Go to the source code of this file.
Defines | |
| #define | EXT_POSITION_BYPASS_FILTER 0x0001 |
| bypasses the position filter --> speed AND position must be provided! | |
| #define | EXT_POSITION_CMD_BODYFIXED 0x0010 |
| sets control mode to position control | |
| #define | EXT_POSITION_CMD_POSITION 0x0000 |
| sets control mode to position control | |
| #define | EXT_POSITION_CMD_RESET 0x8000 |
| sets the controller's setpoint to the current position | |
| #define | EXT_POSITION_CMD_VELOCITY 0x0001 |
| sets control mode to velocity-control | |
| #define | EXT_POSITION_CMD_WORLDFIXED 0x0000 |
| sets control mode to position control | |
| #define | EXT_POSITION_RESET 0x8000 |
| resets the position filter | |
Functions | |
| struct | __attribute__ ((packed)) EXT_POSITION |
| gps packet | |
Define Documentation
| #define EXT_POSITION_BYPASS_FILTER 0x0001 |
bypasses the position filter --> speed AND position must be provided!
Definition at line 94 of file extPositionCtrl.h.
| #define EXT_POSITION_CMD_BODYFIXED 0x0010 |
sets control mode to position control
Definition at line 109 of file extPositionCtrl.h.
| #define EXT_POSITION_CMD_POSITION 0x0000 |
sets control mode to position control
Definition at line 103 of file extPositionCtrl.h.
| #define EXT_POSITION_CMD_RESET 0x8000 |
sets the controller's setpoint to the current position
Definition at line 97 of file extPositionCtrl.h.
| #define EXT_POSITION_CMD_VELOCITY 0x0001 |
sets control mode to velocity-control
Definition at line 100 of file extPositionCtrl.h.
| #define EXT_POSITION_CMD_WORLDFIXED 0x0000 |
sets control mode to position control
Definition at line 106 of file extPositionCtrl.h.
| #define EXT_POSITION_RESET 0x8000 |
resets the position filter
Definition at line 91 of file extPositionCtrl.h.
Function Documentation
| struct __attribute__ | ( | (packed) | ) | [read] |
gps 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
Client | | Server | | tc1 |--------| ts1 | | tc2 |--------| ts2 | |
ts1=ts2; tc2 is measured on the arrival of the packet
Struct to send the current postion to the HL controller. In normal operation, only x, y, z, yaw have to be provided. When bitfield is set to EXT_POSITION_BYPASS_FILTER, the state estimator is bypassed and velocity MUST be provided. This is useful, if you have your own state estimation and just want to use the position controller. qualXX is currently "binary":set the value to greater than 30 if your estimate is valid. For lower values, the last valid position will be hold. coordinate system: ENU x: front y: left z: up yaw: ccw when viewed from top
< X-Position in mm
< Y-Position in mm
< Z-Position in mm
< heading in 1/1000 degree. 0..360000
< speed in X direction in mm/s
< speed in Y direction in mm/s
< speed in Z direction in mm/s
< Quality of X measurement. 0: poor; 100: excellent
< Quality of Y measurement. 0: poor; 100: excellent
< Quality of Z measurement. 0: poor; 100: excellent
< Quality of X speed measurement. 0: poor; 100: excellent
< Quality of y speed measurement. 0: poor; 100: excellent
< Quality of Z speed measurement. 0: poor; 100: excellent
Struct to send velocity or position commands coordinate system: ENU x: front y: left z: up yaw: ccw when viewed from top
sequence counter
< desired X-Position in mm
< desired Y-Position in mm
< desired Z-Position in mm
< desired heading in 1/1000 degree. 0..360000
< desired speed in X direction in mm/s
< desired speed in Y direction in mm/s
< desired speed in Z direction in mm/s
< desired turn rate of yaw in 1/1000 deg/s
< max velocity xy to reach a waypoint
< max velocity z to reach a waypoint
Definition at line 35 of file extPositionCtrl.h.