/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void VibrationAnalysisOutputSetDefaults(UAVObjHandle obj, uint16_t instId)
{
VibrationAnalysisOutputData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(VibrationAnalysisOutputData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_THROTTLED << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void ReceiverActivitySetDefaults(UAVObjHandle obj, uint16_t instId)
{
ReceiverActivityData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ReceiverActivityData));
data.ActiveGroup = 7;
data.ActiveChannel = 255;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READONLY << UAVOBJ_GCS_ACCESS_SHIFT |
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void HomeLocationSetDefaults(UAVObjHandle obj, uint16_t instId)
{
HomeLocationData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(HomeLocationData));
data.Latitude = 0;
data.Longitude = 0;
data.Altitude = 0;
data.Be[0] = 0;
data.Be[1] = 0;
data.Be[2] = 0;
data.g_e = 9.81;
data.SeaLevelPressure = 1013;
data.Set = 0;
data.GroundTemperature = 15;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void DebugLogSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
DebugLogSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(DebugLogSettingsData));
data.LoggingEnabled = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void AirspeedSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
AirspeedSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AirspeedSettingsData));
data.Scale = 1.000000e+00f;
data.IMUBasedEstimationLowPassPeriod1 = 5.000000e-01f;
data.IMUBasedEstimationLowPassPeriod2 = 1.000000e+01f;
data.ZeroPoint = 0;
data.SamplePeriod = 100;
data.AirspeedSensorType = 5;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void GeoFenceSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
GeoFenceSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(GeoFenceSettingsData));
data.WarningRadius = 200;
data.ErrorRadius = 250;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void RevoSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
RevoSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(RevoSettingsData));
data.FusionAlgorithm = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId)
{
$(NAME)Data data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof($(NAME)Data));
$(INITFIELDS)
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
$(FLIGHTACCESS) << UAVOBJ_ACCESS_SHIFT |
$(GCSACCESS) << UAVOBJ_GCS_ACCESS_SHIFT |
$(FLIGHTTELEM_ACKED) << UAVOBJ_TELEMETRY_ACKED_SHIFT |
$(GCSTELEM_ACKED) << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
$(FLIGHTTELEM_UPDATEMODE) << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
$(GCSTELEM_UPDATEMODE) << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = $(FLIGHTTELEM_UPDATEPERIOD);
metadata.gcsTelemetryUpdatePeriod = $(GCSTELEM_UPDATEPERIOD);
metadata.loggingUpdatePeriod = $(LOGGING_UPDATEPERIOD);
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void HwFlyingF3SetDefaults(UAVObjHandle obj, uint16_t instId)
{
HwFlyingF3Data data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(HwFlyingF3Data));
data.RcvrPort = 1;
data.Uart1 = 0;
data.Uart2 = 0;
data.Uart3 = 0;
data.Uart4 = 0;
data.Uart5 = 0;
data.USB_HIDPort = 0;
data.USB_VCPPort = 3;
data.DSMxBind = 0;
data.GyroRange = 1;
data.AccelRange = 2;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void RadioComBridgeStatsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
RadioComBridgeStatsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(RadioComBridgeStatsData));
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READONLY << UAVOBJ_GCS_ACCESS_SHIFT |
