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Final parameter interface cleanup - removed last bit of old cruft, fixed a bug on parameter update notification, cleaned up API slightly in naming

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This commit is contained in:
Lorenz Meier
2012-08-27 22:57:20 +02:00
parent 2a6a151342
commit 2d2548e714
15 changed files with 82 additions and 636 deletions
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apps/uORB/objects_common.cpp
+1 -1
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@@ -32,7 +32,7 @@
****************************************************************************/
/**
* @file objects_common.h
* @file objects_common.cpp
*
* Common object definitions without a better home.
*/
apps/uORB/parameter_storage.c
-379
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@@ -1,379 +0,0 @@
#include "parameter_storage.h"
#include <stdbool.h>
/* Global symbols / flags */
struct global_data_parameter_storage_t global_data_parameter_storage_d = { /*.counter = 0, .timestamp = 0,*/ .pm = {.size = PARAM_MAX_COUNT,
.param_values[PARAM_SYSTEM_ID] = 12,
.param_names[PARAM_SYSTEM_ID] = "SYS_ID",
.param_needs_write[PARAM_SYSTEM_ID] = false,
.param_values[PARAM_COMP_ID] = 200,
.param_names[PARAM_COMP_ID] = "COMP_ID",
.param_needs_write[PARAM_COMP_ID] = false,
.param_values[PARAM_FLIGHT_ENV] = (float)PX4_FLIGHT_ENVIRONMENT_INDOOR,
.param_names[PARAM_FLIGHT_ENV] = "FLIGHT_ENV",
.param_needs_write[PARAM_FLIGHT_ENV] = false,
.param_values[PARAM_BATTERYVOLTAGE_CONVERSION] = -1.f,
.param_names[PARAM_BATTERYVOLTAGE_CONVERSION] = "BATVOLTAG_CONV",
.param_needs_write[PARAM_BATTERYVOLTAGE_CONVERSION] = false,
.param_values[PARAM_PID_YAWPOS_P] = 0.3f,
.param_names[PARAM_PID_YAWPOS_P] = "PID_YAWPOS_P",
.param_needs_write[PARAM_PID_YAWPOS_P] = false,
.param_values[PARAM_PID_YAWPOS_I] = 0.15f,
.param_names[PARAM_PID_YAWPOS_I] = "PID_YAWPOS_I",
.param_needs_write[PARAM_PID_YAWPOS_I] = false,
.param_values[PARAM_PID_YAWPOS_D] = 0.0f,
.param_names[PARAM_PID_YAWPOS_D] = "PID_YAWPOS_D",
.param_needs_write[PARAM_PID_YAWPOS_D] = false,
.param_values[PARAM_PID_YAWPOS_AWU] = 1.0f,
.param_names[PARAM_PID_YAWPOS_AWU] = "PID_YAWPOS_AWU",
.param_needs_write[PARAM_PID_YAWPOS_AWU] = false,
.param_values[PARAM_PID_YAWPOS_LIM] = 3.0f,
.param_names[PARAM_PID_YAWPOS_LIM] = "PID_YAWPOS_LIM",
.param_needs_write[PARAM_PID_YAWPOS_LIM] = false,
.param_values[PARAM_PID_YAWSPEED_P] = 0.1f,
.param_names[PARAM_PID_YAWSPEED_P] = "PID_YAWSPD_P",
.param_needs_write[PARAM_PID_YAWSPEED_P] = false,
.param_values[PARAM_PID_YAWSPEED_I] = 0.02f,
.param_names[PARAM_PID_YAWSPEED_I] = "PID_YAWSPD_I",
.param_needs_write[PARAM_PID_YAWSPEED_I] = false,
.param_values[PARAM_PID_YAWSPEED_D] = 0.0f,
