Defines | Functions
extPositionCtrl.h File Reference
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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.



asctec_hl_comm
Author(s): Markus Achtelik, Michael Achtelik, Stephan Weiss, Laurent Kneip
autogenerated on Sun Oct 5 2014 22:20:55