#include "extPositionCtrl.h"
#include "HL_SSDK.h"
#include <inttypes.h>

Include dependency graph for HL_interface.h:

Defines
#define	HLI_COMM_ACK 0x01
	defines that a packet has to be acknowledged when received
#define	HLI_COMMUNICATION_TIMEOUT 3
#define	HLI_DEFAULT_BAUDRATE 57600
#define	HLI_DEFAULT_PERIOD_EKF_STATE 0
#define	HLI_DEFAULT_PERIOD_GPS 200
#define	HLI_DEFAULT_PERIOD_IMU 20
#define	HLI_DEFAULT_PERIOD_RCDATA 100
#define	HLI_DEFAULT_PERIOD_SSDK_DEBUG 200
#define	HLI_EKF_STATE_CURRENT_STATE 1
#define	HLI_EKF_STATE_INITIALIZATION 2
#define	HLI_EKF_STATE_SIZE 16
#define	HLI_EKF_STATE_STATE_CORRECTION 3
#define	HLI_FLIGHTMODE_ACC 0x01
#define	HLI_FLIGHTMODE_GPS 0x07
#define	HLI_FLIGHTMODE_HEIGHT 0x03
#define	HLI_GPS_BIT 0x20
#define	HLI_HEIGHT_BIT 0x10
#define	HLI_MODE_POSCTRL_HL 0x40
	use position controller on the HL based on state estimation on the HL or external state estimation
#define	HLI_MODE_POSCTRL_LL 0x20
	position control in performed on the LL controller. This just works if GPS is available
#define	HLI_MODE_POSCTRL_OFF 0x10
	position control switched off
#define	HLI_MODE_STATE_ESTIMATION_EXT 0x08
	state estimation is performed externally, e.g. on the host computer
#define	HLI_MODE_STATE_ESTIMATION_HL_EKF 0x04
	state estimation is performed on the HL based on the state prediction of an EKF
#define	HLI_MODE_STATE_ESTIMATION_HL_SSDK 0x02
	state estimation is performed on the HL in the SSDK based on positions that are sent to it
#define	HLI_MODE_STATE_ESTIMATION_OFF 0x01
	switches state estimation on the HL off
#define	HLI_NUMBER_RC_CHANNELS 8
#define	HLI_PACKET_ID_ACK 0x11
	Acknowledge packet.
#define	HLI_PACKET_ID_BAUDRATE 0x0a
	set baudrate
#define	HLI_PACKET_ID_CONFIG 0x12
	Acknowledge packet.
#define	HLI_PACKET_ID_CONTROL_ENABLE 0x0d
	packet to enable single axis for control
#define	HLI_PACKET_ID_CONTROL_HL 0x07
	commands for control by the HL
#define	HLI_PACKET_ID_CONTROL_LL 0x06
	this is for commands that get forwarded to the LL processor i.e. acceleration/attitude and gps velocities
#define	HLI_PACKET_ID_EKF_STATE 0x0e
	packet to exchange the state of the position/attitude ekf
#define	HLI_PACKET_ID_GPS 0x03
	gps
#define	HLI_PACKET_ID_IMU 0x01
	imu packet
#define	HLI_PACKET_ID_MAG 0x13
	Magnetic compass data packet.
#define	HLI_PACKET_ID_MOTORS 0x09
	motor on/off commands
#define	HLI_PACKET_ID_POSITION_UPDATE 0x08
	(absolute) position update from external reference
#define	HLI_PACKET_ID_RC 0x04
	rc data
#define	HLI_PACKET_ID_SSDK_DEBUG 0x05
	debug data from datafusion/position controller
#define	HLI_PACKET_ID_SSDK_PARAMETERS 0x0b
	set params for matlab onboard controller
#define	HLI_PACKET_ID_SSDK_STATUS 0x10
	SSDK status packet.
#define	HLI_PACKET_ID_STATUS 0x02
	status packet
#define	HLI_PACKET_ID_SUBSCRIPTION 0x0f
	packet to define the periods the packets are sent with
#define	HLI_PACKET_ID_TIMESYNC 0x0c
	timesync packet indentifier
#define	HLI_PITCH_BIT 0x01
#define	HLI_ROLL_BIT 0x02
#define	HLI_SERIALINTERFACE_ACTIVE_BIT 0x40
#define	HLI_SERIALINTERFACE_ENABLED_BIT 0x20
#define	HLI_THRUST_BIT 0x08
#define	HLI_YAW_BIT 0x04
Typedefs
typedef struct EXT_POSITION_CMD	HLI_CMD_HL
	from included file provided by asctec, defines position/velocity commands
typedef struct EXT_POSITION	HLI_EXT_POSITION
	from included file provided by asctec, defines position updates from an external reference
Functions
struct	__attribute__ ((packed))
	imu packet
Variables
	HLI_ACK
	HLI_BAUDRATE
	HLI_CMD_LL
	HLI_CONFIG
	HLI_EKF_STATE
	HLI_GPS
	HLI_IMU
	HLI_MAG
	HLI_MOTORS
	HLI_RCDATA
	HLI_SSDK_STATUS
	HLI_STATUS
	HLI_SUBSCRIPTION
	HLI_TIMESYNC

Define Documentation

#define HLI_COMM_ACK 0x01

defines that a packet has to be acknowledged when received

Definition at line 95 of file HL_interface.h.