.param_names[PARAM_PID_YAWSPEED_D] = "PID_YAWSPD_D",
.param_needs_write[PARAM_PID_YAWSPEED_D] = false,
.param_values[PARAM_PID_YAWSPEED_AWU] = 0.02f,
.param_names[PARAM_PID_YAWSPEED_AWU] = "PID_YAWSPD_AWU",
.param_needs_write[PARAM_PID_YAWSPEED_AWU] = false,
.param_values[PARAM_PID_YAWSPEED_LIM] = 0.1f,
.param_names[PARAM_PID_YAWSPEED_LIM] = "PID_YAWSPD_LIM",
.param_needs_write[PARAM_PID_YAWSPEED_LIM] = false,
.param_values[PARAM_PID_ATT_P] = 0.3f,
.param_names[PARAM_PID_ATT_P] = "PID_ATT_P",
.param_needs_write[PARAM_PID_ATT_P] = false,
.param_values[PARAM_PID_ATT_I] = 0.0f,
.param_names[PARAM_PID_ATT_I] = "PID_ATT_I",
.param_needs_write[PARAM_PID_ATT_I] = false,
.param_values[PARAM_PID_ATT_D] = 0.1f,
.param_names[PARAM_PID_ATT_D] = "PID_ATT_D",
.param_needs_write[PARAM_PID_ATT_D] = false,
.param_values[PARAM_PID_ATT_AWU] = 0.05f,
.param_names[PARAM_PID_ATT_AWU] = "PID_ATT_AWU",
.param_needs_write[PARAM_PID_ATT_AWU] = false,
.param_values[PARAM_PID_ATT_LIM] = 0.3f,
.param_names[PARAM_PID_ATT_LIM] = "PID_ATT_LIM",
.param_needs_write[PARAM_PID_ATT_LIM] = false,
.param_values[PARAM_PID_POS_P] = 40.0f,
.param_names[PARAM_PID_POS_P] = "PID_POS_P",
.param_needs_write[PARAM_PID_POS_P] = false,
.param_values[PARAM_PID_POS_I] = 0.0f,
.param_names[PARAM_PID_POS_I] = "PID_POS_I",
.param_needs_write[PARAM_PID_POS_I] = false,
.param_values[PARAM_PID_POS_D] = 0.0f,
.param_names[PARAM_PID_POS_D] = "PID_POS_D",
.param_needs_write[PARAM_PID_POS_D] = false,
.param_values[PARAM_PID_POS_AWU] = 5.0f,
.param_names[PARAM_PID_POS_AWU] = "PID_POS_AWU",
.param_needs_write[PARAM_PID_POS_AWU] = false,
.param_values[PARAM_PID_POS_LIM] = 0.3f,
.param_names[PARAM_PID_POS_LIM] = "PID_POS_LIM",
.param_needs_write[PARAM_PID_POS_LIM] = false,
.param_values[PARAM_PID_POS_Z_P] = 10.0f,
.param_names[PARAM_PID_POS_Z_P] = "PID_POS_Z_P",
.param_needs_write[PARAM_PID_POS_Z_P] = false,
.param_values[PARAM_PID_POS_Z_I] = 0.0f,
.param_names[PARAM_PID_POS_Z_I] = "PID_POS_Z_I",
.param_needs_write[PARAM_PID_POS_Z_I] = false,
.param_values[PARAM_PID_POS_Z_D] = 0.0f,
.param_names[PARAM_PID_POS_Z_D] = "PID_POS_Z_D",
.param_needs_write[PARAM_PID_POS_Z_D] = false,
.param_values[PARAM_PID_POS_Z_AWU] = 3.0f,
.param_names[PARAM_PID_POS_Z_AWU] = "PID_POS_Z_AWU",
.param_needs_write[PARAM_PID_POS_Z_AWU] = false,
.param_values[PARAM_PID_POS_Z_LIM] = 0.3f,
.param_names[PARAM_PID_POS_Z_LIM] = "PID_POS_Z_LIM",
.param_needs_write[PARAM_PID_POS_Z_LIM] = false,
.param_values[PARAM_AIRSPEED] = 30.0f,
.param_names[PARAM_AIRSPEED] = "AIRSPEED",
.param_needs_write[PARAM_AIRSPEED] = false,
.param_values[PARAM_WPLON] = -120.0f,
.param_names[PARAM_WPLON] = "WPLON",
.param_needs_write[PARAM_WPLON] = false,
.param_values[PARAM_WPLAT] = 38.0f,
.param_names[PARAM_WPLAT] = "WPLAT",
