Пример #1
0
    public double ComputePV(UAVParameter sensor, UAVParameter sp)
    {
        double PV = 0;

        if (sensor.DoubleValue < 0)          //=WENN(A6<0; 360 + A6;A6)
        {
            PV = 360 + sensor.DoubleValue;
        }
        else
        {
            PV = sensor.DoubleValue;
        }
        double delta = sp.DoubleValue - PV;
        //=WENN(D6<-180;360+D6;WENN(D6>180;D6-360;D6))
        double corrdelta = 0;

        if (delta < -180)
        {
            corrdelta = 360 + delta;
        }
        else
        {
            if (delta > 180)
            {
                corrdelta = delta - 360;
            }
            else
            {
                corrdelta = delta;
            }
        }
        //Console.WriteLine("Psi:"+(int)sensor.DoubleValue+" PV: "+(int)PV+" delta SP-PV "+(int)delta+" delta"+(int)corrdelta+" NeuerPV"+(int)(sp.DoubleValue-corrdelta)+" Setpoint: "+(int)sp.DoubleValue+" Gyrobstrich:"+(int)lagesensor["gyrobetastrich"].DoubleValue);
        return(sp.DoubleValue - corrdelta);
    }
Пример #2
0
        public BaseFlightStabilizer(string name, UAVStructure myAhrs, UAVStructure ap, UAVParameter phi_out, UAVParameter psi_out, UAVParameter theta_out)
            : base(name, null)
        {
            this.ahrs = myAhrs;
            this.ap   = ap;

            this.phi_out   = phi_out;
            this.psi_out   = psi_out;
            this.theta_out = theta_out;

            this.values.Add(new UAVCommons.UAVParameter("phi_P_gain", 1));
            //    this.values.Add(new UAVCommons.UAVParameter("psi_P_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_P_gain", 1));

            this.values.Add(new UAVCommons.UAVParameter("phi_I_gain", 1));
            //  this.values.Add(new UAVCommons.UAVParameter("psi_I_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_I_gain", 1));

            this.values.Add(new UAVCommons.UAVParameter("phi_D_gain", 1));
            //   this.values.Add(new UAVCommons.UAVParameter("psi_D_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_D_gain", 1));


            phiPid = new PIDLibrary.ParameterPID(values["phi_P_gain"], values["phi_I_gain"], values["phi_D_gain"], this.ahrs["phi"], phi_out, ap.values["bankangle"]);
            //   psiPid = new PIDLibrary.ParameterPID(values["psi_P_gain"], values["psi_I_gain"], values["psi_D_gain"], this.ahrs["psi"], psi_out, ap.values["psi_out"]);//should only correct drift
            thetaPid = new PIDLibrary.ParameterPID(values["theta_P_gain"], values["theta_I_gain"], values["theta_D_gain"], this.ahrs["theta"], theta_out, ap.values["theta_out"]);


            //   PID QuerachsenPID = new PID(1, 1, 1, 90, -90, 2000, 1000, new GetDouble(GetPV), new GetDouble(GetSP),new SetDouble( SetResult));

            phiPid.Enable();
            //   psiPid.Enable();
            thetaPid.Enable();
        }
Пример #3
0
 void PerformanceData_ValueChanged(UAVParameter param, bool isremote)
 {
     values["bankangle"].Min = PerformanceData["MaxBankLeft"].Value;
     values["bankangle"].Max = PerformanceData["MaxBankRight"].Value;
     values["theta_out"].Max = PerformanceData["MaxClimbAngle"].Value;
     values["theta_out"].Min = PerformanceData["MaxDescendAngle"].Value;
 }
Пример #4
0
 /// <summary>
 /// Daten über das Netzwerk empfangen schreibe in datei.
 /// </summary>
 /// <param name="source"></param>
 /// <param name="arg"></param>
 void RcUAV_DataArrived(CommunicationEndpoint source, UAVParameter arg)
 {
     UAVCommons.Logging.ParameterLogEvent logevent = new UAVCommons.Logging.ParameterLogEvent();
     logevent.name  = arg.Name;
     logevent.value = arg.Value.ToString();
     Netlog.Info(logevent);
 }
Пример #5
0
        public BaseFlightStabilizer(string name, UAVStructure myAhrs, UAVStructure ap, UAVParameter phi_out,UAVParameter psi_out,UAVParameter theta_out)
            : base(name, null)
        {
            this.ahrs = myAhrs;
            this.ap = ap;

            this.phi_out = phi_out;
            this.psi_out = psi_out;
            this.theta_out = theta_out;

            this.values.Add(new UAVCommons.UAVParameter("phi_P_gain", 1));
            //    this.values.Add(new UAVCommons.UAVParameter("psi_P_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_P_gain", 1));

            this.values.Add(new UAVCommons.UAVParameter("phi_I_gain", 1));
              //  this.values.Add(new UAVCommons.UAVParameter("psi_I_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_I_gain", 1));

            this.values.Add(new UAVCommons.UAVParameter("phi_D_gain", 1));
             //   this.values.Add(new UAVCommons.UAVParameter("psi_D_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_D_gain", 1));

            phiPid = new PIDLibrary.ParameterPID(values["phi_P_gain"], values["phi_I_gain"], values["phi_D_gain"], this.ahrs["phi"], phi_out, ap.values["bankangle"]);
            //   psiPid = new PIDLibrary.ParameterPID(values["psi_P_gain"], values["psi_I_gain"], values["psi_D_gain"], this.ahrs["psi"], psi_out, ap.values["psi_out"]);//should only correct drift
            thetaPid = new PIDLibrary.ParameterPID(values["theta_P_gain"], values["theta_I_gain"], values["theta_D_gain"], this.ahrs["theta"], theta_out, ap.values["theta_out"]);

               //   PID QuerachsenPID = new PID(1, 1, 1, 90, -90, 2000, 1000, new GetDouble(GetPV), new GetDouble(GetSP),new SetDouble( SetResult));

            phiPid.Enable();
             //   psiPid.Enable();
            thetaPid.Enable();
        }
 /// <summary>
 /// Initialises all inputs and outputs
 /// </summary>
 /// <param name="uavdata"></param>
 /// <param name="powerlever"></param>
 /// <param name="throttle"></param>
 /// <param name="brakes"></param>
 public ThrottleSpeedBrakesMixer(string name, UAVCommons.MonitoredDictionary<string, object> uavdata,UAVParameter powerlever,UAVParameter throttle,UAVParameter brakes)
     : base(name,uavdata)
 {
     this.throttle = null;
     this.brakes = null;
     this.powerlever = powerlever;
 }
Пример #7
0
        public static HierachyItem GetItembyPath(UAVParameter param,string path)
        {
            string key = path;
            string newpath = "";
            MonitoredDictionary<string, UAVParameter>.GetKeyPath(ref key, ref newpath);

            if (param is UAVStructure)
            {
                UAVStructure mystructure = ((UAVStructure)param);
                foreach (UAVParameter myparams in mystructure.values.Values)
                {
                    if (myparams.Name == key)
                    {
                        GetItembyPath(myparams, newpath);
                    }
                }
            }
            else
                if (param is UAVParameter)
                {
                    if (param.Name == key)
                    {
                        return param;
                    }
                 //   remotedata.Add(newparam);
                }

            return null;
        }
Пример #8
0
        private UAVParameter totalgain; // Gewichtung für alle gains gemeinsam

