示例#1
0
文件： logging.c 项目： Trex4Git/dRonin 
/**
 * Register objects for the default logging profile
 */
static void register_default_profile()
{
	// For the default profile, we limit things to 100Hz (for now)
	uint16_t min_period = MAX(get_minimum_logging_period(), 10);

	// Objects for which we log all changes (use 100Hz to limit max data rate)
	UAVObjConnectCallbackThrottled(FlightStatusHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	UAVObjConnectCallbackThrottled(SystemAlarmsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	if (WaypointActiveHandle()) {
		UAVObjConnectCallbackThrottled(WaypointActiveHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	}

	if (SystemIdentHandle()){
		UAVObjConnectCallbackThrottled(SystemIdentHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10);
	}

	// Log fast
	UAVObjConnectCallbackThrottled(AccelsHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);
	UAVObjConnectCallbackThrottled(GyrosHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, min_period);

	// Log a bit slower
	UAVObjConnectCallbackThrottled(AttitudeActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(MagnetometerHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(ManualControlCommandHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(ActuatorDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);
	UAVObjConnectCallbackThrottled(StabilizationDesiredHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 5 * min_period);

	// Log slow
	if (FlightBatteryStateHandle()) {
		UAVObjConnectCallbackThrottled(FlightBatteryStateHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (BaroAltitudeHandle()) {
		UAVObjConnectCallbackThrottled(BaroAltitudeHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (AirspeedActualHandle()) {
		UAVObjConnectCallbackThrottled(AirspeedActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (GPSPositionHandle()) {
		UAVObjConnectCallbackThrottled(GPSPositionHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (PositionActualHandle()) {
		UAVObjConnectCallbackThrottled(PositionActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}
	if (VelocityActualHandle()) {
		UAVObjConnectCallbackThrottled(VelocityActualHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 10 * min_period);
	}

	// Log very slow
	if (GPSTimeHandle()) {
		UAVObjConnectCallbackThrottled(GPSTimeHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 50 * min_period);
	}

	// Log very very slow
	if (GPSSatellitesHandle()) {
		UAVObjConnectCallbackThrottled(GPSSatellitesHandle(), obj_updated_callback, NULL, EV_UPDATED | EV_UNPACKED, 500 * min_period);
	}
}
示例#2
0
/**
 * Module initialization
 */
int32_t StabilizationStart()
{
    StabilizationSettingsConnectCallback(SettingsUpdatedCb);
    ManualControlCommandConnectCallback(FlightModeSwitchUpdatedCb);
    StabilizationBankConnectCallback(BankUpdatedCb);
    StabilizationSettingsBank1ConnectCallback(SettingsBankUpdatedCb);
    StabilizationSettingsBank2ConnectCallback(SettingsBankUpdatedCb);
    StabilizationSettingsBank3ConnectCallback(SettingsBankUpdatedCb);
    StabilizationDesiredConnectCallback(StabilizationDesiredUpdatedCb);
    SettingsUpdatedCb(StabilizationSettingsHandle());
    StabilizationDesiredUpdatedCb(StabilizationDesiredHandle());
    FlightModeSwitchUpdatedCb(ManualControlCommandHandle());
    BankUpdatedCb(StabilizationBankHandle());

#ifdef PIOS_INCLUDE_WDG
    PIOS_WDG_RegisterFlag(PIOS_WDG_STABILIZATION);
#endif
    return 0;
}
示例#3
0
void ManualControlCommandChannelGet( uint16_t *NewChannel )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewChannel, offsetof( ManualControlCommandData, Channel), 9*sizeof(uint16_t));
}
示例#4
0
void ManualControlCommandConnectedGet( uint8_t *NewConnected )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewConnected, offsetof( ManualControlCommandData, Connected), sizeof(uint8_t));
}
示例#5
0
void ManualControlCommandCollectiveGet( float *NewCollective )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewCollective, offsetof( ManualControlCommandData, Collective), sizeof(float));
}
示例#6
0
void ManualControlCommandYawGet( float *NewYaw )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewYaw, offsetof( ManualControlCommandData, Yaw), sizeof(float));
}
示例#7
0
void ManualControlCommandPitchGet( float *NewPitch )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewPitch, offsetof( ManualControlCommandData, Pitch), sizeof(float));
}
示例#8
0
void ManualControlCommandRollGet( float *NewRoll )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewRoll, offsetof( ManualControlCommandData, Roll), sizeof(float));
}
示例#9
0
void ManualControlCommandThrottleGet( float *NewThrottle )
{
	UAVObjGetDataField(ManualControlCommandHandle(), (void*)NewThrottle, offsetof( ManualControlCommandData, Throttle), sizeof(float));
}