Re: [Paparazzi-devel] Use of State Variables in Flight Plan Exceptions

[Gautier Hattenberger]

Hi,

The easiest trick is to do this in the header section at the beginning of the flight plan:

<header>
#define GroundSpeed() (*stateGetHorizontalSpeedNorm_f())
</header>

and the use GroundSpeed() in the blocks.

On the long term, we already discussed I think that all state interface functions should finally return structures or simple types and not pointers, especially for RTOS integration where mutex would be used.

Gautier

Le 03/09/2015 10:50, Felix Ruess a écrit :

Hi Luke,

in general you can use the state interface functions like you would expect, e.g.:
<exception cond="stateGetPositionEnu_f()->z > 2.0" deroute="Standby"/>

However for the ground speed it is a bit more tricky, since it returns a pointer to the variable and dereferencing makes the flight plan parser barf:

<exception cond="*stateGetHorizontalSpeedNorm_f() > 15.0" deroute="Standby"/>

@Gautier, any good idea on how to circumvent this?

I guess it would make sense to change the functions that return a single float or int (like stateGetHorizontalSpeedNorm_f) to return the value and not pointer...

Cheers, Felix

On Wed, Sep 2, 2015 at 4:35 AM, Luke Ionno <address@hidden> wrote:

Hello,

I’m sure this is a pretty simple thing to do, but how does one go about using values from state.h in flight plan exceptions?  In particular, I’m interested in using ground speed above/below certain thresholds to trigger particular flight-plan blocks.  Could somebody provide an example of how this would be done?

Thanks!

-Luke

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