Changeset 206 in flair-src for trunk/lib/FlairMeta

Timestamp:

Jan 9, 2018, 11:43:37 AM (7 years ago)

Author:

Sanahuja Guillaume

Message:

m

Location:

trunk/lib/FlairMeta/src

Files:

• SimuX4.cpp (modified) (1 diff)
• UavStateMachine.cpp (modified) (2 diffs)
• UavStateMachine.h (modified) (1 diff)

trunk/lib/FlairMeta/src/SimuX4.cpp

@@ -76 +76 @@
   ((SimuUs *)GetUsRangeFinder())->Start();
   ((SimuCamera *)GetVerticalCamera())->Start();
-  ((SimuCamera *)GetHorizontalCamera())->Start();
+  //((SimuCamera *)GetHorizontalCamera())->Start();
   if(GetGps()) ((SimuGps *)GetGps())->Start();
 }

trunk/lib/FlairMeta/src/UavStateMachine.cpp

@@ -469 +469 @@
     joy->SetZRef(0);
 
-    uZ->SetOffset(); // positionne l'offset de compensation de la gravité à sa
+    uZ->SetDefaultOffset(); // positionne l'offset de compensation de la gravité à sa
                      // valeur initiale (station sol)
 
@@ -761 +761 @@
   return true;
 }
+
+NestedSat* UavStateMachine::GetURoll(void) { return uRoll;};
+NestedSat* UavStateMachine::GetUPitch(void) { return uPitch;};
+Pid* UavStateMachine::GetUYaw(void) { return uYaw;};
+PidThrust* UavStateMachine::GetUZ(void) { return uZ;};
+TrajectoryGenerator1D * UavStateMachine::GetAltitudeTrajectory(void) { return altitudeTrajectory;};

trunk/lib/FlairMeta/src/UavStateMachine.h

@@ -228 +228 @@
   const sensor::TargetController *GetJoystick(void) const;
   MetaDualShock3 *joy;
+  
+  filter::NestedSat *GetURoll(void);
+  filter::NestedSat *GetUPitch(void);
+  filter::Pid *GetUYaw(void);
+  filter::PidThrust *GetUZ(void);
+  filter::TrajectoryGenerator1D *GetAltitudeTrajectory(void);
 
   gui::Tab *setupLawTab, *graphLawTab;