.param_needs_write[PARAM_WPLAT] = false,
.param_values[PARAM_WPALT] = 500.0f,
.param_names[PARAM_WPALT] = "WPALT",
.param_needs_write[PARAM_WPALT] = false,
.param_values[PARAM_FLIGHTMODE] = CRUISE,
.param_names[PARAM_FLIGHTMODE] = "FLIGHTMODE",
.param_needs_write[PARAM_FLIGHTMODE] = false,
.param_values[PARAM_SENSOR_GYRO_XOFFSET] = 700.f,
.param_names[PARAM_SENSOR_GYRO_XOFFSET] = "SENSOR_GYRO_XOF",
.param_needs_write[PARAM_SENSOR_GYRO_XOFFSET] = false,
.param_values[PARAM_SENSOR_GYRO_YOFFSET] = 1400.0f,
.param_names[PARAM_SENSOR_GYRO_YOFFSET] = "SENSOR_GYRO_YOF",
.param_needs_write[PARAM_SENSOR_GYRO_YOFFSET] = false,
.param_values[PARAM_SENSOR_GYRO_ZOFFSET] = 0.0f,
.param_names[PARAM_SENSOR_GYRO_ZOFFSET] = "SENSOR_GYRO_ZOF",
.param_needs_write[PARAM_SENSOR_GYRO_ZOFFSET] = false,
.param_values[PARAM_SENSOR_MAG_XOFFSET] = 422.0f,
.param_names[PARAM_SENSOR_MAG_XOFFSET] = "SENSOR_MAG_XOF",
.param_needs_write[PARAM_SENSOR_MAG_XOFFSET] = false,
.param_values[PARAM_SENSOR_MAG_YOFFSET] = -85.0f,
.param_names[PARAM_SENSOR_MAG_YOFFSET] = "SENSOR_MAG_YOF",
.param_needs_write[PARAM_SENSOR_MAG_YOFFSET] = false,
.param_values[PARAM_SENSOR_MAG_ZOFFSET] = -370.0f,
.param_names[PARAM_SENSOR_MAG_ZOFFSET] = "SENSOR_MAG_ZOF",
.param_needs_write[PARAM_SENSOR_MAG_ZOFFSET] = false,
.param_values[PARAM_ATT_XOFFSET] = 0.0f,
.param_names[PARAM_ATT_XOFFSET] = "ATT_XOFF",
.param_needs_write[PARAM_ATT_XOFFSET] = false,
.param_values[PARAM_ATT_YOFFSET] = 0.0f,
.param_names[PARAM_ATT_YOFFSET] = "ATT_YOFF",
.param_needs_write[PARAM_ATT_YOFFSET] = false,
.param_values[PARAM_RC1_MIN] = 1000.0f,
.param_names[PARAM_RC1_MIN] = "RC1_MIN",
.param_needs_write[PARAM_RC1_MIN] = false,
.param_values[PARAM_RC1_MAX] = 2000.0f,
.param_names[PARAM_RC1_MAX] = "RC1_MAX",
.param_needs_write[PARAM_RC1_MAX] = false,
.param_values[PARAM_RC1_TRIM] = 1500.0f,
.param_names[PARAM_RC1_TRIM] = "RC1_TRIM",
.param_needs_write[PARAM_RC1_TRIM] = false,
.param_values[PARAM_RC1_REV] = 1.0f,
.param_names[PARAM_RC1_REV] = "RC1_REV",
.param_needs_write[PARAM_RC1_REV] = false,
.param_values[PARAM_RC2_MIN] = 1000.0f,
.param_names[PARAM_RC2_MIN] = "RC2_MIN",
.param_needs_write[PARAM_RC2_MIN] = false,
.param_values[PARAM_RC2_MAX] = 2000.0f,
.param_names[PARAM_RC2_MAX] = "RC2_MAX",
.param_needs_write[PARAM_RC2_MAX] = false,
.param_values[PARAM_RC2_TRIM] = 1500.0f,
.param_names[PARAM_RC2_TRIM] = "RC2_TRIM",
.param_needs_write[PARAM_RC2_TRIM] = false,
.param_values[PARAM_RC2_REV] = 1.0f,
.param_names[PARAM_RC2_REV] = "RC2_REV",
.param_needs_write[PARAM_RC2_REV] = false,
.param_values[PARAM_RC3_MIN] = 1000.0f,
.param_names[PARAM_RC3_MIN] = "RC3_MIN",
.param_needs_write[PARAM_RC3_MIN] = false,
.param_values[PARAM_RC3_MAX] = 2000.0f,
.param_names[PARAM_RC3_MAX] = "RC3_MAX",
