tk_mkinterface: MKInterfaceOptions.cpp Source File

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00001 /*
00002  * MKInterfaceOptions.cpp
00003  *
00004  *  Created on: Nov 23, 2011
00005  *      Author: mriedel
00006  */
00007 
00008 #include <tk_mkinterface/MKInterfaceOptions.hpp>
00009 #include <telekyb_defines/physic_defines.hpp>
00010 
00011 #define DEFAULT_ZEROSTICKVALUE 110
00012 
00013 namespace TELEKYB_NAMESPACE {
00014 
00015 MKInterfaceOptions::MKInterfaceOptions()
00016         : OptionContainer("MKInterface")
00017 {
00018 #ifdef __APPLE__
00019         tSerialDeviceDirectory = addOption<std::string>("tSerialDeviceDirectory",
00020                         "System Directory of Serial Devices", "/dev", false, true);
00021         tSerialDeviceNameRegex = addOption<std::string>("tSerialDeviceNameRegex",
00022                         "Regex for Device Name", "tty\\.usbserial-.*", false, true);
00023 #else
00024         tSerialDeviceDirectory = addOption<std::string>("tSerialDeviceDirectory",
00025                         "System Directory of Serial Devices", "/dev/serial/by-id", false, true);
00026         tSerialDeviceNameRegex = addOption<std::string>("tSerialDeviceNameRegex",
00027                         "Regex for Device Name", "usb-FTDI_FT232R_USB_UART_.*-if00-port0", false, true);
00028 #endif
00029 
00030 
00031         tUavId = addOption<int>("tUavId",
00032                         "ID of the Robot to Connect to", -1, true, true); // TODO: Change back to 0
00033         tUavFirmware = addOption<int>("tUavFirmware",
00034                         "Required Firmware of Robot", 1074, false, true); // TODO: Change to current active
00035 
00036         tUavMass = addOption<double>("tUavMass",
00037                         "Mass of the Uav", 0.82, false, true);
00038 
00039         tGravity = addBoundsOption<double>("tGravity",
00040                         "Gravity Value for MK Interface", GRAVITY, 9.79, 9.83, false, true);
00041 
00042         tZeroStickValue = addBoundsOption<int>("tZeroStickValue",
00043                         "ZeroStickValue for raw Commands Calculation", DEFAULT_ZEROSTICKVALUE, 50, 150, false, true);
00044 
00045         tInitialDriftEstim = addOption<bool>("tInitialDriftEstim",
00046                         "Do Drift Estimation before at Start-Up", true, false, true);
00047 
00048         // Acceleration Offsets
00049         tUavOffsetRawAccX = addBoundsOption<int>("tUavOffsetRawAccX",
00050                         "Acceleration Offset for X, from Calibrator", 507, 495, 520, false, true);
00051         tUavOffsetRawAccY = addBoundsOption<int>("tUavOffsetRawAccY",
00052                         "Acceleration Offset for Y, from Calibrator", 507, 495, 520, false, true);
00053 
00054 }
00055 
00056 
00057 }