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_PERIODIC << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 5000;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void AirspeedSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
AirspeedSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AirspeedSettingsData));
data.Scale = 1;
data.ZeroPoint = 0;
data.GPSSamplePeriod_ms = 100;
data.AirspeedSensorType = 3;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void FlightPlanControlSetDefaults(UAVObjHandle obj, uint16_t instId)
{
FlightPlanControlData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(FlightPlanControlData));
data.Command = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
AttitudeSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AttitudeSettingsData));
data.PitchBias = 0;
data.RollBias = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void VtolSelfTuningStatsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
VtolSelfTuningStatsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(VtolSelfTuningStatsData));
data.NeutralThrustOffset = 0.000000e+00f;
data.NeutralThrustCorrection = 0.000000e+00f;
data.NeutralThrustAccumulator = 0.000000e+00f;
data.NeutralThrustRange = 0.000000e+00f;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_PERIODIC << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void FixedWingAirspeedsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
FixedWingAirspeedsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(FixedWingAirspeedsData));
data.AirSpeedMax = 20;
data.CruiseSpeed = 15;
data.BestClimbRateSpeed = 11;
data.StallSpeedClean = 8;
data.StallSpeedDirty = 8;
data.VerticalVelMax = 10;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void SystemSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
SystemSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(SystemSettingsData));
data.GUIConfigData[0] = 0;
data.GUIConfigData[1] = 0;
data.GUIConfigData[2] = 0;
data.GUIConfigData[3] = 0;
data.AirframeType = 5;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void VtolPathFollowerSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
VtolPathFollowerSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(VtolPathFollowerSettingsData));
data.HorizontalPosPI[0] = 1;
data.HorizontalPosPI[1] = 0;
data.HorizontalPosPI[2] = 2;
data.HorizontalVelPID[0] = 2.6;
data.HorizontalVelPID[1] = 0.4;
data.HorizontalVelPID[2] = 0;
data.HorizontalVelPID[3] = 5;
data.VelocityFeedforward = 0;
data.PositionFeedforward = 0.45;
data.EndpointDeadbandWidth = 0.45;
data.EndpointDeadbandCenterGain = 0.3;
data.PathDeadbandWidth = 1.25;
data.PathDeadbandCenterGain = 0.1;
data.MaxRollPitch = 20;
data.EndpointRadius = 2;
data.WaypointAltitudeTol = 2;
data.UpdatePeriod = 50;
data.LandingRate = 0.5;
data.LoiterBrakingTimeConstant = 1.25;
data.LoiterErrorDecayConstant = 0.15;
data.LoiterLookaheadTimeConstant = 1.25;
data.LoiterInitialMaxVel = 3.5;
data.LoiterAttitudeFeedthrough = 15;
data.ReturnToHomeVel = 3;
data.HorizontalVelMax = 10;
data.VerticalVelMax = 2;
data.ThrottleControl = 0;
data.VelocityChangePrediction = 0;
data.YawMode = 1;
data.LoiterAllowAltControl = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void SystemSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
SystemSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(SystemSettingsData));
data.GUIConfigData[0] = 0;
data.GUIConfigData[1] = 0;
data.GUIConfigData[2] = 0;
data.GUIConfigData[3] = 0;
data.AirSpeedMax = 3.000000e+01f;
data.AirSpeedMin = 1.000000e+01f;
data.AirframeType = 5;
