void VtolPathFollowerSettingsVerticalVelPIDSet( float *NewVerticalVelPID )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewVerticalVelPID, offsetof( VtolPathFollowerSettingsData, VerticalVelPID), 4*sizeof(float));
}
void VtolPathFollowerSettingsThrottleControlGet( uint8_t *NewThrottleControl )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewThrottleControl, offsetof( VtolPathFollowerSettingsData, ThrottleControl), sizeof(uint8_t));
}
void VtolPathFollowerSettingsYawModeGet( uint8_t *NewYawMode )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewYawMode, offsetof( VtolPathFollowerSettingsData, YawMode), sizeof(uint8_t));
}
void VtolPathFollowerSettingsLoiterAttitudeFeedthroughGet( float *NewLoiterAttitudeFeedthrough )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewLoiterAttitudeFeedthrough, offsetof( VtolPathFollowerSettingsData, LoiterAttitudeFeedthrough), sizeof(float));
}
void VtolPathFollowerSettingsHorizontalVelMaxSet( uint16_t *NewHorizontalVelMax )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewHorizontalVelMax, offsetof( VtolPathFollowerSettingsData, HorizontalVelMax), sizeof(uint16_t));
}
void VtolPathFollowerSettingsLandingRateGet( float *NewLandingRate )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewLandingRate, offsetof( VtolPathFollowerSettingsData, LandingRate), sizeof(float));
}
void VtolPathFollowerSettingsLoiterLookaheadTimeConstantGet( float *NewLoiterLookaheadTimeConstant )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewLoiterLookaheadTimeConstant, offsetof( VtolPathFollowerSettingsData, LoiterLookaheadTimeConstant), sizeof(float));
}
void VtolPathFollowerSettingsHorizontalVelPIDGet( float *NewHorizontalVelPID )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewHorizontalVelPID, offsetof( VtolPathFollowerSettingsData, HorizontalVelPID), 4*sizeof(float));
}
void VtolPathFollowerSettingsVelocityFeedforwardSet( float *NewVelocityFeedforward )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewVelocityFeedforward, offsetof( VtolPathFollowerSettingsData, VelocityFeedforward), sizeof(float));
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t TxPIDInitialize(void)
{
bool module_enabled;
#ifdef MODULE_TxPID_BUILTIN
module_enabled = true;
#else
uint8_t module_state[MODULESETTINGS_ADMINSTATE_NUMELEM];
ModuleSettingsAdminStateGet(module_state);
if (module_state[MODULESETTINGS_ADMINSTATE_TXPID] == MODULESETTINGS_ADMINSTATE_ENABLED) {
module_enabled = true;
} else {
module_enabled = false;
}
#endif
if (module_enabled) {
TxPIDSettingsInitialize();
AccessoryDesiredInitialize();
UAVObjEvent ev = {
.obj = AccessoryDesiredHandle(),
.instId = 0,
.event = 0,
};
EventPeriodicCallbackCreate(&ev, updatePIDs, SAMPLE_PERIOD_MS);
#if (TELEMETRY_UPDATE_PERIOD_MS != 0)
// Change StabilizationSettings update rate from OnChange to periodic
// to prevent telemetry link flooding with frequent updates in case of
// control channel jitter.
// Warning: saving to flash with this code active will change the
// StabilizationSettings update rate permanently. Use Metadata via
// browser to reset to defaults (telemetryAcked=true, OnChange).
UAVObjMetadata metadata;
StabilizationSettingsInitialize();
StabilizationSettingsGetMetadata(&metadata);
metadata.telemetryAcked = 0;
metadata.telemetryUpdateMode = UPDATEMODE_PERIODIC;
metadata.telemetryUpdatePeriod = TELEMETRY_UPDATE_PERIOD_MS;
StabilizationSettingsSetMetadata(&metadata);
#endif
return 0;
}
return -1;
}
MODULE_INITCALL(TxPIDInitialize, NULL);
/**
* Update PIDs callback function
*/
static void updatePIDs(UAVObjEvent* ev)
{
if (ev->obj != AccessoryDesiredHandle())
return;
TxPIDSettingsData inst;
TxPIDSettingsGet(&inst);
if (inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_NEVER)
return;
uint8_t armed;
FlightStatusArmedGet(&armed);
if ((inst.UpdateMode == TXPIDSETTINGS_UPDATEMODE_WHENARMED) &&
(armed == FLIGHTSTATUS_ARMED_DISARMED))
return;
StabilizationSettingsData stab;
StabilizationSettingsGet(&stab);
#ifdef UAVOBJ_INIT_vtolpathfollowersettings
VtolPathFollowerSettingsData vtolPathFollowerSettingsData;
// Check to make sure the settings UAVObject has been instantiated
if (VtolPathFollowerSettingsHandle()) {
VtolPathFollowerSettingsGet(&vtolPathFollowerSettingsData);
}
bool vtolPathFollowerSettingsNeedsUpdate = false;
#endif
AccessoryDesiredData accessory;
bool stabilizationSettingsNeedsUpdate = false;
// Loop through every enabled instance
for (uint8_t i = 0; i < TXPIDSETTINGS_PIDS_NUMELEM; i++) {
if (inst.PIDs[i] != TXPIDSETTINGS_PIDS_DISABLED) {
float value;
if (inst.Inputs[i] == TXPIDSETTINGS_INPUTS_THROTTLE) {
ManualControlCommandThrottleGet(&value);
value = scale(value,
inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MIN],
inst.ThrottleRange[TXPIDSETTINGS_THROTTLERANGE_MAX],
inst.MinPID[i], inst.MaxPID[i]);
} else if (AccessoryDesiredInstGet(inst.Inputs[i] - TXPIDSETTINGS_INPUTS_ACCESSORY0, &accessory) == 0) {
value = scale(accessory.AccessoryVal, -1.0, 1.0, inst.MinPID[i], inst.MaxPID[i]);
