From 1c29f764d6c85c30261722769b080307e2d5ebf6 Mon Sep 17 00:00:00 2001
From: Jake Drahos <j@kedrahos.com>
Date: Sun, 27 Nov 2016 19:32:37 -0600
Subject: [PATCH] Added all pid controllers to the enum
---
groundStation/src/cli/cli_getpid.c | 18 +++++++++---------
groundStation/src/frontend/frontend_getpid.c | 8 ++++----
groundStation/src/frontend/pid_common.h | 14 ++++++++++----
3 files changed, 23 insertions(+), 17 deletions(-)
diff --git a/groundStation/src/cli/cli_getpid.c b/groundStation/src/cli/cli_getpid.c
index 4eead7543..bcf135870 100644
--- a/groundStation/src/cli/cli_getpid.c
+++ b/groundStation/src/cli/cli_getpid.c
@@ -34,33 +34,33 @@ int cli_getpid(struct backend_conn * conn, int argc, char **argv) {
int result;
if(getAll) {
- pid_data.controller = ROLL;
+ pid_data.controller = PID_ROLL;
if ((result = getValues(conn, &pid_data))) {
return result;
}
- pid_data.controller = PITCH;
+ pid_data.controller = PID_PITCH;
if ((result = getValues(conn, &pid_data))) {
return result;
}
- pid_data.controller = YAW;
+ pid_data.controller = PID_YAW;
if ((result = getValues(conn, &pid_data))) {
return result;
}
} else {
if(getPitch) {
- pid_data.controller = PITCH;
+ pid_data.controller = PID_PITCH;
if ((result = getValues(conn, &pid_data))) {
return result;
}
}
if(getRoll) {
- pid_data.controller = ROLL;
+ pid_data.controller = PID_ROLL;
if ((result = getValues(conn, &pid_data))) {
return result;
}
}
if(getYaw) {
- pid_data.controller = YAW;
+ pid_data.controller = PID_YAW;
if ((result = getValues(conn, &pid_data))) {
return result;
}
@@ -78,15 +78,15 @@ int getValues(struct backend_conn * conn, struct frontend_pid_data * pid_data) {
return 0;
switch(pid_data->controller) {
- case PITCH :
+ case PID_PITCH :
printf("Pitch Constants: P = %f\tI = %f\tD = %f\n",
pid_data->p, pid_data->i, pid_data->d);
break;
- case ROLL :
+ case PID_ROLL :
printf("Roll Constants: P = %f\tI = %f\tD = %f\n",
pid_data->p, pid_data->i, pid_data->d);
break;
- case YAW :
+ case PID_YAW :
printf("Yaw Constants: P = %f\tI = %f\tD = %f\n",
pid_data->p, pid_data->i, pid_data->d);
break;
diff --git a/groundStation/src/frontend/frontend_getpid.c b/groundStation/src/frontend/frontend_getpid.c
index bd6b387cc..fbde309c3 100644
--- a/groundStation/src/frontend/frontend_getpid.c
+++ b/groundStation/src/frontend/frontend_getpid.c
@@ -10,7 +10,7 @@
* Example:
*
* struct frontend_pid_data pid_data;
- * pid_data.pid = PITCH;
+ * pid_data.pid = PID_PITCH;
* if (frontend_getpid(conn, &pid_data)) {
* error
* } else {
@@ -24,13 +24,13 @@ int frontend_getpid(
char line[100] = "";
switch (pid_data->controller) {
- case PITCH :
+ case PID_PITCH :
strncpy(line, "getpitchp\ngetpitchd\n", 20);
break;
- case ROLL :
+ case PID_ROLL :
strncpy(line, "getrollp\ngetrolld\n", 18);
break;
- case YAW :
+ case PID_YAW :
strncpy(line, "getyawp\ngetyawd\n", 17);
break;
default :
diff --git a/groundStation/src/frontend/pid_common.h b/groundStation/src/frontend/pid_common.h
index e4f65625c..efa24df4a 100644
--- a/groundStation/src/frontend/pid_common.h
+++ b/groundStation/src/frontend/pid_common.h
@@ -2,10 +2,16 @@
#define PID_COMMON_H
enum pid_controller {
- PITCH,
- ROLL,
- YAW,
- NUM_PIDS
+ PID_PITCH,
+ PID_ROLL,
+ PID_YAW,
+ PID_PITCH_VELOCITY,
+ PID_ROLL_VELOCITY,
+ PID_YAW_VELOCITY,
+ PID_HEIGHT, /* Z */
+ PID_LAT, /* X */
+ PID_LONG, /* Y */
+ PID_NUM_PIDS
};
struct frontend_pid_data {
--
GitLab