        #endregion Fields

        #region Constructors

        public PID(UAVParameter kp, UAVParameter ki, UAVParameter kd, UAVParameter pv, UAVParameter diff, UAVParameter output,UAVParameter sp,UAVParameter totalgain)
        {
            this.pv = pv;
            this.diff = diff;
            this.output = output;
            this.totalgain = totalgain;
            this.sp = sp;
            this.kp = kp;
            this.ki = ki;
            this.kd = kd;
        }
Пример #9
0
 public PID(UAVParameter kp, UAVParameter ki, UAVParameter kd, UAVParameter pv, UAVParameter diff, UAVParameter output, UAVParameter sp, UAVParameter totalgain)
 {
     this.pv        = pv;
     this.diff      = diff;
     this.output    = output;
     this.totalgain = totalgain;
     this.sp        = sp;
     this.kp        = kp;
     this.ki        = ki;
     this.kd        = kd;
 }
Пример #10
0
 public void EventRecieved(UAVParameter source, bool isremote)
 {
     lock (Syncobj)
     {
     if (list.ContainsKey(source.Name))
     {
         list[source.Name] = (UAVParameter)source.Clone();
     }
     else {
         list.Add(source.Name, (UAVParameter)source.Clone());
     }
     }
 }
Пример #11
0
 public void EventRecieved(UAVParameter source, bool isremote)
 {
     lock (Syncobj)
     {
         if (list.ContainsKey(source.Name))
         {
             list[source.Name] = (UAVParameter)source.Clone();
         }
         else
         {
             list.Add(source.Name, (UAVParameter)source.Clone());
         }
     }
 }
Пример #12
0
        /// <summary>
        /// Neuer Sensorwert schreibe in Datei
        /// </summary>
        /// <param name="param"></param>
        /// <param name="isremote"></param>
        void uavData_ValueChanged(UAVParameter param, bool isremote)
        {
            //  if (!isremote)
            {
                UAVCommons.Logging.ParameterLogEvent logevent = new UAVCommons.Logging.ParameterLogEvent();
                if ((param != null) && (param.Value != null))
                {
                    logevent.name  = param.Name;
                    logevent.value = param.Value.ToString();
                    Sensorlog.Info(logevent);
                }

                //  Motor_ValueChanged(param, isremote);
            }
        }
Пример #13
0
        private void LoadDatafromAHRS()
        {
            updateTimer.Enabled = false;
            try
            {
                System.Diagnostics.Stopwatch watch = new System.Diagnostics.Stopwatch();
                watch.Start();
                UAVParameter speedparam = (UAVParameter)GPS["lbRMCSpeed"];
                UAVParameter altparam   = (UAVParameter)GPS["lbGGAAltitude"];
                UAVParameter phiparam   = (UAVParameter)AHRS["phi"];
                UAVParameter thetaparam = (UAVParameter)AHRS["theta"];
                UAVParameter psiparam   = (UAVParameter)AHRS["psi"];

                if (speedparam != null)
                {
                    if (!speedparam.Value.Equals("N/A"))
                    {
                        airSpeedIndicator.SetAirSpeedIndicatorParameters(Convert.ToInt32(speedparam.Value));
                    }
                }
                if ((thetaparam != null) && (phiparam != null))
                {
                    attitudeIndicator.SetAttitudeIndicatorParameters(Convert.ToDouble(thetaparam.Value), Convert.ToDouble(phiparam.Value));
                }
                // Änderungsrate berechnen
                // Turn Quality berechnen
                // this.vspeed = vspeed + Convert.ToInt32(mycore.currentUAV.uavData["lbGGAAltitude"].Value)*0.9;
                if ((psiparam != null) && (psiparam != null))
                {
                    this.Compass.SetHeadingIndicatorParameters(Convert.ToInt32(Convert.ToDouble(psiparam.Value)));
                }
                //  if (mycore.currentUAV.uavData.ContainsKey("yaw")) Compass.SetHeadingIndicatorParameters(Convert.ToInt32(mycore.currentUAV.uavData["yaw"].Value));
                //     if (mycore.currentUAV.uavData.ContainsKey("vspeed")) verticalSpeedIndicator.SetVerticalSpeedIndicatorParameters(Convert.ToInt32(mycore.currentUAV.uavData["vspeed"].Value));
                if (altparam != null)
                {
                    altimeter.SetAlimeterParameters(Convert.ToInt32(Convert.ToDouble(altparam.Value)));
                }
                //    if (mycore.currentUAV.uavData.ContainsKey("turnrate") && mycore.currentUAV.uavData.ContainsKey("turnquality")) turnCoordinator.SetTurnCoordinatorParameters(Convert.ToSingle(mycore.currentUAV.uavData["turnrate"].Value), Convert.ToSingle(mycore.currentUAV.uavData["turnquality"].Value));
                this.Invalidate();
                Console.WriteLine("time update:" + watch.ElapsedMilliseconds);
                watch.Stop();
            }
            catch (Exception ex) {
            }
            updateTimer.Enabled = true;
        }
Пример #14
0
        public BaseAutoPilot(string name, BaseNavigation navigation, UAVCommons.UAVStructure mygps, UAVCommons.UAVStructure myahrs, UAVCommons.UAVStructure performancedata)
            : base(name)
        {
            this.navigation      = navigation;
            this.gps             = mygps;
            this.ahrs            = myahrs;
            this.PerformanceData = performancedata;

            //Pid Config
            // this.values.Add(new UAVCommons.UAVParameter("phi_P_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("psi_P_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_P_gain", 1));

            //   this.values.Add(new UAVCommons.UAVParameter("phi_I_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("psi_I_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_I_gain", 1));

            //   this.values.Add(new UAVCommons.UAVParameter("phi_D_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("psi_D_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_D_gain", 1));

            Console.WriteLine("AutoPilot: Set Performance DataPoints");
            //TargetVector from Navigation
            this.values.Add(new UAVCommons.UAVParameter("bankangle", 1, PerformanceData["MaxBankRight"].Value, PerformanceData["MaxBankLeft"].Value));
            this.values.Add(new UAVCommons.UAVParameter("theta_out", 1, PerformanceData["MaxDescendAngle"].Value, PerformanceData["MaxClimbAngle"].Value));

            PerformanceData.ValueChanged += new UAVStructure.ValueChangedHandler(PerformanceData_ValueChanged);

            UAVParameter center = new UAVParameter("Center", 0, 180, -180);