data.VehicleName[0] = 0;
data.VehicleName[1] = 0;
data.VehicleName[2] = 0;
data.VehicleName[3] = 0;
data.VehicleName[4] = 0;
data.VehicleName[5] = 0;
data.VehicleName[6] = 0;
data.VehicleName[7] = 0;
data.VehicleName[8] = 0;
data.VehicleName[9] = 0;
data.VehicleName[10] = 0;
data.VehicleName[11] = 0;
data.VehicleName[12] = 0;
data.VehicleName[13] = 0;
data.VehicleName[14] = 0;
data.VehicleName[15] = 0;
data.VehicleName[16] = 0;
data.VehicleName[17] = 0;
data.VehicleName[18] = 0;
data.VehicleName[19] = 0;
data.ThrustControl = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void OPLinkStatusSetDefaults(UAVObjHandle obj, uint16_t instId)
{
OPLinkStatusData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(OPLinkStatusData));
data.DeviceID = 0;
data.PairIDs[0] = 0;
data.PairIDs[1] = 0;
data.PairIDs[2] = 0;
data.PairIDs[3] = 0;
data.UAVTalkErrors = 0;
data.TXRate = 0;
data.RXRate = 0;
data.TXSeq = 0;
data.RXSeq = 0;
data.RxGood = 0;
data.RxCorrected = 0;
data.RxErrors = 0;
data.RxMissed = 0;
data.RxFailure = 0;
data.TxResent = 0;
data.TxDropped = 0;
data.TxFailure = 0;
data.Resets = 0;
data.Timeouts = 0;
data.RSSI = 0;
data.AFCCorrection = 0;
data.LinkQuality = 0;
data.LinkState = 0;
data.PairSignalStrengths[0] = -127;
data.PairSignalStrengths[1] = -127;
data.PairSignalStrengths[2] = -127;
data.PairSignalStrengths[3] = -127;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READONLY << UAVOBJ_GCS_ACCESS_SHIFT |
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_PERIODIC << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 1000;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 1000;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void FixedWingPathFollowerSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
FixedWingPathFollowerSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(FixedWingPathFollowerSettingsData));
data.HorizontalPosP = 0.6;
data.VerticalPosP = 0.05;
data.BearingPI[0] = 0.6;
data.BearingPI[1] = 0;
data.BearingPI[2] = 0;
data.PowerPI[0] = 1.5;
data.PowerPI[1] = 0.15;
data.PowerPI[2] = 20;
data.VerticalToPitchCrossFeed[0] = 5;
data.VerticalToPitchCrossFeed[1] = 10;
data.AirspeedToVerticalCrossFeed[0] = 10;
data.AirspeedToVerticalCrossFeed[1] = 100;
data.SpeedPI[0] = 0.01;
data.SpeedPI[1] = 0.01;
data.SpeedPI[2] = 0.8;
data.RollLimit[0] = -35;
data.RollLimit[1] = 0;
data.RollLimit[2] = 35;
data.PitchLimit[0] = -10;
data.PitchLimit[1] = 0;
data.PitchLimit[2] = 10;
data.ThrottleLimit[0] = 0;
data.ThrottleLimit[1] = 0.5;
data.ThrottleLimit[2] = 1;
data.OrbitRadius = 50;
data.UpdatePeriod = 100;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void SensorSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
SensorSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(SensorSettingsData));
data.AccelBias[0] = 0;
data.AccelBias[1] = 0;
data.AccelBias[2] = 0;
data.AccelScale[0] = 1;
data.AccelScale[1] = 1;
data.AccelScale[2] = 1;
data.GyroScale[0] = 1;
data.GyroScale[1] = 1;
data.GyroScale[2] = 1;
data.XGyroTempCoeff[0] = 0;
data.XGyroTempCoeff[1] = 0;
data.XGyroTempCoeff[2] = 0;
data.XGyroTempCoeff[3] = 0;
data.YGyroTempCoeff[0] = 0;
data.YGyroTempCoeff[1] = 0;
data.YGyroTempCoeff[2] = 0;
data.YGyroTempCoeff[3] = 0;
data.ZGyroTempCoeff[0] = 0;
data.ZGyroTempCoeff[1] = 0;
data.ZGyroTempCoeff[2] = 0;
data.ZGyroTempCoeff[3] = 0;
data.MagBias[0] = 0;
data.MagBias[1] = 0;
data.MagBias[2] = 0;
data.MagScale[0] = 1;
data.MagScale[1] = 1;
data.MagScale[2] = 1;
data.ZAccelOffset = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void OsdSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
OsdSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(OsdSettingsData));