.param_needs_write[PARAM_RC3_MAX] = false,
.param_values[PARAM_RC3_TRIM] = 1500.0f,
.param_names[PARAM_RC3_TRIM] = "RC3_TRIM",
.param_needs_write[PARAM_RC3_TRIM] = false,
.param_values[PARAM_RC3_REV] = 1.0f,
.param_names[PARAM_RC3_REV] = "RC3_REV",
.param_needs_write[PARAM_RC3_REV] = false,
.param_values[PARAM_RC4_MIN] = 1000.0f,
.param_names[PARAM_RC4_MIN] = "RC4_MIN",
.param_needs_write[PARAM_RC4_MIN] = false,
.param_values[PARAM_RC4_MAX] = 2000.0f,
.param_names[PARAM_RC4_MAX] = "RC4_MAX",
.param_needs_write[PARAM_RC4_MAX] = false,
.param_values[PARAM_RC4_TRIM] = 1500.0f,
.param_names[PARAM_RC4_TRIM] = "RC4_TRIM",
.param_needs_write[PARAM_RC4_TRIM] = false,
.param_values[PARAM_RC4_REV] = 1.0f,
.param_names[PARAM_RC4_REV] = "RC4_REV",
.param_needs_write[PARAM_RC4_MIN] = false,
.param_values[PARAM_RC5_MIN] = 1000.0f,
.param_names[PARAM_RC5_MIN] = "RC5_MIN",
.param_needs_write[PARAM_RC5_MIN] = false,
.param_values[PARAM_RC5_MAX] = 2000.0f,
.param_names[PARAM_RC5_MAX] = "RC5_MAX",
.param_needs_write[PARAM_RC5_MAX] = false,
.param_values[PARAM_RC5_TRIM] = 1500.0f,
.param_names[PARAM_RC5_TRIM] = "RC5_TRIM",
.param_needs_write[PARAM_RC5_TRIM] = false,
.param_values[PARAM_RC5_REV] = 1.0f,
.param_names[PARAM_RC5_REV] = "RC5_REV",
.param_needs_write[PARAM_RC5_REV] = false,
.param_values[PARAM_RC6_MIN] = 1000.0f,
.param_names[PARAM_RC6_MIN] = "RC6_MIN",
.param_needs_write[PARAM_RC6_MIN] = false,
.param_values[PARAM_RC6_MAX] = 2000.0f,
.param_names[PARAM_RC6_MAX] = "RC6_MAX",
.param_needs_write[PARAM_RC6_MAX] = false,
.param_values[PARAM_RC6_TRIM] = 1500.0f,
.param_names[PARAM_RC6_TRIM] = "RC6_TRIM",
.param_needs_write[PARAM_RC6_TRIM] = false,
.param_values[PARAM_RC6_REV] = 1.0f,
.param_names[PARAM_RC6_REV] = "RC6_REV",
.param_needs_write[PARAM_RC6_REV] = false,
.param_values[PARAM_RC7_MIN] = 1000,
.param_names[PARAM_RC7_MIN] = "RC7_MIN",
.param_needs_write[PARAM_RC7_MIN] = false,
.param_values[PARAM_RC7_MAX] = 2000,
.param_names[PARAM_RC7_MAX] = "RC7_MAX",
.param_needs_write[PARAM_RC7_MAX] = false,
.param_values[PARAM_RC7_TRIM] = 1500,
.param_names[PARAM_RC7_TRIM] = "RC7_TRIM",
.param_needs_write[PARAM_RC7_TRIM] = false,
.param_values[PARAM_RC7_REV] = 1.0f,
.param_names[PARAM_RC7_REV] = "RC7_REV",
.param_needs_write[PARAM_RC7_REV] = false,
.param_values[PARAM_RC8_MIN] = 1000,
.param_names[PARAM_RC8_MIN] = "RC8_MIN",
.param_needs_write[PARAM_RC8_MIN] = false,
.param_values[PARAM_RC8_MAX] = 2000,
.param_names[PARAM_RC8_MAX] = "RC8_MAX",
.param_needs_write[PARAM_RC8_MAX] = false,
.param_values[PARAM_RC8_TRIM] = 1500,
.param_names[PARAM_RC8_TRIM] = "RC8_TRIM",
.param_needs_write[PARAM_RC8_TRIM] = false,
.param_values[PARAM_RC8_REV] = 1.0f,
.param_names[PARAM_RC8_REV] = "RC8_REV",
.param_needs_write[PARAM_RC8_REV] = false,