            //Achtung muss noch unterscheiden zwischen drehung nach link oder rechts  ahrs.values["psi"], values["bankangle"],navigation.values["psi"]
            // vs speed muss noch berechnet werden und als eingangswert statt altitutude  ned so wichtig
            Console.WriteLine("AutoPilot: Init Bank PID");
            psiPid = new PIDLibrary.ParameterPID(values["psi_P_gain"], values["psi_I_gain"], values["psi_D_gain"], center, values["bankangle"], new PIDLibrary.GetDouble(psiPV), new PIDLibrary.GetDouble(psiSP), new PIDLibrary.SetDouble(Setpsi_out));
            Console.WriteLine("AutoPilot: Init ClimbDescend PID");
            if (((UAVStructure)gps).values.ContainsKey("lbGGAAltitude"))
            {
                Console.WriteLine("Autopilot: Gps Altitude found");
            }

            thetaPid = new PIDLibrary.ParameterPID(values["theta_P_gain"], values["theta_I_gain"], values["theta_D_gain"], gps["lbGGAAltitude"], values["theta_out"], navigation.values["TargetAltitude"]);

            //   PID QuerachsenPID = new PID(1, 1, 1, 90, -90, 2000, 1000, new GetDouble(GetPV), new GetDouble(GetSP),new SetDouble( SetResult));
            Console.WriteLine("AutoPilot: PID Enable");
            // phiPid.Enable();
        }
Пример #15
0
        private UAVParameter totalgain; // Gewichtung für alle gains gemeinsam

        #endregion Fields

        #region Constructors

        public PIDS(UAVParameter kp, UAVParameter ki, UAVParameter kd, UAVParameter ks, 
		             UAVParameter lp, UAVParameter li, UAVParameter ld,	UAVParameter ls, UAVParameter pv, UAVParameter diff, UAVParameter output,UAVParameter sp,UAVParameter totalgain)
        {
            this.pv = pv;
            this.diff = diff;
            this.output = output;
            this.sp = sp;
            this.totalgain = totalgain;
            this.kp = kp;
            this.ki = ki;
            this.kd = kd;
            this.ks = ks;

            this.lp = lp;
            this.li = li;
            this.ld = ld;
            this.ls = ls;
        }
Пример #16
0
        public PIDS(UAVParameter kp, UAVParameter ki, UAVParameter kd, UAVParameter ks,
                    UAVParameter lp, UAVParameter li, UAVParameter ld, UAVParameter ls, UAVParameter pv, UAVParameter diff, UAVParameter output, UAVParameter sp, UAVParameter totalgain)
        {
            this.pv        = pv;
            this.diff      = diff;
            this.output    = output;
            this.sp        = sp;
            this.totalgain = totalgain;
            this.kp        = kp;
            this.ki        = ki;
            this.kd        = kd;
            this.ks        = ks;

            this.lp = lp;
            this.li = li;
            this.ld = ld;
            this.ls = ls;
        }
Пример #17
0
        public BaseAutoPilot(string name, BaseNavigation navigation, UAVCommons.UAVStructure mygps, UAVCommons.UAVStructure myahrs, UAVCommons.UAVStructure performancedata)
            : base(name)
        {
            this.navigation = navigation;
            this.gps = mygps;
            this.ahrs = myahrs;
            this.PerformanceData = performancedata;

            //Pid Config
            // this.values.Add(new UAVCommons.UAVParameter("phi_P_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("psi_P_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_P_gain", 1));

            //   this.values.Add(new UAVCommons.UAVParameter("phi_I_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("psi_I_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_I_gain", 1));

            //   this.values.Add(new UAVCommons.UAVParameter("phi_D_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("psi_D_gain", 1));
            this.values.Add(new UAVCommons.UAVParameter("theta_D_gain", 1));

            Console.WriteLine("AutoPilot: Set Performance DataPoints");
            //TargetVector from Navigation
            this.values.Add(new UAVCommons.UAVParameter("bankangle", 1, PerformanceData["MaxBankRight"].Value, PerformanceData["MaxBankLeft"].Value));
               this.values.Add(new UAVCommons.UAVParameter("theta_out", 1, PerformanceData["MaxDescendAngle"].Value, PerformanceData["MaxClimbAngle"].Value));

            PerformanceData.ValueChanged += new UAVStructure.ValueChangedHandler(PerformanceData_ValueChanged);

            UAVParameter center = new UAVParameter("Center", 0, 180, -180);
            //Achtung muss noch unterscheiden zwischen drehung nach link oder rechts  ahrs.values["psi"], values["bankangle"],navigation.values["psi"]
            // vs speed muss noch berechnet werden und als eingangswert statt altitutude  ned so wichtig
            Console.WriteLine("AutoPilot: Init Bank PID");
            psiPid = new PIDLibrary.ParameterPID(values["psi_P_gain"], values["psi_I_gain"], values["psi_D_gain"], center, values["bankangle"], new PIDLibrary.GetDouble(psiPV), new PIDLibrary.GetDouble(psiSP), new PIDLibrary.SetDouble(Setpsi_out));
            Console.WriteLine("AutoPilot: Init ClimbDescend PID");
            if (((UAVStructure)gps).values.ContainsKey("lbGGAAltitude")) Console.WriteLine("Autopilot: Gps Altitude found");

            thetaPid = new PIDLibrary.ParameterPID(values["theta_P_gain"], values["theta_I_gain"], values["theta_D_gain"], gps["lbGGAAltitude"], values["theta_out"], navigation.values["TargetAltitude"]);

            //   PID QuerachsenPID = new PID(1, 1, 1, 90, -90, 2000, 1000, new GetDouble(GetPV), new GetDouble(GetSP),new SetDouble( SetResult));
            Console.WriteLine("AutoPilot: PID Enable");
               // phiPid.Enable();
        }
Пример #18
0
 /// <summary>
 /// To be Implemented 
 /// Schlussrechnung
 /// </summary>
 /// <param name="oldValueandRange"></param>
 /// <param name="newValueandRange"></param>
 /// <returns></returns>
 public static Double TransformToRange(UAVParameter oldValueandRange, UAVParameter newValueandRange)
 {
     return 0;
 }
Пример #19
0
 /// <summary>
 /// Initialises all inputs and outputs
 /// </summary>
 /// <param name="uavdata"></param>
 /// <param name="powerlever"></param>
 /// <param name="throttle"></param>
 /// <param name="brakes"></param>
 public ThrottleSpeedBrakesMixer(string name, UAVCommons.MonitoredDictionary <string, object> uavdata, UAVParameter powerlever, UAVParameter throttle, UAVParameter brakes) : base(name, uavdata)
 {
     this.throttle   = null;
     this.brakes     = null;
     this.powerlever = powerlever;
 }
Пример #20
0
        public void EventRecieved(CommunicationEndpoint source, UAVParameter arg)
        {
            this.source = source;
            this.arg = arg;

        }
Пример #21
0
    public double ComputePV(UAVParameter sensor, UAVParameter sp)
    {
        double PV = 0;
        if (sensor.DoubleValue < 0){ //=WENN(A6<0; 360 + A6;A6)
            PV = 360+sensor.DoubleValue;