data.AttitudeSetup.X = 168;
data.AttitudeSetup.Y = 135;
data.TimeSetup.X = 10;
data.TimeSetup.Y = 250;
data.BatterySetup.X = 316;
data.BatterySetup.Y = 210;
data.SpeedSetup.X = 2;
data.SpeedSetup.Y = 145;
data.AltitudeSetup.X = 2;
data.AltitudeSetup.Y = 145;
data.HeadingSetup.X = 168;
data.HeadingSetup.Y = 240;
data.Attitude = 1;
data.Time = 1;
data.Battery = 1;
data.Speed = 1;
data.Altitude = 1;
data.Heading = 1;
data.Screen = 0;
data.White = 4;
data.Black = 1;
data.AltitudeSource = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if ( instId == 0 ) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_LOGGING_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void PipXStatusSetDefaults(UAVObjHandle obj, uint16_t instId)
{
PipXStatusData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(PipXStatusData));
data.MinFrequency = 0;
data.MaxFrequency = 0;
data.FrequencyStepSize = 0;
data.DeviceID = 0;
data.AFC = 0;
data.PairIDs[0] = 0;
data.PairIDs[1] = 0;
data.PairIDs[2] = 0;
data.PairIDs[3] = 0;
data.Retries = 0;
data.Errors = 0;
data.UAVTalkErrors = 0;
data.Dropped = 0;
data.Resets = 0;
data.TXRate = 0;
data.RXRate = 0;
data.FrequencyBand = 0;
data.RSSI = 0;
data.LinkState = 0;
data.PairSignalStrengths[0] = -127;
data.PairSignalStrengths[1] = -127;
data.PairSignalStrengths[2] = -127;
data.PairSignalStrengths[3] = -127;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READONLY << UAVOBJ_GCS_ACCESS_SHIFT |
0 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
0 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_MANUAL << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 1000;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void VtolPathFollowerSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
VtolPathFollowerSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(VtolPathFollowerSettingsData));
data.HorizontalPosPI[0] = 1;
data.HorizontalPosPI[1] = 0;
data.HorizontalPosPI[2] = 0;
data.HorizontalVelPID[0] = 5;
data.HorizontalVelPID[1] = 0;
data.HorizontalVelPID[2] = 1;
data.HorizontalVelPID[3] = 0;
data.VerticalPosPI[0] = 0.1;
data.VerticalPosPI[1] = 0.001;
data.VerticalPosPI[2] = 200;
data.VerticalVelPID[0] = 0.1;
data.VerticalVelPID[1] = 0;
data.VerticalVelPID[2] = 0;
data.VerticalVelPID[3] = 0;
data.VelocityFeedforward = 0;
data.MaxRollPitch = 20;
data.UpdatePeriod = 100;
data.HorizontalVelMax = 10;
data.VerticalVelMax = 1;
data.GuidanceMode = 0;
data.ThrottleControl = 0;
data.VelocitySource = 0;
data.PositionSource = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void I2CVMUserProgramSetDefaults(UAVObjHandle obj, uint16_t instId)
{
I2CVMUserProgramData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(I2CVMUserProgramData));
data.Program[0] = 134676490;
data.Program[1] = 84541440;
data.Program[2] = 84607232;
data.Program[3] = 84673024;
data.Program[4] = 84738816;
data.Program[5] = 117441025;
data.Program[6] = 117441282;
data.Program[7] = 117441539;
data.Program[8] = 100663812;
data.Program[9] = 100664069;
data.Program[10] = 100664326;
data.Program[11] = 385875968;
data.Program[12] = 168296447;
data.Program[13] = 33554452;
data.Program[14] = 50855927;
data.Program[15] = 0;
data.Program[16] = 0;
data.Program[17] = 0;
data.Program[18] = 0;
data.Program[19] = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void ModuleSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
ModuleSettingsData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(ModuleSettingsData));
data.AdminState[0] = 0;
data.AdminState[1] = 0;
data.AdminState[2] = 0;
data.AdminState[3] = 0;
data.AdminState[4] = 0;
