routing.cpp File Reference

#include <AP_HAL/AP_HAL.h>
#include <GCS_MAVLink/GCS.h>
#include <GCS_MAVLink/GCS_MAVLink.h>

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Classes
class	GCS_MAVLINK_routing

Functions
void	setup ()
void	loop ()
	AP_HAL_MAIN ()

Variables
const AP_HAL::HAL &	hal = AP_HAL::get_HAL()
	-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- More...
const AP_FWVersion	fwver
static const uint8_t	num_gcs = MAVLINK_COMM_NUM_BUFFERS
static GCS_MAVLINK_routing	gcs_link [MAVLINK_COMM_NUM_BUFFERS]
mavlink_system_t	mavlink_system
	MAVLink system definition. More...
static MAVLink_routing	routing

Function Documentation

AP_HAL_MAIN()

AP_HAL_MAIN

(

)

Referenced by loop().

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loop()

void loop

(

void

)

Definition at line 73 of file routing.cpp.

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setup()

void setup

(

void

)

Definition at line 67 of file routing.cpp.

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Variable Documentation

fwver

const AP_FWVersion fwver

Initial value:

{
    major: 3,
    minor: 1,
    patch: 4,
    fw_type: FIRMWARE_VERSION_TYPE_DEV,
    fw_string: "routing example"
}

Definition at line 16 of file routing.cpp.

Referenced by GCS_MAVLINK_routing::get_fwver(), and GCS_MAVLINK::send_banner().

gcs_link

GCS_MAVLINK_routing gcs_link[MAVLINK_COMM_NUM_BUFFERS]

static

Definition at line 57 of file routing.cpp.

hal

const AP_HAL::HAL& hal = AP_HAL::get_HAL()

-*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

The strategy for roll/pitch autotune is to give the user a AUTOTUNE flight mode which behaves just like FBWA, but does automatic tuning.

While the user is flying in AUTOTUNE the gains are saved every 10 seconds, but the saved gains are not the current gains, instead it saves the gains from 10s ago. When the user exits AUTOTUNE the gains are restored from 10s ago.

This allows the user to fly as much as they want in AUTOTUNE mode, and if they are ever unhappy they just exit the mode. If they stay in AUTOTUNE for more than 10s then their gains will have changed.

Using this approach users don't need any special switches, they just need to be able to enter and exit AUTOTUNE mode

Definition at line 12 of file routing.cpp.

mavlink_system

mavlink_system_t mavlink_system

MAVLink system definition.

Definition at line 42 of file GCS_MAVLink.cpp.

Referenced by loop().

num_gcs

const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS

static

Definition at line 56 of file routing.cpp.

Referenced by GCS::data_stream_send(), GCS::instance(), GCS::retry_deferred(), GCS::send_message(), GCS::send_mission_item_reached_message(), and GCS::update().

routing

MAVLink_routing routing

static

Definition at line 65 of file routing.cpp.