        }else{
            PV = sensor.DoubleValue;
        }
        double delta = sp.DoubleValue-PV;
        //=WENN(D6<-180;360+D6;WENN(D6>180;D6-360;D6))
        double corrdelta = 0;
        if (delta < -180){
            corrdelta = 360+delta;
        }else{

            if (delta > 180){
                corrdelta = delta-360;
            }else{
                corrdelta = delta;
            }
        }
            //Console.WriteLine("Psi:"+(int)sensor.DoubleValue+" PV: "+(int)PV+" delta SP-PV "+(int)delta+" delta"+(int)corrdelta+" NeuerPV"+(int)(sp.DoubleValue-corrdelta)+" Setpoint: "+(int)sp.DoubleValue+" Gyrobstrich:"+(int)lagesensor["gyrobetastrich"].DoubleValue);
        return sp.DoubleValue-corrdelta;
    }
Пример #22
0
        /// <summary>
        /// Motor wird nicht vom FlightStabiliser gesetzt setze bei Änderung selber
        /// </summary>
        /// <param name="param"></param>
        /// <param name="isremote"></param>
        void Motor_ValueChanged(UAVParameter param, bool isremote)
        {
            // Console.WriteLine(param.Name);
            // dval = param.Value;

            if ((param.GetStringPath().ToLower().Contains("gps")) || (param.GetStringPath().ToLower().Contains("gps"))) return;
            // Console.WriteLine("MotorWerte:"+param.Name + ": " + param.Value);

            //   Console.WriteLine("Wert:"+param.Name+": "+param.Value.ToString());
            /* if (param.Name == "throttleout")
             {
                 uavData["Motor"].Value = param.Value;
             }
            */

            /*
             * Peter: bitte ignorieren
             *
             *
             */
            if (!stabilise)
            {
                try
                {
                    string ValueStr = param.Value.ToString().Replace(",", "."); //
                    Double dval = 0;
                    if (ValueStr.Contains("."))
                    {

                        string komma = ValueStr.Split('.')[1];
                        dval = Convert.ToDouble(komma) / Math.Pow(10, komma.Length);
                        //      Console.WriteLine("ValueStr: " + Convert.ToDouble(komma) + dval);

                    }
                    if (ValueStr == "1")
                    {
                        dval = 1;
                    }
                    // Console.WriteLine("preAusgabe");

                    /*
                     * Max: Setze Ausgänge
                     *
                     */

                    if (param.Name == "theta_rollrateout") //"phi_rollrateout"
                    {
                        uavData["Höhenruder"].Value = dval * 1000 + 1000;
                        // Console.WriteLine("Ausgabe");

                    }
                    else if (param.Name == "phi_rollrateout")//"psi_rollrateout"
                    {
                        uavData["Querruder"].Value = dval * 1000 + 1000;
                        //  Console.WriteLine("Ausgabe");

                    }
                    else if (param.Name == "psi_rollrateout")//""
                    {
                        uavData["Seitenruder"].Value = dval * 1000 + 1000;
                        //  Console.WriteLine("Ausgabe");

                    }
                    else if (param.Name == "throttleout")//"theta_rollrateout"
                    {
                        uavData["Motor"].Value = dval * 1000 + 1000;
                        //    Console.WriteLine("Ausgabe");

                    }
                }

                catch (Exception ex)
                {
                    Console.WriteLine(ex.Message + ex.StackTrace.ToString());
                }
            }
        }
Пример #23
0
 /// <summary>
 /// Daten über das Netzwerk empfangen schreibe in datei.
 /// </summary>
 /// <param name="source"></param>
 /// <param name="arg"></param>
 void RcUAV_DataArrived(CommunicationEndpoint source, UAVParameter arg)
 {
     UAVCommons.Logging.ParameterLogEvent logevent = new UAVCommons.Logging.ParameterLogEvent();
     logevent.name = arg.Name;
     logevent.value = arg.Value.ToString();
     Netlog.Info(logevent);
 }
Пример #24
0
        /// <summary>
        /// Neuer Sensorwert schreibe in Datei
        /// </summary>
        /// <param name="param"></param>
        /// <param name="isremote"></param>
        void uavData_ValueChanged(UAVParameter param, bool isremote)
        {
            //  if (!isremote)
            {
                UAVCommons.Logging.ParameterLogEvent logevent = new UAVCommons.Logging.ParameterLogEvent();
                if ((param != null) && (param.Value != null))
                {
                    logevent.name = param.Name;
                    logevent.value = param.Value.ToString();
                    Sensorlog.Info(logevent);
                }

                //  Motor_ValueChanged(param, isremote);
            }
        }
Пример #25
0
    //  Constructor -> Is Called when the Object is created
    public VTOLUAV()
    {
        // When the Object is loaded from the sd card this method will not be called
            joystick.values.Add(phi_rolerate);
            joystick.values.Add(theta_rolerate);
            joystick.values.Add(psi_rolerate);
            joystick.values.Add(throttle);
            uavData.Add(joystick);
            //Factor = new UAVParameter ("Factory", 10, 0, 1000, 0); // Factor for Mixers
            //uavData.Add (Factor);
            lagesensor = new AHRS ("lagesensor", UsbHelper.GetDevicPathebyClass ("AHRS"));
            uavData.Add (lagesensor);
            ////gpsempfänger = new GPS ("gpsempfänger", UsbHelper.GetDevicPathebyClass ("GPS"), 38400);
            ////uavData.Add (gpsempfänger);
            ////empfängerusb = new UAVJoystick ("empfängerusb", "", new IntPtr ());
            ////uavData.Add (empfängerusb);

            // Servo Initialisierung
            servo1 = new PWM("servo1", 0, null, 1); //("Name", startwert, "null"=ausgabegerät_maestro, Kanal am Maestro)
            uavData.Add(servo1);

            servo1["LowLimit"].DoubleValue = -80;
            servo1["Neutral"].DoubleValue = 0;
            servo1["HighLimit"].DoubleValue = 80;
            servo1["Invert"].IntValue = 0;

            servo2 = new PWM ("servo2", 0, null, 2);
            uavData.Add (servo2);

            servo2 ["LowLimit"].DoubleValue = -80;
            servo2 ["Neutral"].DoubleValue = 0;
            servo2 ["HighLimit"].DoubleValue = 80;
            servo2 ["Invert"].IntValue = 0;

            servo3 = new PWM ("servo3", 90, null, 3);
            uavData.Add (servo3);

            servo3 ["LowLimit"].DoubleValue = -100;
            servo3 ["Neutral"].DoubleValue = 0;
            servo3 ["HighLimit"].DoubleValue = 100;
            servo3 ["Invert"].IntValue = 1;

            servo4 = new PWM ("servo4", 90, null, 4);
            uavData.Add (servo4);

            servo4 ["LowLimit"].DoubleValue = -100;
            servo4 ["Neutral"].DoubleValue = 0;
            servo4 ["HighLimit"].DoubleValue = 100;
            servo4 ["Invert"].IntValue = 1;

            servo5 = new PWM ("servo5", 0, null, 5);
            uavData.Add (servo5);

            servo5 ["LowLimit"].DoubleValue = -100;
            servo5 ["Neutral"].DoubleValue = 0;
            servo5 ["HighLimit"].DoubleValue = 100;
            servo5 ["Invert"].IntValue = 0;