} else {
continue;
}
switch (inst.PIDs[i]) {
case TXPIDSETTINGS_PIDS_ROLLRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_ROLLRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_PITCHRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_PITCHATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KP], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KI], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_KD], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollRatePID[STABILIZATIONSETTINGS_ROLLRATEPID_ILIMIT], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchRatePID[STABILIZATIONSETTINGS_PITCHRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KP], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_KI], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.RollPI[STABILIZATIONSETTINGS_ROLLPI_ILIMIT], value);
stabilizationSettingsNeedsUpdate |= update(&stab.PitchPI[STABILIZATIONSETTINGS_PITCHPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEKD:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_YAWRATEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.YawRatePID[STABILIZATIONSETTINGS_YAWRATEPID_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKP:
stabilizationSettingsNeedsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEKI:
stabilizationSettingsNeedsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_YAWATTITUDEILIMIT:
stabilizationSettingsNeedsUpdate |= update(&stab.YawPI[STABILIZATIONSETTINGS_YAWPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_GYROCUTOFF:
stabilizationSettingsNeedsUpdate |= update(&stab.GyroCutoff, value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_ROLL], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_PITCH], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARSENSITIVITY:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarSensitivity[STABILIZATIONSETTINGS_VBARSENSITIVITY_YAW], value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_PITCHVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KP], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KI], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_ROLLPITCHVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarRollPID[STABILIZATIONSETTINGS_VBARROLLPID_KD], value);
stabilizationSettingsNeedsUpdate |= update(&stab.VbarPitchPID[STABILIZATIONSETTINGS_VBARPITCHPID_KD], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARKP:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarYawPID[STABILIZATIONSETTINGS_VBARYAWPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARKI:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarYawPID[STABILIZATIONSETTINGS_VBARYAWPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_YAWVBARKD:
stabilizationSettingsNeedsUpdate |= update(&stab.VbarYawPID[STABILIZATIONSETTINGS_VBARYAWPID_KD], value);
break;
#ifdef UAVOBJ_INIT_vtolpathfollowersettings
case TXPIDSETTINGS_PIDS_HORIZONTALPOSKP:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KP], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALPOSKI:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_KI], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALPOSILIMIT:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalPosPI[VTOLPATHFOLLOWERSETTINGS_HORIZONTALPOSPI_ILIMIT], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALVELKP:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KP], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALVELKI:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KI], value);
break;
case TXPIDSETTINGS_PIDS_HORIZONTALVELKD:
vtolPathFollowerSettingsNeedsUpdate |= update(&vtolPathFollowerSettingsData.HorizontalVelPID[VTOLPATHFOLLOWERSETTINGS_HORIZONTALVELPID_KD], value);
break;
#endif /* UAVOBJ_INIT_vtolpathfollowersettings */
default:
// Previously this would assert. But now the
// object may be missing and it's not worth a
// crash.
break;
}
}
}
// Update UAVOs, if necessary
if (stabilizationSettingsNeedsUpdate) {
StabilizationSettingsSet(&stab);
}
#ifdef UAVOBJ_INIT_vtolpathfollowersettings
if (vtolPathFollowerSettingsNeedsUpdate) {
// Check to make sure the settings UAVObject has been instantiated
if (VtolPathFollowerSettingsHandle()) {
VtolPathFollowerSettingsSet(&vtolPathFollowerSettingsData);
}
}
#endif
}
/**
* Scales input val from [inMin..inMax] range to [outMin..outMax].
* If val is out of input range (inMin <= inMax), it will be bound.
* (outMin > outMax) is ok, in that case output will be decreasing.
*
* \returns scaled value
*/
static float scale(float val, float inMin, float inMax, float outMin, float outMax)
{
// bound input value
if (val > inMax) val = inMax;
if (val < inMin) val = inMin;
// normalize input value to [0..1]
if (inMax <= inMin)
val = 0.0;
else
val = (val - inMin) / (inMax - inMin);
// update output bounds
if (outMin > outMax) {
float t = outMin;
outMin = outMax;
outMax = t;
val = 1.0f - val;
}
return (outMax - outMin) * val + outMin;
}
/**
* Updates var using val if needed.
