void Simulator::setupObjects()
{
if (settings.gcsReceiverEnabled) {
setupInputObject(actCommand, settings.minOutputPeriod); // Input to the simulator
setupOutputObject(gcsReceiver, settings.minOutputPeriod);
} else if (settings.manualControlEnabled) {
setupInputObject(actDesired, settings.minOutputPeriod); // Input to the simulator
}
setupOutputObject(posHome, 10000); // Hardcoded? Bleh.
if (settings.gpsPositionEnabled) {
setupOutputObject(gpsPos, settings.gpsPosRate);
setupOutputObject(gpsVel, settings.gpsPosRate);
}
if (settings.groundTruthEnabled) {
setupOutputObject(posActual, settings.groundTruthRate);
setupOutputObject(velActual, settings.groundTruthRate);
}
if (settings.attRawEnabled) {
setupOutputObject(accels, settings.attRawRate);
setupOutputObject(gyros, settings.attRawRate);
}
if (settings.attActualEnabled && settings.attActHW) {
setupOutputObject(accels, settings.attRawRate);
setupOutputObject(gyros, settings.attRawRate);
}
if (settings.attActualEnabled && !settings.attActHW) {
setupOutputObject(attActual, 20); // Hardcoded? Bleh.
} else {
setupWatchedObject(attActual, 100); // Hardcoded? Bleh.
}
if (settings.airspeedActualEnabled) {
setupOutputObject(airspeedActual, settings.airspeedActualRate);
}
if (settings.baroAltitudeEnabled) {
setupOutputObject(baroAlt, settings.baroAltRate);
setupOutputObject(flightBatt, settings.baroAltRate);
}
}
void Exporter::setupObjects()
{
if (settings.gcsReceiverEnabled) {
setupInputObject(actCommand, settings.minOutputPeriod); //Input to the exporter
setupOutputObject(gcsReceiver, settings.minOutputPeriod);
} else if (settings.manualControlEnabled) {
setupInputObject(actDesired, settings.minOutputPeriod); //Input to the exporter
}
if (settings.gpsPositionEnabled){
setupOutputObject(gpsPos, settings.gpsPosRate);
setupOutputObject(gpsVel, settings.gpsPosRate);
}
if (settings.groundTruthEnabled){
setupOutputObject(posActual, settings.groundTruthRate);
setupOutputObject(velActual, settings.groundTruthRate);
}
if (settings.attRawEnabled) {
setupOutputObject(accels, settings.attRawRate);
setupOutputObject(gyros, settings.attRawRate);
}
if (settings.attActualEnabled && settings.attActualHW) {
setupOutputObject(accels, settings.attRawRate);
setupOutputObject(gyros, settings.attRawRate);
}
if (settings.attActualEnabled && !settings.attActualHW)
setupOutputObject(attActual, settings.attActualRate);
if(settings.airspeedActualEnabled)
setupOutputObject(airspeedActual, settings.airspeedActualRate);
if(settings.baroAltitudeEnabled)
setupOutputObject(baroAlt, settings.baroAltRate);
}
void Simulator::setupObjects()
{
setupInputObject(actDesired, 100);
setupOutputObject(altActual, 250);
setupOutputObject(attActual, 10);
//setupOutputObject(attActual, 100);
setupOutputObject(gpsPos, 250);
setupOutputObject(posActual, 250);
setupOutputObject(velActual, 250);
setupOutputObject(posHome, 1000);
setupOutputObject(attRaw, 10);
//setupOutputObject(attRaw, 100);
}