            //// PID CONFIG
            kp_Höhe = new UAVParameter("kp_Höhe", 5, 0, 10, 0);
            kd_Höhe = new UAVParameter("kd_Höhe", 0, 0, 10, 0);
            ki_Höhe = new UAVParameter("ki_Höhe", 0, 0, 10, 0);
            uavData.Add(kp_Höhe);
            uavData.Add(kd_Höhe);
            uavData.Add(ki_Höhe);

            kp_Quer = new UAVParameter("kp_Quer", 5, 1, 10, 0);
            kd_Quer = new UAVParameter("kd_Quer", 0, 1, 10, 0);
            ki_Quer = new UAVParameter("ki_Quer", 0, 1, 10, 0);
            uavData.Add(kp_Quer);
            uavData.Add(kd_Quer);
            uavData.Add(ki_Quer);

            kp_Seite = new UAVParameter("kp_Seite", 5, 0, 10, 0);
            kd_Seite = new UAVParameter("kd_Seite", 0, 0, 10, 0);
            ki_Seite = new UAVParameter("ki_Seite", 0, 0, 10, 0);
            uavData.Add(kp_Seite);
            uavData.Add(kd_Seite);
            uavData.Add(ki_Seite);

            sp_Höhe = new UAVParameter("Höhe_SP", 0, -90, 90, 10);
            sp_Quer = new UAVParameter("Quer_SP", 0, -180, 180, 10);
            sp_Seite = new UAVParameter("Seite_SP", 0, -180, 180, 10);
            uavData.Add(sp_Höhe);
            uavData.Add(sp_Quer);
            uavData.Add(sp_Seite);

            PID_Out_Höhe = new UAVParameter("PID_Out_Höhe", 0, -100, 100, 0);
            PID_Out_Quer = new UAVParameter("PID_Out_Quer", 0, -100, 100, 0);
            PID_Out_Seite = new UAVParameter("PID_Out_Seite", 0, -100, 100, 0);
            uavData.Add(PID_Out_Höhe);
            uavData.Add(PID_Out_Quer);
            uavData.Add(PID_Out_Seite);
    }
Пример #26
0
 void PerformanceData_ValueChanged(UAVParameter param, bool isremote)
 {
     values["bankangle"].Min = PerformanceData["MaxBankLeft"].Value;
     values["bankangle"].Max = PerformanceData["MaxBankRight"].Value;
     values["theta_out"].Max = PerformanceData["MaxClimbAngle"].Value;
     values["theta_out"].Min = PerformanceData["MaxDescendAngle"].Value;
 }
Пример #27
0
    public VTOLUAV()                //  Constructor -> Is Called when the Object is created
    {                               // When the Object is loaded from the sd card this method will not be called
        joystick.values.Add(phi_rolerate);
        joystick.values.Add(theta_rolerate);
        joystick.values.Add(psi_rolerate);
        joystick.values.Add(throttle);
        uavData.Add(joystick);
        //Factor = new UAVParameter ("Factory", 10, 0, 1000, 0); // Factor for Mixers
        //uavData.Add (Factor);
        lagesensor = new AHRS("lagesensor", UsbHelper.GetDevicPathebyClass("AHRS"));
        uavData.Add(lagesensor);
        ////gpsempfänger = new GPS ("gpsempfänger", UsbHelper.GetDevicPathebyClass ("GPS"), 38400);
        ////uavData.Add (gpsempfänger);
        ////empfängerusb = new UAVJoystick ("empfängerusb", "", new IntPtr ());
        ////uavData.Add (empfängerusb);

        // Servo Initialisierung
        servo1 = new PWM("servo1", 0, null, 1);     //("Name", startwert, "null"=ausgabegerät_maestro, Kanal am Maestro)
        uavData.Add(servo1);

        servo1["LowLimit"].DoubleValue  = -80;
        servo1["Neutral"].DoubleValue   = 0;
        servo1["HighLimit"].DoubleValue = 80;
        servo1["Invert"].IntValue       = 0;


        servo2 = new PWM("servo2", 0, null, 2);
        uavData.Add(servo2);

        servo2 ["LowLimit"].DoubleValue  = -80;
        servo2 ["Neutral"].DoubleValue   = 0;
        servo2 ["HighLimit"].DoubleValue = 80;
        servo2 ["Invert"].IntValue       = 0;

        servo3 = new PWM("servo3", 90, null, 3);
        uavData.Add(servo3);

        servo3 ["LowLimit"].DoubleValue  = -100;
        servo3 ["Neutral"].DoubleValue   = 0;
        servo3 ["HighLimit"].DoubleValue = 100;
        servo3 ["Invert"].IntValue       = 1;

        servo4 = new PWM("servo4", 90, null, 4);
        uavData.Add(servo4);

        servo4 ["LowLimit"].DoubleValue  = -100;
        servo4 ["Neutral"].DoubleValue   = 0;
        servo4 ["HighLimit"].DoubleValue = 100;
        servo4 ["Invert"].IntValue       = 1;

        servo5 = new PWM("servo5", 0, null, 5);
        uavData.Add(servo5);

        servo5 ["LowLimit"].DoubleValue  = -100;
        servo5 ["Neutral"].DoubleValue   = 0;
        servo5 ["HighLimit"].DoubleValue = 100;
        servo5 ["Invert"].IntValue       = 0;

        //// PID CONFIG
        kp_Höhe = new UAVParameter("kp_Höhe", 5, 0, 10, 0);
        kd_Höhe = new UAVParameter("kd_Höhe", 0, 0, 10, 0);
        ki_Höhe = new UAVParameter("ki_Höhe", 0, 0, 10, 0);
        uavData.Add(kp_Höhe);
        uavData.Add(kd_Höhe);
        uavData.Add(ki_Höhe);

        kp_Quer = new UAVParameter("kp_Quer", 5, 1, 10, 0);
        kd_Quer = new UAVParameter("kd_Quer", 0, 1, 10, 0);
        ki_Quer = new UAVParameter("ki_Quer", 0, 1, 10, 0);
        uavData.Add(kp_Quer);
        uavData.Add(kd_Quer);
        uavData.Add(ki_Quer);

        kp_Seite = new UAVParameter("kp_Seite", 5, 0, 10, 0);
        kd_Seite = new UAVParameter("kd_Seite", 0, 0, 10, 0);
        ki_Seite = new UAVParameter("ki_Seite", 0, 0, 10, 0);
        uavData.Add(kp_Seite);
        uavData.Add(kd_Seite);
        uavData.Add(ki_Seite);

        sp_Höhe  = new UAVParameter("Höhe_SP", 0, -90, 90, 10);
        sp_Quer  = new UAVParameter("Quer_SP", 0, -180, 180, 10);
        sp_Seite = new UAVParameter("Seite_SP", 0, -180, 180, 10);
        uavData.Add(sp_Höhe);
        uavData.Add(sp_Quer);
        uavData.Add(sp_Seite);

