OpalRT.h 3.4 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23
/*=====================================================================

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/>.

======================================================================*/

24 25 26 27 28 29
/**
 * @file
 *   @brief Types used for Opal-RT interface configuration
 *   @author Bryan Godbolt <godbolt@ualberta.ca>
 */

30 31 32
#ifndef OPALRT_H
#define OPALRT_H

33 34 35 36
#include <QString>

#include "OpalApi.h"

37 38
namespace OpalRT
{
39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131
/**
  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();
};
132 133
}
#endif // OPALRT_H