From 77f57fe8e81a53093f0552ff598eeae7af58fc52 Mon Sep 17 00:00:00 2001 From: pixhawk Date: Wed, 11 Aug 2010 15:30:08 +0200 Subject: [PATCH] better comments --- settings/parameters_stereo_cam.txt | 86 ++++++++++++++++++++++++++++++ src/uas/UASWaypointManager.h | 9 ++-- 2 files changed, 92 insertions(+), 3 deletions(-) create mode 100644 settings/parameters_stereo_cam.txt diff --git a/settings/parameters_stereo_cam.txt b/settings/parameters_stereo_cam.txt new file mode 100644 index 000000000..aedcae535 --- /dev/null +++ b/settings/parameters_stereo_cam.txt @@ -0,0 +1,86 @@ +# Onboard parameters for system MAV 042 +# +# MAV ID COMPONENT ID PARAM NAME VALUE (FLOAT) +42 100 SYS_ID 42 +42 200 ACC_NAV_OFFS_X 0 +42 200 ACC_NAV_OFFS_Y 0 +42 200 ACC_NAV_OFFS_Z -1000 +42 200 ACC_OFFSET_X 0 +42 200 ACC_OFFSET_Y 0 +42 200 ACC_OFFSET_Z 0 +42 200 ATT_KAL_IYAW 1 +42 200 ATT_KAL_KACC 0.0033 +42 200 ATT_OFFSET_X 0 +42 200 ATT_OFFSET_Y 0 +42 200 ATT_OFFSET_Z -0.08 +42 200 CAM_EXP 100 +42 200 CAM_INTERVAL 36000 +42 200 DEBUG_1 0 +42 200 DEBUG_2 0 +42 200 DEBUG_3 0 +42 200 DEBUG_4 0 +42 200 DEBUG_5 0 +42 200 DEBUG_6 0 +42 200 GYRO_OFFSET_X 29780 +42 200 GYRO_OFFSET_Y 30350 +42 200 GYRO_OFFSET_Z 29847 +42 200 MIX_OFFSET 1 +42 200 MIX_POSITION 0 +42 200 MIX_POS_YAW 0 +42 200 MIX_REMOTE 1 +42 200 MIX_Z_POSITION 0 +42 200 PID_ATT_AWU 0.3 +42 200 PID_ATT_D 30 +42 200 PID_ATT_I 60 +42 200 PID_ATT_P 90 +42 200 PID_POS_AWU 5 +42 200 PID_POS_D 2 +42 200 PID_POS_I 0.4 +42 200 PID_POS_P 1.8 +42 200 PID_POS_Z_AWU 3 +42 200 PID_POS_Z_D 0.2 +42 200 PID_POS_Z_I 0.4 +42 200 PID_POS_Z_LIM 0.3 +42 200 PID_POS_Z_P 0.5 +42 200 PID_YAWPOS_AWU 1 +42 200 PID_YAWPOS_D 1 +42 200 PID_YAWPOS_I 0.1 +42 200 PID_YAWPOS_P 5 +42 200 PID_YAWSPEED_D 0 +42 200 PID_YAWSPEED_I 10 +42 200 PID_YAWSPEED_P 30 +42 200 PID_YAWSPE_AWU 1 +42 200 POS_SP_ACCEPT 0 +42 200 POS_SP_X 1.1 +42 200 POS_SP_Y 1.1 +42 200 POS_SP_YAW 0 +42 200 POS_SP_Z -0.8 +42 200 POS_TIMEOUT 2e+06 +42 200 RC_NICK_CHAN 1 +42 200 RC_ROLL_CHAN 2 +42 200 RC_SAFETY_CHAN 5 +42 200 RC_THRUST_CHAN 3 +42 200 RC_TRIM_CHAN 0 +42 200 RC_TUNE_CHAN1 7 +42 200 RC_TUNE_CHAN2 5 +42 200 RC_TUNE_CHAN3 6 +42 200 RC_TUNE_CHAN4 8 +42 200 RC_YAW_CHAN 4 +42 200 SEND_DEBUGCHAN 0 +42 200 SLOT_ATTITUDE 1 +42 200 SLOT_CONTROL 0 +42 200 SLOT_RAW_IMU 0 +42 200 SLOT_RC 0 +42 200 SYS_COMP_ID 200 +42 200 SYS_ID 42 +42 200 SYS_IMU_RESET 0 +42 200 SYS_SW_VER 2000 +42 200 SYS_TYPE 2 +42 200 UART_0_BAUD 115200 +42 200 UART_1_BAUD 57600 +42 200 VEL_DAMP 0.95 +42 200 VEL_OFFSET_X 0 +42 200 VEL_OFFSET_Y 0 +42 200 VEL_OFFSET_Z 0 +42 200 VIS_OUTL_TRESH 0.2 +42 200 VIS_YAWCORR 0 diff --git a/src/uas/UASWaypointManager.h b/src/uas/UASWaypointManager.h index 4ccd72430..fa78e21c3 100644 --- a/src/uas/UASWaypointManager.h +++ b/src/uas/UASWaypointManager.h @@ -65,7 +65,7 @@ private: public: UASWaypointManager(UAS&); ///< Standard constructor. - /** @name Protocol handlers */ + /** @name Received message handlers */ /*@{*/ void handleWaypointCount(quint8 systemId, quint8 compId, quint16 count); ///< Handles received waypoint count messages void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp); ///< Handles received waypoint messages @@ -78,6 +78,8 @@ public: QVector &getWaypointList(void) { return waypoints; } ///< Returns a reference to the local waypoint list. Gives full access to the internal data structure - Subject to change: Public const access and friend access for the waypoint list widget. private: + /** @name Message send functions */ + /*@{*/ void sendWaypointClearAll(); void sendWaypointSetCurrent(quint16 seq); void sendWaypointCount(); @@ -85,6 +87,7 @@ private: void sendWaypointRequest(quint16 seq); ///< Requests a waypoint with sequence number seq void sendWaypoint(quint16 seq); ///< Sends a waypoint with sequence number seq void sendWaypointAck(quint8 type); ///< Sends a waypoint ack + /*@}*/ public slots: void timeout(); ///< Called by the timer if a response times out. Handles send retries. @@ -107,8 +110,8 @@ private: quint8 current_partner_systemid; ///< The current protocol communication target system quint8 current_partner_compid; ///< The current protocol communication target component - QVector waypoints; ///< local waypoint list - QVector waypoint_buffer; ///< communication buffer for waypoints + QVector waypoints; ///< local waypoint list (main storage) + QVector waypoint_buffer; ///< buffer for waypoints during communication QTimer protocol_timer; ///< Timer to catch timeouts }; -- 2.22.0