        PID_Out_Höhe  = new UAVParameter("PID_Out_Höhe", 0, -100, 100, 0);
        PID_Out_Quer  = new UAVParameter("PID_Out_Quer", 0, -100, 100, 0);
        PID_Out_Seite = new UAVParameter("PID_Out_Seite", 0, -100, 100, 0);
        uavData.Add(PID_Out_Höhe);
        uavData.Add(PID_Out_Quer);
        uavData.Add(PID_Out_Seite);
    }
Пример #28
0
 public SetParameterOptions(UAVParameter param)
 {
     parameter = param;
 }
Пример #29
0
    public VTOLUAV()                //  Constructor -> Is Called when the Object is created
    {                               // When the Object is loaded from the sd card this method will not be called
        uavData.Add(totalpidgain);
        joystick.values.Add(phi_rolerate);
        joystick.values.Add(theta_rolerate);
        joystick.values.Add(psi_rolerate);
        joystick.values.Add(throttle);
        uavData.Add(joystick);

        lagesensor = new AHRS("lagesensor", UsbHelper.GetDevicPathebyClass("AHRS"));
        lagesensor["cursettings"].Value = "371,376,379,17,-127,-87";

        uavData.Add(lagesensor);
        gpsempfänger = new GPS("gpsempfänger", UsbHelper.GetDevicPathebyClass("GPS"), 38400);
        uavData.Add(gpsempfänger);
        //	empfängerusb = new UAVJoystick ("empfängerusb", "", new IntPtr ());
        //uavData.Add (empfängerusb);
        watch.Start();
        // Servo Initialisierung
        servo1 = new PWM("servo1", 0, null, 1);                  //("Name", startwert, "null"=ausgabegerät_maestro, Kanal am Maestro)
        uavData.Add(servo1);
        servo1 ["LowLimit"].DoubleValue  = -100;
        servo1 ["Neutral"].DoubleValue   = 0;
        servo1 ["HighLimit"].DoubleValue = 100;
        servo1 ["Invert"].IntValue       = 0;
        servo1.SetHomePosition(0);

        servo2 = new PWM("servo2", 0, null, 2);
        uavData.Add(servo2);
        servo2 ["LowLimit"].DoubleValue  = -100;
        servo2 ["Neutral"].DoubleValue   = 0;
        servo2 ["HighLimit"].DoubleValue = 100;
        servo2 ["Invert"].IntValue       = 0;
        servo2.SetHomePosition(0);

        servo3 = new PWM("servo3", 100, null, 3);
        uavData.Add(servo3);
        servo3 ["LowLimit"].DoubleValue  = -80;
        servo3 ["Neutral"].DoubleValue   = 0;
        servo3 ["HighLimit"].DoubleValue = 80;
        servo3 ["Invert"].IntValue       = 1;
        servo3.SetHomePosition(100);

        servo4 = new PWM("servo4", 100, null, 4);
        uavData.Add(servo4);
        servo4 ["LowLimit"].DoubleValue  = -80;
        servo4 ["Neutral"].DoubleValue   = 0;
        servo4 ["HighLimit"].DoubleValue = 80;
        servo4 ["Invert"].IntValue       = 1;
        servo4.SetHomePosition(100);

        servo5 = new PWM("servo5", -80, null, 5);
        uavData.Add(servo5);

        servo5 ["LowLimit"].DoubleValue  = -100;
        servo5 ["Neutral"].DoubleValue   = 0;
        servo5 ["HighLimit"].DoubleValue = 100;
        servo5 ["Invert"].IntValue       = 0;
        servo5.SetHomePosition(-80);

        servo6 = new PWM("servo6", -80, null, 6);
        uavData.Add(servo6);

        servo6 ["LowLimit"].DoubleValue  = -100;
        servo6 ["Neutral"].DoubleValue   = 0;
        servo6 ["HighLimit"].DoubleValue = 100;
        servo6 ["Invert"].IntValue       = 0;
        servo6.SetHomePosition(-80);

        // PID CONFIG --------------------------------------
        kp_Höhe = new UAVParameter("kp_Höhe", 7, 0, 10, 0);                   //Sinnvoll=1Höhe = new UAVParameter ("kp_Höhe", 1, max, min, updaterate)
        kd_Höhe = new UAVParameter("kd_Höhe", 10, -10, 10, 0);                //Sinnvoll=-3  Achtung aus irgend einem Grund negativ !!!
        ki_Höhe = new UAVParameter("ki_Höhe", 0, 0, 10, 0);                   //Sinnvoll=1
        ks_Höhe = new UAVParameter("ks_Höhe", 0.0, 0, 10, 0);                 //Sinnvoll=0.2

        lp_Höhe = new UAVParameter("lp_Höhe", 1, 0, 10, 0);
        ld_Höhe = new UAVParameter("ld_Höhe", 1, 0, 10, 0);
        li_Höhe = new UAVParameter("li_Höhe", 1, 0, 10, 0);
        ls_Höhe = new UAVParameter("ls_Höhe", 0.2, 0, 10, 0);

        uavData.Add(kp_Höhe);
        uavData.Add(kd_Höhe);
        uavData.Add(ki_Höhe);
        uavData.Add(ks_Höhe);

        uavData.Add(lp_Höhe);
        uavData.Add(ld_Höhe);
        uavData.Add(li_Höhe);
        uavData.Add(ls_Höhe);
        //----------------------------------------------------
        kp_Quer = new UAVParameter("kp_Quer", 5, 0, 10, 0);                   //Sinnvoll=1
        kd_Quer = new UAVParameter("kd_Quer", 5, 0, 10, 0);                   //Sinnvoll=3
        ki_Quer = new UAVParameter("ki_Quer", 0, 0, 10, 0);                   //Sinnvoll=1
        ks_Quer = new UAVParameter("ks_Quer", 0.0, 0, 10, 0);                 //Sinnvoll=0.2

        lp_Quer = new UAVParameter("lp_Quer", 1, 0, 10, 0);
        ld_Quer = new UAVParameter("ld_Quer", 1, 0, 10, 0);
        li_Quer = new UAVParameter("li_Quer", 1, 0, 10, 0);
        ls_Quer = new UAVParameter("ls_Quer", 0.2, 0, 10, 0);

        uavData.Add(kp_Quer);
        uavData.Add(kd_Quer);
        uavData.Add(ki_Quer);
        uavData.Add(ks_Quer);