* \returns 1 if updated, 0 otherwise
*/
static bool update(float *var, float val)
{
if (*var != val) {
*var = val;
return true;
}
return false;
}
void VtolPathFollowerSettingsHorizontalPosPIGet( float *NewHorizontalPosPI )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewHorizontalPosPI, offsetof( VtolPathFollowerSettingsData, HorizontalPosPI), 3*sizeof(float));
}
void VtolPathFollowerSettingsPositionSourceGet( uint8_t *NewPositionSource )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewPositionSource, offsetof( VtolPathFollowerSettingsData, PositionSource), sizeof(uint8_t));
}
void VtolPathFollowerSettingsVelocitySourceGet( uint8_t *NewVelocitySource )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewVelocitySource, offsetof( VtolPathFollowerSettingsData, VelocitySource), sizeof(uint8_t));
}
void VtolPathFollowerSettingsGuidanceModeSet( uint8_t *NewGuidanceMode )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewGuidanceMode, offsetof( VtolPathFollowerSettingsData, GuidanceMode), sizeof(uint8_t));
}
void VtolPathFollowerSettingsWaypointAltitudeTolGet( float *NewWaypointAltitudeTol )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewWaypointAltitudeTol, offsetof( VtolPathFollowerSettingsData, WaypointAltitudeTol), sizeof(float));
}
void VtolPathFollowerSettingsPositionFeedforwardGet( float *NewPositionFeedforward )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewPositionFeedforward, offsetof( VtolPathFollowerSettingsData, PositionFeedforward), sizeof(float));
}
void VtolPathFollowerSettingsUpdatePeriodGet( int32_t *NewUpdatePeriod )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewUpdatePeriod, offsetof( VtolPathFollowerSettingsData, UpdatePeriod), sizeof(int32_t));
}
void VtolPathFollowerSettingsEndpointDeadbandWidthSet( float *NewEndpointDeadbandWidth )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewEndpointDeadbandWidth, offsetof( VtolPathFollowerSettingsData, EndpointDeadbandWidth), sizeof(float));
}
void VtolPathFollowerSettingsLoiterErrorDecayConstantSet( float *NewLoiterErrorDecayConstant )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewLoiterErrorDecayConstant, offsetof( VtolPathFollowerSettingsData, LoiterErrorDecayConstant), sizeof(float));
}
void VtolPathFollowerSettingsEndpointDeadbandCenterGainSet( float *NewEndpointDeadbandCenterGain )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewEndpointDeadbandCenterGain, offsetof( VtolPathFollowerSettingsData, EndpointDeadbandCenterGain), sizeof(float));
}
void VtolPathFollowerSettingsLoiterInitialMaxVelGet( float *NewLoiterInitialMaxVel )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewLoiterInitialMaxVel, offsetof( VtolPathFollowerSettingsData, LoiterInitialMaxVel), sizeof(float));
}
void VtolPathFollowerSettingsPathDeadbandWidthGet( float *NewPathDeadbandWidth )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewPathDeadbandWidth, offsetof( VtolPathFollowerSettingsData, PathDeadbandWidth), sizeof(float));
}
void VtolPathFollowerSettingsReturnToHomeVelGet( float *NewReturnToHomeVel )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewReturnToHomeVel, offsetof( VtolPathFollowerSettingsData, ReturnToHomeVel), sizeof(float));
}
void VtolPathFollowerSettingsPathDeadbandCenterGainGet( float *NewPathDeadbandCenterGain )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewPathDeadbandCenterGain, offsetof( VtolPathFollowerSettingsData, PathDeadbandCenterGain), sizeof(float));
}
void VtolPathFollowerSettingsVerticalVelMaxGet( uint16_t *NewVerticalVelMax )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewVerticalVelMax, offsetof( VtolPathFollowerSettingsData, VerticalVelMax), sizeof(uint16_t));
}
void VtolPathFollowerSettingsMaxRollPitchGet( float *NewMaxRollPitch )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewMaxRollPitch, offsetof( VtolPathFollowerSettingsData, MaxRollPitch), sizeof(float));
}
void VtolPathFollowerSettingsVelocityChangePredictionGet( uint8_t *NewVelocityChangePrediction )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewVelocityChangePrediction, offsetof( VtolPathFollowerSettingsData, VelocityChangePrediction), sizeof(uint8_t));
}
void VtolPathFollowerSettingsEndpointRadiusGet( float *NewEndpointRadius )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewEndpointRadius, offsetof( VtolPathFollowerSettingsData, EndpointRadius), sizeof(float));
}
void VtolPathFollowerSettingsLoiterAllowAltControlGet( uint8_t *NewLoiterAllowAltControl )
{
UAVObjGetDataField(VtolPathFollowerSettingsHandle(), (void*)NewLoiterAllowAltControl, offsetof( VtolPathFollowerSettingsData, LoiterAllowAltControl), sizeof(uint8_t));
}
void VtolPathFollowerSettingsVerticalPosPISet( float *NewVerticalPosPI )
{
UAVObjSetDataField(VtolPathFollowerSettingsHandle(), (void*)NewVerticalPosPI, offsetof( VtolPathFollowerSettingsData, VerticalPosPI), 3*sizeof(float));
}