#define HLI_COMMUNICATION_TIMEOUT 3

Definition at line 77 of file HL_interface.h.

#define HLI_DEFAULT_BAUDRATE 57600

Definition at line 78 of file HL_interface.h.

#define HLI_DEFAULT_PERIOD_EKF_STATE 0

Definition at line 83 of file HL_interface.h.

#define HLI_DEFAULT_PERIOD_GPS 200

Definition at line 80 of file HL_interface.h.

#define HLI_DEFAULT_PERIOD_IMU 20

Definition at line 79 of file HL_interface.h.

#define HLI_DEFAULT_PERIOD_RCDATA 100

Definition at line 82 of file HL_interface.h.

#define HLI_DEFAULT_PERIOD_SSDK_DEBUG 200

Definition at line 81 of file HL_interface.h.

#define HLI_EKF_STATE_CURRENT_STATE 1

Definition at line 292 of file HL_interface.h.

#define HLI_EKF_STATE_INITIALIZATION 2

Definition at line 293 of file HL_interface.h.

#define HLI_EKF_STATE_SIZE 16

Definition at line 291 of file HL_interface.h.

#define HLI_EKF_STATE_STATE_CORRECTION 3

Definition at line 294 of file HL_interface.h.

#define HLI_FLIGHTMODE_ACC 0x01

Definition at line 64 of file HL_interface.h.

#define HLI_FLIGHTMODE_GPS 0x07

Definition at line 66 of file HL_interface.h.

#define HLI_FLIGHTMODE_HEIGHT 0x03

Definition at line 65 of file HL_interface.h.

#define HLI_GPS_BIT 0x20

Definition at line 74 of file HL_interface.h.

#define HLI_HEIGHT_BIT 0x10

Definition at line 73 of file HL_interface.h.

#define HLI_MODE_POSCTRL_HL 0x40

use position controller on the HL based on state estimation on the HL or external state estimation

Definition at line 92 of file HL_interface.h.

#define HLI_MODE_POSCTRL_LL 0x20

position control in performed on the LL controller. This just works if GPS is available

Definition at line 91 of file HL_interface.h.

#define HLI_MODE_POSCTRL_OFF 0x10

position control switched off

Definition at line 90 of file HL_interface.h.

#define HLI_MODE_STATE_ESTIMATION_EXT 0x08

state estimation is performed externally, e.g. on the host computer

Definition at line 89 of file HL_interface.h.

#define HLI_MODE_STATE_ESTIMATION_HL_EKF 0x04

state estimation is performed on the HL based on the state prediction of an EKF

Definition at line 88 of file HL_interface.h.

#define HLI_MODE_STATE_ESTIMATION_HL_SSDK 0x02

state estimation is performed on the HL in the SSDK based on positions that are sent to it

Definition at line 87 of file HL_interface.h.

#define HLI_MODE_STATE_ESTIMATION_OFF 0x01

switches state estimation on the HL off

Definition at line 86 of file HL_interface.h.

#define HLI_NUMBER_RC_CHANNELS 8

Definition at line 218 of file HL_interface.h.

#define HLI_PACKET_ID_ACK 0x11

Acknowledge packet.

Definition at line 58 of file HL_interface.h.

#define HLI_PACKET_ID_BAUDRATE 0x0a

set baudrate

Definition at line 51 of file HL_interface.h.

#define HLI_PACKET_ID_CONFIG 0x12

Acknowledge packet.

Definition at line 59 of file HL_interface.h.

#define HLI_PACKET_ID_CONTROL_ENABLE 0x0d

packet to enable single axis for control

Definition at line 54 of file HL_interface.h.

#define HLI_PACKET_ID_CONTROL_HL 0x07

commands for control by the HL

Definition at line 48 of file HL_interface.h.

#define HLI_PACKET_ID_CONTROL_LL 0x06

this is for commands that get forwarded to the LL processor i.e. acceleration/attitude and gps velocities

Definition at line 47 of file HL_interface.h.

#define HLI_PACKET_ID_EKF_STATE 0x0e

packet to exchange the state of the position/attitude ekf

Definition at line 55 of file HL_interface.h.