        uavData.Add(lp_Quer);
        uavData.Add(ld_Quer);
        uavData.Add(li_Quer);
        uavData.Add(ls_Quer);
        //----------------------------------------------------
        kp_Seite = new UAVParameter("kp_Seite", -3, -10, 10, 0);
        kd_Seite = new UAVParameter("kd_Seite", 6, -10, 10, 0);
        ki_Seite = new UAVParameter("ki_Seite", 0, -10, 10, 0);
        ks_Seite = new UAVParameter("ks_Seite", 0, -10, 10, 0);

        lp_Seite = new UAVParameter("lp_Seite", 0.5, 0, 10, 0);
        ld_Seite = new UAVParameter("ld_Seite", 0.5, 0, 10, 0);
        li_Seite = new UAVParameter("li_Seite", 1, 0, 10, 0);
        ls_Seite = new UAVParameter("ls_Seite", 0, 0, 10, 0);

        uavData.Add(kp_Seite);
        uavData.Add(kd_Seite);
        uavData.Add(ki_Seite);
        uavData.Add(ks_Seite);

        uavData.Add(lp_Seite);
        uavData.Add(ld_Seite);
        uavData.Add(li_Seite);
        uavData.Add(ls_Seite);
        //----------------------------------------------------
        sp_Höhe  = new UAVParameter("Höhe_SP", 0, -90, 90, 10);
        sp_Quer  = new UAVParameter("Quer_SP", 0, -180, 180, 10);
        sp_Seite = new UAVParameter("Seite_SP", 0, -180, 180, 10);
        uavData.Add(sp_Höhe);
        uavData.Add(sp_Quer);
        uavData.Add(sp_Seite);

        output_Höhe  = new UAVParameter("PID_Out_Höhe", 0, -100, 100, 0);
        output_Quer  = new UAVParameter("PID_Out_Quer", 0, -100, 100, 0);
        output_Seite = new UAVParameter("PID_Out_Seite", 0, -100, 100, 0);

        uavData.Add(output_Höhe);
        uavData.Add(output_Quer);
        uavData.Add(output_Seite);
        SteuerMotorLeistung = new UAVParameter("SteuerMotorLeistung", 0, 0, 100, 0);
        HauptMotorLeistung  = new UAVParameter("HauptMotorLeistung", -80, -100, 100, 0);
        HauptMotorDiff      = new UAVParameter("HauptMotorDiff", 0, -20, 20, 0);
        uavData.Add(SteuerMotorLeistung);
        uavData.Add(HauptMotorLeistung);
        uavData.Add(HauptMotorDiff);


        NewSeitePV = new UAVParameter("NewSeitePV", 0, -180, 180, 0);
        uavData.Add(NewSeitePV);
        uavData.Add(output_Höhe);
    }
Пример #30
0
    //  Constructor -> Is Called when the Object is created
    public VTOLUAV()
    {
        // When the Object is loaded from the sd card this method will not be called

            uavData.Add(totalpidgain);
            joystick.values.Add(phi_rolerate);
            joystick.values.Add(theta_rolerate);
            joystick.values.Add(psi_rolerate);
            joystick.values.Add(throttle);
            uavData.Add(joystick);

            lagesensor = new AHRS ("lagesensor", UsbHelper.GetDevicPathebyClass ("AHRS"));
            lagesensor["cursettings"].Value = "371,376,379,17,-127,-87";

            uavData.Add (lagesensor);
            gpsempfänger = new GPS ("gpsempfänger", UsbHelper.GetDevicPathebyClass ("GPS"), 38400);
            uavData.Add (gpsempfänger);
        //	empfängerusb = new UAVJoystick ("empfängerusb", "", new IntPtr ());
            //uavData.Add (empfängerusb);
        watch.Start();
            // Servo Initialisierung
            servo1 = new PWM ("servo1", 0, null, 1); //("Name", startwert, "null"=ausgabegerät_maestro, Kanal am Maestro)
            uavData.Add (servo1);
            servo1 ["LowLimit"].DoubleValue = -100;
            servo1 ["Neutral"].DoubleValue = 0;
            servo1 ["HighLimit"].DoubleValue = 100;
            servo1 ["Invert"].IntValue = 0;
            servo1.SetHomePosition(0);

            servo2 = new PWM ("servo2", 0, null, 2);
            uavData.Add (servo2);
            servo2 ["LowLimit"].DoubleValue = -100;
            servo2 ["Neutral"].DoubleValue = 0;
            servo2 ["HighLimit"].DoubleValue = 100;
            servo2 ["Invert"].IntValue = 0;
            servo2.SetHomePosition(0);

            servo3 = new PWM ("servo3", 100, null, 3);
            uavData.Add (servo3);
            servo3 ["LowLimit"].DoubleValue = -80;
            servo3 ["Neutral"].DoubleValue = 0;
            servo3 ["HighLimit"].DoubleValue = 80;
            servo3 ["Invert"].IntValue = 1;
            servo3.SetHomePosition(100);

            servo4 = new PWM ("servo4", 100, null, 4);
            uavData.Add (servo4);
            servo4 ["LowLimit"].DoubleValue = -80;
            servo4 ["Neutral"].DoubleValue = 0;
            servo4 ["HighLimit"].DoubleValue = 80;
            servo4 ["Invert"].IntValue = 1;
            servo4.SetHomePosition(100);

            servo5 = new PWM ("servo5", -80, null, 5);
            uavData.Add (servo5);

            servo5 ["LowLimit"].DoubleValue = -100;
            servo5 ["Neutral"].DoubleValue = 0;
            servo5 ["HighLimit"].DoubleValue = 100;
            servo5 ["Invert"].IntValue = 0;
            servo5.SetHomePosition(-80);

            servo6 = new PWM ("servo6", -80, null, 6);
            uavData.Add (servo6);

            servo6 ["LowLimit"].DoubleValue = -100;
            servo6 ["Neutral"].DoubleValue = 0;
            servo6 ["HighLimit"].DoubleValue = 100;
            servo6 ["Invert"].IntValue = 0;
            servo6.SetHomePosition(-80);

            // PID CONFIG --------------------------------------
            kp_Höhe = new UAVParameter ("kp_Höhe", 7  , 0, 10, 0);//Sinnvoll=1Höhe = new UAVParameter ("kp_Höhe", 1, max, min, updaterate)
            kd_Höhe = new UAVParameter ("kd_Höhe", 10 ,  -10, 10, 0);//Sinnvoll=-3  Achtung aus irgend einem Grund negativ !!!
            ki_Höhe = new UAVParameter ("ki_Höhe", 0  , 0, 10, 0);//Sinnvoll=1
            ks_Höhe = new UAVParameter ("ks_Höhe", 0.0, 0, 10, 0);//Sinnvoll=0.2

            lp_Höhe = new UAVParameter ("lp_Höhe", 1  , 0, 10, 0);
            ld_Höhe = new UAVParameter ("ld_Höhe", 1  , 0, 10, 0);
            li_Höhe = new UAVParameter ("li_Höhe", 1  , 0, 10, 0);
            ls_Höhe = new UAVParameter ("ls_Höhe", 0.2  , 0, 10, 0);

