Commit 77f57fe8 authored by pixhawk's avatar pixhawk

better comments

parent 6ba7f6cb
# 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
...@@ -65,7 +65,7 @@ private: ...@@ -65,7 +65,7 @@ private:
public: public:
UASWaypointManager(UAS&); ///< Standard constructor. 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 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 void handleWaypoint(quint8 systemId, quint8 compId, mavlink_waypoint_t *wp); ///< Handles received waypoint messages
...@@ -78,6 +78,8 @@ public: ...@@ -78,6 +78,8 @@ public:
QVector<Waypoint *> &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. QVector<Waypoint *> &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: private:
/** @name Message send functions */
/*@{*/
void sendWaypointClearAll(); void sendWaypointClearAll();
void sendWaypointSetCurrent(quint16 seq); void sendWaypointSetCurrent(quint16 seq);
void sendWaypointCount(); void sendWaypointCount();
...@@ -85,6 +87,7 @@ private: ...@@ -85,6 +87,7 @@ private:
void sendWaypointRequest(quint16 seq); ///< Requests a waypoint with sequence number seq void sendWaypointRequest(quint16 seq); ///< Requests a waypoint with sequence number seq
void sendWaypoint(quint16 seq); ///< Sends 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 void sendWaypointAck(quint8 type); ///< Sends a waypoint ack
/*@}*/
public slots: public slots:
void timeout(); ///< Called by the timer if a response times out. Handles send retries. void timeout(); ///< Called by the timer if a response times out. Handles send retries.
...@@ -107,8 +110,8 @@ private: ...@@ -107,8 +110,8 @@ private:
quint8 current_partner_systemid; ///< The current protocol communication target system quint8 current_partner_systemid; ///< The current protocol communication target system
quint8 current_partner_compid; ///< The current protocol communication target component quint8 current_partner_compid; ///< The current protocol communication target component
QVector<Waypoint *> waypoints; ///< local waypoint list QVector<Waypoint *> waypoints; ///< local waypoint list (main storage)
QVector<mavlink_waypoint_t *> waypoint_buffer; ///< communication buffer for waypoints QVector<mavlink_waypoint_t *> waypoint_buffer; ///< buffer for waypoints during communication
QTimer protocol_timer; ///< Timer to catch timeouts QTimer protocol_timer; ///< Timer to catch timeouts
}; };
......
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