.param_values[PARAM_ROLL_CHAN] = 1,
.param_names[PARAM_ROLL_CHAN] = "ROLL_CHAN",
.param_needs_write[PARAM_ROLL_CHAN] = false,
.param_values[PARAM_PITCH_CHAN] = 2,
.param_names[PARAM_PITCH_CHAN] = "PITCH_CHAN",
.param_needs_write[PARAM_PITCH_CHAN] = false,
.param_values[PARAM_THROTTLE_CHAN] = 3,
.param_names[PARAM_THROTTLE_CHAN] = "THROTTLE_CHAN",
.param_needs_write[PARAM_THROTTLE_CHAN] = false,
.param_values[PARAM_YAW_CHAN] = 4,
.param_names[PARAM_YAW_CHAN] = "YAW_CHAN",
.param_needs_write[PARAM_YAW_CHAN] = false,
.param_values[PARAM_OVERRIDE_CHAN] = 5,
.param_names[PARAM_OVERRIDE_CHAN] = "OVERRIDE_CHAN",
.param_needs_write[PARAM_OVERRIDE_CHAN] = false,
.param_values[PARAM_SERVO1_MIN] = 1000.0f,
.param_names[PARAM_SERVO1_MIN] = "SERVO1_MIN",
.param_needs_write[PARAM_SERVO1_MIN] = false,
.param_values[PARAM_SERVO1_MAX] = 2000.0f,
.param_names[PARAM_SERVO1_MAX] = "SERVO1_MAX",
.param_needs_write[PARAM_SERVO1_MAX] = false,
.param_values[PARAM_SERVO1_TRIM] = 1500.0f,
.param_names[PARAM_SERVO1_TRIM] = "SERVO1_TRIM",
.param_needs_write[PARAM_SERVO1_TRIM] = false,
.param_values[PARAM_SERVO2_MIN] = 1000.0f,
.param_names[PARAM_SERVO2_MIN] = "SERVO2_MIN",
.param_needs_write[PARAM_SERVO2_MIN] = false,
.param_values[PARAM_SERVO2_MAX] = 2000.0f,
.param_names[PARAM_SERVO2_MAX] = "SERVO2_MAX",
.param_needs_write[PARAM_SERVO2_MAX] = false,
.param_values[PARAM_SERVO2_TRIM] = 1500.0f,
.param_names[PARAM_SERVO2_TRIM] = "SERVO2_TRIM",
.param_needs_write[PARAM_SERVO2_TRIM] = false,
.param_values[PARAM_SERVO3_MIN] = 1000.0f,
.param_names[PARAM_SERVO3_MIN] = "SERVO3_MIN",
.param_needs_write[PARAM_SERVO3_MIN] = false,
.param_values[PARAM_SERVO3_MAX] = 2000.0f,
.param_names[PARAM_SERVO3_MAX] = "SERVO3_MAX",
.param_needs_write[PARAM_SERVO3_MAX] = false,
.param_values[PARAM_SERVO3_TRIM] = 1500.0f,
.param_names[PARAM_SERVO3_TRIM] = "SERVO3_TRIM",
.param_needs_write[PARAM_SERVO3_TRIM] = false,
.param_values[PARAM_SERVO4_MIN] = 1000.0f,
.param_names[PARAM_SERVO4_MIN] = "SERVO4_MIN",
.param_needs_write[PARAM_SERVO4_MIN] = false,
.param_values[PARAM_SERVO4_MAX] = 2000.0f,
.param_names[PARAM_SERVO4_MAX] = "SERVO4_MAX",
.param_needs_write[PARAM_SERVO4_MAX] = false,
.param_values[PARAM_SERVO4_TRIM] = 1500.0f,
.param_names[PARAM_SERVO4_TRIM] = "SERVO4_TRIM",
.param_needs_write[PARAM_SERVO4_TRIM] = false,
.param_values[PARAM_SERVO_SCALE] = 20.0f,
.param_names[PARAM_SERVO_SCALE] = "SERVO_SCALE",
.param_needs_write[PARAM_SERVO_SCALE] = false
}
};
struct global_data_parameter_storage_t *global_data_parameter_storage = &global_data_parameter_storage_d;
apps/uORB/parameter_storage.h
-152
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@@ -1,152 +0,0 @@
/* Structure for storage of parameters */
#ifndef GLOBAL_DATA_PARAMETER_STORAGE_T_H_ //adjust this line!
#define GLOBAL_DATA_PARAMETER_STORAGE_T_H_ //adjust this line!
#define PX4_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN 16
#define MAX_PARAM_NAME_LEN 16
#include <stdbool.h>
#include <stdint.h>
enum MODE {
TAKEOFF = 1,
CRUISE,
LOITER,
LAND
};
enum PARAM {
PARAM_SYSTEM_ID = 0, ///< System ID used for communication
PARAM_COMP_ID, ///< Component ID
PARAM_FLIGHT_ENV, ///< Flight environment, indoor or outdoor
PARAM_BATTERYVOLTAGE_CONVERSION, ///< Conversion factor from adc measurement to millivolts. if not set the sensor app will use the default value for the ardrone board
PARAM_PID_YAWPOS_P,
PARAM_PID_YAWPOS_I,
PARAM_PID_YAWPOS_D,
PARAM_PID_YAWPOS_AWU,
PARAM_PID_YAWPOS_LIM,
PARAM_PID_YAWSPEED_P,
PARAM_PID_YAWSPEED_I,
PARAM_PID_YAWSPEED_D,
PARAM_PID_YAWSPEED_AWU,
PARAM_PID_YAWSPEED_LIM,
PARAM_PID_ATT_P,
PARAM_PID_ATT_I,
PARAM_PID_ATT_D,
PARAM_PID_ATT_AWU,
PARAM_PID_ATT_LIM,
PARAM_PID_POS_P,
PARAM_PID_POS_I,
PARAM_PID_POS_D,
PARAM_PID_POS_AWU,
PARAM_PID_POS_LIM,
PARAM_PID_POS_Z_P,
PARAM_PID_POS_Z_I,
PARAM_PID_POS_Z_D,
PARAM_PID_POS_Z_AWU,
PARAM_PID_POS_Z_LIM,
PARAM_AIRSPEED,
PARAM_WPLON,
PARAM_WPLAT,
PARAM_WPALT,
PARAM_FLIGHTMODE,
PARAM_SENSOR_GYRO_XOFFSET,
PARAM_SENSOR_GYRO_YOFFSET,
PARAM_SENSOR_GYRO_ZOFFSET,
PARAM_SENSOR_MAG_XOFFSET,
PARAM_SENSOR_MAG_YOFFSET,
PARAM_SENSOR_MAG_ZOFFSET,
PARAM_ATT_XOFFSET,
PARAM_ATT_YOFFSET,
PARAM_RC1_MIN,
PARAM_RC1_MAX,
PARAM_RC1_TRIM,
PARAM_RC1_REV,
PARAM_RC2_MIN,
PARAM_RC2_MAX,
PARAM_RC2_TRIM,
PARAM_RC2_REV,
PARAM_RC3_MIN,
PARAM_RC3_MAX,
PARAM_RC3_TRIM,
PARAM_RC3_REV,
PARAM_RC4_MIN,
PARAM_RC4_MAX,
PARAM_RC4_TRIM,
PARAM_RC4_REV,
PARAM_RC5_MIN,
PARAM_RC5_MAX,
PARAM_RC5_TRIM,
PARAM_RC5_REV,
PARAM_RC6_MIN,
PARAM_RC6_MAX,
PARAM_RC6_TRIM,
PARAM_RC6_REV,
PARAM_RC7_MIN,
PARAM_RC7_MAX,
PARAM_RC7_TRIM,
PARAM_RC7_REV,
PARAM_RC8_MIN,
PARAM_RC8_MAX,
PARAM_RC8_TRIM,
PARAM_RC8_REV,
PARAM_THROTTLE_CHAN,
PARAM_ROLL_CHAN,
PARAM_PITCH_CHAN,
PARAM_YAW_CHAN,
PARAM_OVERRIDE_CHAN,
PARAM_SERVO1_MIN,
PARAM_SERVO1_MAX,
PARAM_SERVO1_TRIM,
PARAM_SERVO2_MIN,
PARAM_SERVO2_MAX,
PARAM_SERVO2_TRIM,
PARAM_SERVO3_MIN,
PARAM_SERVO3_MAX,
PARAM_SERVO3_TRIM,
PARAM_SERVO4_MIN,
PARAM_SERVO4_MAX,
PARAM_SERVO4_TRIM,
PARAM_SERVO_SCALE,
PARAM_MAX_COUNT ///< LEAVE THIS IN PLACE AS LAST ELEMENT!
};
#pragma pack(push, 1)
struct px4_parameter_storage_t {
float param_values[PARAM_MAX_COUNT]; ///< Parameter values
bool param_needs_write[PARAM_MAX_COUNT];
const char *param_names[PARAM_MAX_COUNT]; ///< Parameter names
uint16_t next_param;
uint16_t size;