            uavData.Add (kp_Höhe);
            uavData.Add (kd_Höhe);
            uavData.Add (ki_Höhe);
            uavData.Add (ks_Höhe);

            uavData.Add (lp_Höhe);
            uavData.Add (ld_Höhe);
            uavData.Add (li_Höhe);
            uavData.Add (ls_Höhe);
            //----------------------------------------------------
            kp_Quer = new UAVParameter ("kp_Quer", 5  , 0, 10, 0);//Sinnvoll=1
            kd_Quer = new UAVParameter ("kd_Quer", 5  , 0, 10, 0);//Sinnvoll=3
            ki_Quer = new UAVParameter ("ki_Quer", 0  , 0, 10, 0);//Sinnvoll=1
            ks_Quer = new UAVParameter ("ks_Quer", 0.0, 0, 10, 0);//Sinnvoll=0.2

            lp_Quer = new UAVParameter ("lp_Quer", 1  , 0, 10, 0);
            ld_Quer = new UAVParameter ("ld_Quer", 1  , 0, 10, 0);
            li_Quer = new UAVParameter ("li_Quer", 1  , 0, 10, 0);
            ls_Quer = new UAVParameter ("ls_Quer", 0.2 , 0, 10, 0);

            uavData.Add (kp_Quer);
            uavData.Add (kd_Quer);
            uavData.Add (ki_Quer);
            uavData.Add (ks_Quer);

            uavData.Add (lp_Quer);
            uavData.Add (ld_Quer);
            uavData.Add (li_Quer);
            uavData.Add (ls_Quer);
            //----------------------------------------------------
            kp_Seite = new UAVParameter ("kp_Seite", -3  , -10, 10, 0);
            kd_Seite = new UAVParameter ("kd_Seite", 6  , -10, 10, 0);
            ki_Seite = new UAVParameter ("ki_Seite", 0  , -10, 10, 0);
            ks_Seite = new UAVParameter ("ks_Seite", 0  , -10, 10, 0);

            lp_Seite = new UAVParameter ("lp_Seite", 0.5  , 0, 10, 0);
            ld_Seite = new UAVParameter ("ld_Seite", 0.5  , 0, 10, 0);
            li_Seite = new UAVParameter ("li_Seite", 1  , 0, 10, 0);
            ls_Seite = new UAVParameter ("ls_Seite", 0  , 0, 10, 0);

            uavData.Add (kp_Seite);
            uavData.Add (kd_Seite);
            uavData.Add (ki_Seite);
            uavData.Add (ks_Seite);

            uavData.Add (lp_Seite);
            uavData.Add (ld_Seite);
            uavData.Add (li_Seite);
            uavData.Add (ls_Seite);
            //----------------------------------------------------
            sp_Höhe  = new UAVParameter ("Höhe_SP" , 0,  -90,  90, 10);
            sp_Quer  = new UAVParameter ("Quer_SP" , 0, -180, 180, 10);
            sp_Seite = new UAVParameter ("Seite_SP", 0, -180, 180, 10);
            uavData.Add (sp_Höhe);
            uavData.Add (sp_Quer);
            uavData.Add (sp_Seite);

            output_Höhe  = new UAVParameter("PID_Out_Höhe" ,0,-100,100,0);
            output_Quer  = new UAVParameter("PID_Out_Quer" ,0,-100,100,0);
            output_Seite = new UAVParameter("PID_Out_Seite",0,-100,100,0);

            uavData.Add(output_Höhe);
            uavData.Add(output_Quer);
            uavData.Add(output_Seite);
            SteuerMotorLeistung = new UAVParameter("SteuerMotorLeistung",0,0,100,0);
                HauptMotorLeistung = new UAVParameter("HauptMotorLeistung",-80,-100,100,0);
                HauptMotorDiff = new UAVParameter("HauptMotorDiff",0,-20,20,0);
            uavData.Add(SteuerMotorLeistung);
            uavData.Add(HauptMotorLeistung);
            uavData.Add(HauptMotorDiff);

            NewSeitePV = new UAVParameter("NewSeitePV",0,-180,180,0);
            uavData.Add(NewSeitePV);
            uavData.Add(output_Höhe);
    }
Пример #31
0
 public void EventRecieved(CommunicationEndpoint source, UAVParameter arg)
 {
     this.source = source;
     this.arg    = arg;
 }
Пример #32
0
        /// <summary>
        /// Motor wird nicht vom FlightStabiliser gesetzt setze bei Änderung selber
        /// </summary>
        /// <param name="param"></param>
        /// <param name="isremote"></param>
        void Motor_ValueChanged(UAVParameter param, bool isremote)
        {
            // Console.WriteLine(param.Name);
            // dval = param.Value;

            if ((param.GetStringPath().ToLower().Contains("gps")) || (param.GetStringPath().ToLower().Contains("gps")))
            {
                return;
            }
            // Console.WriteLine("MotorWerte:"+param.Name + ": " + param.Value);

            //   Console.WriteLine("Wert:"+param.Name+": "+param.Value.ToString());

            /* if (param.Name == "throttleout")
             * {
             *   uavData["Motor"].Value = param.Value;
             * }
             */

            /*
             * Peter: bitte ignorieren
             *
             *
             */
            if (!stabilise)
            {
                try
                {
                    string ValueStr = param.Value.ToString().Replace(",", "."); //
                    Double dval     = 0;
                    if (ValueStr.Contains("."))
                    {
                        string komma = ValueStr.Split('.')[1];
                        dval = Convert.ToDouble(komma) / Math.Pow(10, komma.Length);
                        //      Console.WriteLine("ValueStr: " + Convert.ToDouble(komma) + dval);
                    }
                    if (ValueStr == "1")
                    {
                        dval = 1;
                    }
                    // Console.WriteLine("preAusgabe");


                    /*
                     * Max: Setze Ausgänge
                     *
                     */

                    if (param.Name == "theta_rollrateout") //"phi_rollrateout"
                    {
                        uavData["Höhenruder"].Value = dval * 1000 + 1000;
                        // Console.WriteLine("Ausgabe");
                    }
                    else if (param.Name == "phi_rollrateout")//"psi_rollrateout"
                    {
                        uavData["Querruder"].Value = dval * 1000 + 1000;
                        //  Console.WriteLine("Ausgabe");
                    }
                    else if (param.Name == "psi_rollrateout")//""
                    {
                        uavData["Seitenruder"].Value = dval * 1000 + 1000;
                        //  Console.WriteLine("Ausgabe");
                    }
                    else if (param.Name == "throttleout")//"theta_rollrateout"
                    {
                        uavData["Motor"].Value = dval * 1000 + 1000;
                        //    Console.WriteLine("Ausgabe");
                    }
                }

                catch (Exception ex)
                {
                    Console.WriteLine(ex.Message + ex.StackTrace.ToString());
                }
            }
        }
Пример #33
0
 public SetParameterOptions(UAVParameter param)
 {
     parameter = param;
 }