git.maemo.org Git - mardrone/blob - mardrone/ARDrone_SDK_Version_1_8_20110726/ARDroneLib/Soft/Lib/ardrone_tool/config_keys.c

   1
   2 #include <Maths/maths.h>
   3 #include <Maths/matrices.h>
   4
   5 #undef ARDRONE_CONFIG_KEY_IMM
   6 #undef ARDRONE_CONFIG_KEY_REF
   7 #undef ARDRONE_CONFIG_KEY_STR
   8 #include <config_keys.h>
   9
  10 const vector31_t default_accs_offset = {{{ -2048.0f, 2048.0f, 2048.0f}}};
  11 const matrix33_t default_accs_gain = {1.0f, 0.0f, 0.0f, 0.0f, -1.0f, 0.0f, 0.0f, 0.0f, -1.0f };
  12 const vector31_t default_gyros_offset = {{{ 1662.5f, 1662.5f, 1662.5f}}};
  13 const vector31_t default_gyros_gains = {{{ 395.0f * MDEG_TO_RAD, -395.0f * MDEG_TO_RAD, -207.5f * MDEG_TO_RAD }}};
  14 const vector21_t default_gyros110_offset = {{ 1662.5f, 1662.5f}};
  15 const vector21_t default_gyros110_gains = {{ 87.5f * MDEG_TO_RAD, -87.5f * MDEG_TO_RAD }};
  16
  17 /* Stephane - multiconfiguration support */
  18
  19         /* Those data are present both on the client and the drone side */
  20
  21         const char * custom_configuration_id_keys[NB_CONFIG_CATEGORIES+1]=
  22         {
  23                         "",
  24                         "custom:application_desc",
  25                         "custom:profile_desc",
  26                         "custom:session_desc",
  27         };
  28
  29         const char * custom_configuration_headers[NB_CONFIG_CATEGORIES+1]=
  30         {
  31                         "[common]",
  32                         "[applis]",
  33                         "[profiles]",
  34                         "[sessions]"
  35         };
  36
  37         const char *configuration_switching_commands[NB_CONFIG_CATEGORIES+1]=
  38         {
  39                         "",
  40                         "custom:application_id",
  41                         "custom:profile_id",
  42                         "custom:session_id",
  43                         NULL
  44         };
  45
  46         custom_configuration_list_t available_configurations[NB_CONFIG_CATEGORIES];
  47
  48
  49         /* Stephane - multiconfiguration support */
  50
  51         C_RESULT configuration_check_config_id_char(const char session_id_char)
  52         {
  53                 char c = session_id_char;
  54                 return ( (c>='a' && c<='f') || (c>='A' && c<='F') || (c>='0' && c<='9') );
  55         }
  56
  57         C_RESULT configuration_check_config_id(const char * session_id)
  58         {
  59                 int i;
  60                 unsigned char c;
  61                 // Session IDs should be strings containing a 32-bit integer hexadecimal representation
  62                 if (session_id==NULL) return C_FAIL;
  63                 for (i=0;i<CUSTOM_CONFIGURATION_ID_LENGTH;i++){
  64                         c=session_id[i];
  65                         if (c==0) { return C_FAIL; }  /* string is too short */
  66                         if (!(configuration_check_config_id_char(c))) { return C_FAIL; }  /* character is invalid */
  67                 }
  68                 if (session_id[i]!=0) { return C_FAIL; } /* string is too long */
  69                 return C_OK;
  70         }