeed sensor case. Hundredths of a degree
|
||||
static int landing_pitch;
|
||||
// Minimum pitch to hold during takeoff command execution. Hundredths of a degree
|
||||
static int takeoff_pitch;
|
||||
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Loiter management
|
||||
// -----------------
|
||||
static long old_target_bearing; // deg * 100
|
||||
static int loiter_total; // deg : how many times to loiter * 360
|
||||
static int loiter_delta; // deg : how far we just turned
|
||||
static int loiter_sum; // deg : how far we have turned around a waypoint
|
||||
static long loiter_time; // millis : when we started LOITER mode
|
||||
static int loiter_time_max; // millis : how long to stay in LOITER mode
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Previous target bearing. Used to calculate loiter rotations. Hundredths of a degree
|
||||
static long old_target_bearing;
|
||||
// Total desired rotation in a loiter. Used for Loiter Turns commands. Degrees
|
||||
static int loiter_total;
|
||||
// The amount in degrees we have turned since recording old_target_bearing
|
||||
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
|
||||
// ----------------------------------------------------
|
||||
static long nav_roll; // deg * 100 : target roll angle
|
||||
static long nav_pitch; // deg * 100 : target pitch angle
|
||||
static int throttle_nudge = 0; // 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Navigation control variables
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// The instantaneous desired bank angle. Hundredths of a degree
|
||||
static long nav_roll;
|
||||
// The instantaneous desired pitch angle. Hundredths of a degree
|
||||
static long nav_pitch;
|
||||
|
||||
// Waypoints
|
||||
// ---------
|
||||
static long wp_distance; // meters - distance between plane and next waypoint
|
||||
static long wp_totalDistance; // meters - distance between old and next waypoint
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Waypoint distances
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// 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
|
||||
// -----------------------
|
||||
static byte event_id; // what to do - see defines
|
||||
static long event_timer; // when the event was asked for in ms
|
||||
static uint16_t event_delay; // how long to delay the next firing of event in millis
|
||||
static int event_repeat = 0; // how many times to cycle : -1 (or -2) = forever, 2 = do one cycle, 4 = do two cycles
|
||||
static int event_value; // per command value, such as PWM for servos
|
||||
static int event_undo_value; // the value used to cycle events (alternate value to event_value)
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Flag indicating current event type
|
||||
static byte event_id;
|
||||
// when the event was started in ms
|
||||
static long event_timer;
|
||||
// how long to delay the next firing of event in millis
|
||||
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
|
||||
// --------------
|
||||
static long condition_value; // used in condition commands (eg delay, change alt, etc.)
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// Conditional command
|
||||
////////////////////////////////////////////////////////////////////////////////
|
||||
// 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 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
|
||||
// -------------------
|
||||
|
|
|
|||
|
|
@ -64,20 +64,6 @@ handle_process_condition_command()
|
|||
do_change_alt();
|
||||
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:
|
||||
break;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue