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Merge branch 'master' into new_state_machine

Browse Source 
Conflicts:
	apps/controllib/fixedwing.cpp
This commit is contained in:
Julian Oes
2013-03-22 08:57:26 -07:00
parent 513e1c7398 bee896786a
commit 7f32c01a1d
37 changed files with 1816 additions and 831 deletions
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apps/controllib/block/BlockParam.cpp
+4 -2
View File
@@ -46,7 +46,7 @@
namespace control
{
BlockParamBase::BlockParamBase(Block *parent, const char *name) :
BlockParamBase::BlockParamBase(Block *parent, const char *name, bool parent_prefix) :
_handle(PARAM_INVALID)
{
char fullname[blockNameLengthMax];
@@ -61,8 +61,10 @@ BlockParamBase::BlockParamBase(Block *parent, const char *name) :
if (!strcmp(name, "")) {
strncpy(fullname, parentName, blockNameLengthMax);
} else {
} else if (parent_prefix) {
snprintf(fullname, blockNameLengthMax, "%s_%s", parentName, name);
} else {
strncpy(fullname, name, blockNameLengthMax);
}
parent->getParams().add(this);
apps/controllib/block/BlockParam.hpp
+8 -3
View File
@@ -53,7 +53,12 @@ namespace control
class __EXPORT BlockParamBase : public ListNode<BlockParamBase *>
{
public:
BlockParamBase(Block *parent, const char *name);
/**
* Instantiate a block param base.
*
* @param parent_prefix Set to true to include the parent name in the parameter name
*/
BlockParamBase(Block *parent, const char *name, bool parent_prefix=true);
virtual ~BlockParamBase() {};
virtual void update() = 0;
const char *getName() { return param_name(_handle); }
@@ -68,8 +73,8 @@ template<class T>
class __EXPORT BlockParam : public BlockParamBase
{
public:
BlockParam(Block *block, const char *name) :
BlockParamBase(block, name),
BlockParam(Block *block, const char *name, bool parent_prefix=true) :
BlockParamBase(block, name, parent_prefix),
_val() {
update();
}
apps/controllib/fixedwing.cpp
+15 -15
View File
@@ -172,10 +172,10 @@ BlockBacksideAutopilot::BlockBacksideAutopilot(SuperBlock *parent,
_headingHold(this, ""),
_velocityHold(this, ""),
_altitudeHold(this, ""),
_trimAil(this, "TRIM_AIL"),
_trimElv(this, "TRIM_ELV"),
_trimRdr(this, "TRIM_RDR"),
_trimThr(this, "TRIM_THR")
_trimAil(this, "TRIM_ROLL", false), /* general roll trim (full name: TRIM_ROLL) */
_trimElv(this, "TRIM_PITCH", false), /* general pitch trim */
_trimRdr(this, "TRIM_YAW", false), /* general yaw trim */
_trimThr(this, "TRIM_THR", true) /* FWB_ specific throttle trim (full name: FWB_TRIM_THR) */
{
}
@@ -326,7 +326,7 @@ void BlockMultiModeBacksideAutopilot::update()
_att.rollspeed, _att.pitchspeed, _att.yawspeed
);
_actuators.control[CH_AIL] = _backsideAutopilot.getAileron();
_actuators.control[CH_ELV] = - _backsideAutopilot.getElevator();
_actuators.control[CH_ELV] = _backsideAutopilot.getElevator();
_actuators.control[CH_RDR] = _backsideAutopilot.getRudder();
_actuators.control[CH_THR] = _backsideAutopilot.getThrottle();
@@ -351,17 +351,17 @@ void BlockMultiModeBacksideAutopilot::update()
_actuators.control[CH_ELV] = _manual.pitch;
_actuators.control[CH_RDR] = _manual.yaw;
_actuators.control[CH_THR] = _manual.throttle;
#warning please check whether this flag makes sense
} else if (_status.flag_control_attitude_enabled) {
// } else if (_status.manual_control_mode == VEHICLE_MANUAL_CONTROL_MODE_SAS) {
//
// _stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
// _att.rollspeed, _att.pitchspeed, _att.yawspeed);
//
// _actuators.control[CH_AIL] = _stabilization.getAileron();
// _actuators.control[CH_ELV] = - _stabilization.getElevator();
// _actuators.control[CH_RDR] = _stabilization.getRudder();
// _actuators.control[CH_THR] = _manual.throttle;
// }
_stabilization.update(_manual.roll, _manual.pitch, _manual.yaw,
_att.rollspeed, _att.pitchspeed, _att.yawspeed);
_actuators.control[CH_AIL] = _stabilization.getAileron();
_actuators.control[CH_ELV] = _stabilization.getElevator();
_actuators.control[CH_RDR] = _stabilization.getRudder();
_actuators.control[CH_THR] = _manual.throttle;
}
}
// update all publications