#define HLI_PACKET_ID_GPS 0x03

gps

Definition at line 44 of file HL_interface.h.

#define HLI_PACKET_ID_IMU 0x01

imu packet

Definition at line 42 of file HL_interface.h.

#define HLI_PACKET_ID_MAG 0x13

Magnetic compass data packet.

Definition at line 60 of file HL_interface.h.

#define HLI_PACKET_ID_MOTORS 0x09

motor on/off commands

Definition at line 50 of file HL_interface.h.

#define HLI_PACKET_ID_POSITION_UPDATE 0x08

(absolute) position update from external reference

Definition at line 49 of file HL_interface.h.

#define HLI_PACKET_ID_RC 0x04

rc data

Definition at line 45 of file HL_interface.h.

#define HLI_PACKET_ID_SSDK_DEBUG 0x05

debug data from datafusion/position controller

Definition at line 46 of file HL_interface.h.

#define HLI_PACKET_ID_SSDK_PARAMETERS 0x0b

set params for matlab onboard controller

Definition at line 52 of file HL_interface.h.

#define HLI_PACKET_ID_SSDK_STATUS 0x10

SSDK status packet.

Definition at line 57 of file HL_interface.h.

#define HLI_PACKET_ID_STATUS 0x02

status packet

Definition at line 43 of file HL_interface.h.

#define HLI_PACKET_ID_SUBSCRIPTION 0x0f

packet to define the periods the packets are sent with

Definition at line 56 of file HL_interface.h.

#define HLI_PACKET_ID_TIMESYNC 0x0c

timesync packet indentifier

Definition at line 53 of file HL_interface.h.

#define HLI_PITCH_BIT 0x01

Definition at line 69 of file HL_interface.h.

#define HLI_ROLL_BIT 0x02

Definition at line 70 of file HL_interface.h.

#define HLI_SERIALINTERFACE_ACTIVE_BIT 0x40

Definition at line 68 of file HL_interface.h.

#define HLI_SERIALINTERFACE_ENABLED_BIT 0x20

Definition at line 67 of file HL_interface.h.

#define HLI_THRUST_BIT 0x08

Definition at line 72 of file HL_interface.h.

#define HLI_YAW_BIT 0x04

Definition at line 71 of file HL_interface.h.

Typedef Documentation

typedef struct EXT_POSITION_CMD HLI_CMD_HL

from included file provided by asctec, defines position/velocity commands

Definition at line 271 of file HL_interface.h.

typedef struct EXT_POSITION HLI_EXT_POSITION

from included file provided by asctec, defines position updates from an external reference

Definition at line 268 of file HL_interface.h.

Function Documentation

struct __attribute__ ( (packed) ) [read]

imu packet

packet with magnetic compass readings

acknowledge packet with message type that has been acknowledged

packet for SSDK status

configuration packet for HL processor

define at which frequencies data should be sent

packet for time synchronization between HL processor and PC

struct for LL control commands

contains rc data that was transmitted to the helicopter

status of the helicopter

gps packet

Client | | Server | | tc1 |--------| ts1 | | tc2 |--------| ts2 | |

ts1=ts2; tc2 is measured on the arrival of the packet

timestamp in us; synchronized to host pc

accelerations [mg]

angular velocities; bias-free in units of 0.015deg/s

angles [deg*100]

yaw from 0...360 [deg*100]

height from pressure sensor [mm]

differentiated height [mm/s]

GPS data fused with all other sensors

timestamp in us; synchronized to host pc

latitude/longitude in deg * 10^7

height [mm]

pressure height [mm]

speed in x (E/W) and y(N/S) in mm/s

heading from 0...360 [deg*100]

accuracy estimates [mm] / [mm/s]

GPS status information;

Bit7...Bit3: 0 Bit 2: longitude direction Bit1: latitude direction Bit 0: GPS lock

number of satellite vehicles used in NAV solution

timestamp in us; synchronized to host pc

battery voltage [mv]

Flight time [s]

cpu load in % of the time of one sdk loop

Motor Status:

-1: motors off 0: stop motors 1: start motors 2: motors on

total received packets

total received good packets

indicates if parameters for onboard filters/controller are available

timestamp in us; synchronized to host pc

channel[0]: Pitch channel[1]: Roll channel[2]: Thrust channel[3]: Yaw channel[4]: Serial interface enable/disable channel[5]: manual / height control / GPS + height control

range of each channel: 0..4095

pitch angle / velocity x

roll angle / velocity y

yaw angular velocity

thrust(=acceleration z) / climbrate

0: stop motors, 1: start motors

accelerations [mg]

angular velocities; bias-free in units of 0.015deg/s

state in SI units

< imu packet, 20 ms

< rc channels, 50 ms

< debug channels from the ssdk, 200 ms