};
#pragma pack(pop)
#define PX4_FLIGHT_ENVIRONMENT_INDOOR 0
#define PX4_FLIGHT_ENVIRONMENT_OUTDOOR 1
#define PX4_FLIGHT_ENVIRONMENT_TESTING 2 //NO check for position fix in this environment
#pragma pack(push, 1)
struct global_data_parameter_storage_t {
/* use of a counter and timestamp recommended (but not necessary) */
// uint16_t counter; //incremented by the writing thread everytime new data is stored
uint64_t timestamp; //in microseconds since system start, is set whenever the writing thread stores new data
/* Actual data, this is specific to the type of data which is stored in this struct */
//***** Start: Add your variables here *****
/* Parameters (set by a param_set mavlink message */
struct px4_parameter_storage_t pm;
//*****END: Add your variables here *****
};
#pragma pack(pop)
__attribute__ ((visibility ("default"))) extern struct global_data_parameter_storage_t *global_data_parameter_storage; //adjust this line!
#endif
apps/uORB/topics/parameters.h → apps/uORB/topics/parameter_update.h
+4 -11
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@@ -32,19 +32,12 @@
****************************************************************************/
/**
* @file parameters.h
*
* Actuator control topics - mixer inputs.
*
* Values published to these topics are the outputs of the vehicle control
* system, and are expected to be mixed and used to drive the actuators
* (servos, speed controls, etc.) that operate the vehicle.
*
* Each topic can be published by a single controller
* @file parameter_update.h
* Notification about a parameter update.
*/
#ifndef TOPIC_PARAMETERS_H
#define TOPIC_PARAMETERS_H
#ifndef TOPIC_PARAMETER_UPDATE_H
#define TOPIC_PARAMETER_UPDATE_H
#include <stdint.h>
#include "../uORB.h"
apps/uORB/uORB.cpp
+2 -1
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@@ -32,7 +32,8 @@
****************************************************************************/
/**
* @file A lightweight object broker.
* @file uORB.cpp
* A lightweight object broker.
*/
#include <nuttx/config.h>
apps/uORB/uORB.h
+2 -3
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@@ -35,14 +35,13 @@
#define _UORB_UORB_H
/**
* @file API for the uORB lightweight object broker.
* @file uORB.h
* API for the uORB lightweight object broker.
*/
#include <sys/types.h>
#include <stdint.h>
#include <stdbool.h>
// Hack until parameter storage is cleaned up
#include "parameter_storage.h"
// Hack until everything is using this header
#include <systemlib/visibility.h>