data.AdminState[5] = 0;
data.AdminState[6] = 0;
data.AdminState[7] = 0;
data.AdminState[8] = 0;
data.AdminState[9] = 0;
data.AdminState[10] = 0;
data.AdminState[11] = 0;
data.AdminState[12] = 0;
data.AdminState[13] = 0;
data.AdminState[14] = 0;
data.AdminState[15] = 0;
data.TelemetrySpeed = 5;
data.GPSSpeed = 5;
data.GPSDataProtocol = 1;
data.ComUsbBridgeSpeed = 5;
data.I2CVMProgramSelect = 2;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
static void setDefaults(UAVObjHandle obj, uint16_t instId)
{
HomeLocationData data;
UAVObjMetadata metadata;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(HomeLocationData));
data.Set = 0;
data.Indoor = 0;
data.Latitude = 0;
data.Longitude = 0;
data.Altitude = 0;
data.ECEF[0] = 0;
data.ECEF[1] = 0;
data.ECEF[2] = 0;
data.RNE[0] = 0;
data.RNE[1] = 0;
data.RNE[2] = 0;
data.RNE[3] = 0;
data.RNE[4] = 0;
data.RNE[5] = 0;
data.RNE[6] = 0;
data.RNE[7] = 0;
data.RNE[8] = 0;
data.Be[0] = 0;
data.Be[1] = 0;
data.Be[2] = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
metadata.access = ACCESS_READWRITE;
metadata.gcsAccess = ACCESS_READWRITE;
metadata.telemetryAcked = 1;
metadata.telemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryAcked = 1;
metadata.gcsTelemetryUpdateMode = UPDATEMODE_ONCHANGE;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdateMode = UPDATEMODE_NEVER;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void HwAQ32SetDefaults(UAVObjHandle obj, uint16_t instId)
{
HwAQ32Data data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(HwAQ32Data));
data.RcvrPort = 0;
data.Uart1 = 0;
data.Uart2 = 0;
data.Uart3 = 0;
data.Uart4 = 0;
data.Uart6 = 0;
data.ADCInputs = 0;
data.USB_HIDPort = 0;
data.USB_VCPPort = 4;
data.DSMxMode = 0;
data.GyroRange = 1;
data.AccelRange = 2;
data.MPU6000Rate = 3;
data.MPU6000DLPF = 0;
data.Magnetometer = 0;
data.ExtMagOrientation = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}
static bool enableHil(bool enable)
{
// READ-ONLY flag write to ActuatorCommand
UAVObjHandle handle = ActuatorCommandHandle();
UAVObjMetadata commandMeta;
UAVObjGetMetadata(handle, &commandMeta);
if (enable)
{
// Disable actuators
commandMeta.access = ACCESS_READONLY;
}
else
{
// Enable actuators
commandMeta.access = ACCESS_READWRITE;
}
return (UAVObjSetMetadata(handle, &commandMeta) == 0);
}
/**
* Initialize object fields and metadata with the default values.
* If a default value is not specified the object fields
* will be initialized to zero.
*/
void AttitudeSettingsSetDefaults(UAVObjHandle obj, uint16_t instId)
{
AttitudeSettingsData data;
// Initialize object fields to their default values
UAVObjGetInstanceData(obj, instId, &data);
memset(&data, 0, sizeof(AttitudeSettingsData));
data.MagKp = 0.05;
data.MagKi = 0.0001;
data.AccelKp = 0.05;
data.AccelKi = 0.0001;
data.AccelTau = 0.1;
data.VertPositionTau = 2;
data.YawBiasRate = 1e-06;
data.BoardRotation[0] = 0;
data.BoardRotation[1] = 0;
data.BoardRotation[2] = 0;
data.ZeroDuringArming = 1;
data.BiasCorrectGyro = 1;
data.FilterChoice = 0;
UAVObjSetInstanceData(obj, instId, &data);
// Initialize object metadata to their default values
if (instId == 0) {
UAVObjMetadata metadata;
metadata.flags =
ACCESS_READWRITE << UAVOBJ_ACCESS_SHIFT |
ACCESS_READWRITE << UAVOBJ_GCS_ACCESS_SHIFT |
1 << UAVOBJ_TELEMETRY_ACKED_SHIFT |
1 << UAVOBJ_GCS_TELEMETRY_ACKED_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_TELEMETRY_UPDATE_MODE_SHIFT |
UPDATEMODE_ONCHANGE << UAVOBJ_GCS_TELEMETRY_UPDATE_MODE_SHIFT;
metadata.telemetryUpdatePeriod = 0;
metadata.gcsTelemetryUpdatePeriod = 0;
metadata.loggingUpdatePeriod = 0;
UAVObjSetMetadata(obj, &metadata);
}
}