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/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
Bryan Godbolt
committed
/**
* @file
* @brief Types used for Opal-RT interface configuration
* @author Bryan Godbolt <godbolt@ualberta.ca>
*/
Bryan Godbolt
committed
#include <QString>
#include <QMessageBox>
#include "OpalApi.h"
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/**
Configuration info for the model
*/
const unsigned short NUM_OUTPUT_SIGNALS=48;
/* ------------------------------ Outputs ------------------------------
*
* Port 1: Navigation state estimates
* 1 t [s] time elapsed since INS mode started
* 2-4 p^n [m] navigation frame position (N,E,D)
* 5-7 v^n [m/s] navigation frame velocity (N,E,D)
* 8-10 Euler angles [rad] (roll, pitch, yaw)
* 11-13 Angular rates
* 14-16 b_f [m/s^2] accelerometer biases
* 17-19 b_w [rad/s] gyro biases
*
* Port 2: Navigation system status
* 1 mode (0: initialization, 1: INS)
* 2 t_GPS time elapsed since last valid GPS measurement
* 3 solution status (0: SOL_COMPUTED, 1: INSUFFICIENT_OBS)
* 4 position solution type ( 0: NONE, 34: NARROW_FLOAT,
* 49: WIDE_INT, 50: NARROW_INT)
* 5 # obs (number of visible satellites)
*
* Port 3: Covariance matrix diagonal
* 1-15 diagonal elements of estimation error covariance matrix P
*/
enum SignalPort {
T_ELAPSED,
X_POS,
Y_POS,
Z_POS,
X_VEL,
Y_VEL,
Z_VEL,
ROLL,
PITCH,
YAW,
ROLL_SPEED,
PITCH_SPEED,
YAW_SPEED,
B_F_0,
B_F_1,
B_F_2,
B_W_0,
B_W_1,
B_W_2,
RAW_CHANNEL_1 = 24,
RAW_CHANNEL_2,
RAW_CHANNEL_3,
RAW_CHANNEL_4,
RAW_CHANNEL_5,
RAW_CHANNEL_6,
RAW_CHANNEL_7,
RAW_CHANNEL_8,
NORM_CHANNEL_1,
NORM_CHANNEL_2,
NORM_CHANNEL_3,
NORM_CHANNEL_4,
NORM_CHANNEL_5,
NORM_CHANNEL_6,
NORM_CHANNEL_7,
NORM_CHANNEL_8,
CONTROLLER_AILERON,
CONTROLLER_ELEVATOR,
AIL_POUT,
AIL_IOUT,
AIL_DOUT,
ELE_POUT,
ELE_IOUT,
ELE_DOUT
};
/** Component IDs of the parameters. Currently they are all 1 becuase there is no advantage
to dividing them between component ids. However this syntax is used so that this can
easily be changed in the future.
*/
enum SubsystemIds {
NAV = 1,
LOG,
CONTROLLER,
SERVO_OUTPUTS,
SERVO_INPUTS
};
class OpalErrorMsg
{
static QString lastErrorMsg;
public:
static void displayLastErrorMsg();
static void setLastErrorMsg();
};