Units - Revision history

Matejkarasek: Added a correct link

2017-11-28T09:21:48Z

Added a correct link

← Older revision		Revision as of 03:21, 28 November 2017
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	Paparazzi tries to use SI units everywhere.		Paparazzi tries to use SI units everywhere.

	All angles should be in radians and not in degrees! (But there are still exceptions...)		All angles should be in radians and not in degrees! (But there are still exceptions [https://wiki.paparazziuav.org/wiki/Units#Defines_still_using_degrees]...)

	== Automatic unit conversion ==		== Automatic unit conversion ==

Matejkarasek: Typo

2017-11-28T09:18:51Z

Typo

← Older revision		Revision as of 03:18, 28 November 2017
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	Paparazzi tries to use SI units everywhere.		Paparazzi tries to use SI units everywhere.

	All angles should be in radians and not in degrees!		All angles should be in radians and not in degrees! (But there are still exceptions...)

	== Automatic unit conversion ==		== Automatic unit conversion ==
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	When saving the settings the values are still always displayed in the actual unit (e.g. rad).		When saving the settings the values are still always displayed in the actual unit (e.g. rad).

	== ~~defines~~ still using degrees ==		== Defines still using degrees ==
	Regarding radians in the code: the defines		Regarding radians in the code: the defines

Matejkarasek: /* Automatic unit conversion */

2017-11-28T08:57:33Z

Automatic unit conversion

← Older revision		Revision as of 02:57, 28 November 2017
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	<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>		<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>

	The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in [https://github.com/paparazzi/~~paparazzi~~/blob/master/~~conf~~/~~units.xml conf~~/units.xml] and hence can easily be extended.		The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in PPRZlink [https://wiki.paparazziuav.org/wiki/Pprzlink] in units.xml [https://github.com/paparazzi/pprzlink/blob/master/message_definitions/common/units.xml] and hence can easily be extended.

	== Save settings ==		== Save settings ==

Flixr: /* Automatic unit conversion */

2012-06-10T16:30:46Z

Automatic unit conversion

← Older revision		Revision as of 10:30, 10 June 2012
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	== Automatic unit conversion ==		== Automatic unit conversion ==
	For convenience Paparazzi handles some unit conversions automatically for you (~~dev and 4~~.~~0_beta branches~~):		For convenience Paparazzi handles some unit conversions automatically for you (since v3.9):

	In the [[Airframe_Configuration]] the <tt>unit</tt> and <tt>code_unit</tt> attributes are used for automatic conversion:		In the [[Airframe_Configuration]] the <tt>unit</tt> and <tt>code_unit</tt> attributes are used for automatic conversion:
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	<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>		<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>

	The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in [https://github.com/paparazzi/paparazzi/blob/~~dev~~/conf/units.xml conf/units.xml] and hence can easily be extended.		The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in [https://github.com/paparazzi/paparazzi/blob/master/conf/units.xml conf/units.xml] and hence can easily be extended.

	== Save settings ==		== Save settings ==

Flixr: /* Save settings */

2012-02-19T18:44:19Z

Save settings

← Older revision		Revision as of 12:44, 19 February 2012
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	== Save settings ==		== Save settings ==
	Also "save settings" now gracefully handles values containing RadOfDeg(x) or DegOfRad(x) and converts it to the correct unit when reading from the airframe file. When saving the new value it will be correctly written without that macro.		Also "save settings" now gracefully handles values containing the deprecated <tt>RadOfDeg(x)</tt> or <tt>DegOfRad(x)</tt> macros and converts it to the correct unit when reading from the airframe file. When saving the new value it will be correctly written without that macro.

	When saving the settings the values are still always displayed in the		When saving the settings the values are still always displayed in the actual unit (e.g. rad).
	actual unit (e.g. rad).

	== defines still using degrees ==		== defines still using degrees ==

Flixr: /* Automatic unit conversion */

2012-02-19T18:43:10Z

Automatic unit conversion

← Older revision		Revision as of 12:43, 19 February 2012
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	In the [[Airframe_Configuration]] the <tt>unit</tt> and <tt>code_unit</tt> attributes are used for automatic conversion:		In the [[Airframe_Configuration]] the <tt>unit</tt> and <tt>code_unit</tt> attributes are used for automatic conversion:

	* if <tt>unit</tt> and <tt>code_unit</tt> are specified the value is converted to <tt>code_unit</tt> and then written to the <tt>generated/airframe.h</tt> file		* if <tt>unit</tt> '''and''' <tt>code_unit</tt> are specified the value is converted to <tt>code_unit</tt> and then written to the <tt>generated/airframe.h</tt> file
	* conversion is only done if the contents of the value attribute can be converted to float, otherwise string is simply copied like for any normal define		* conversion is only done if the contents of the value attribute can be converted to float, otherwise string is simply copied like for any normal define
	* special treatment for <tt>unit="deg"</tt>: if <tt>code_unit</tt> is not specified, <tt>code_unit="rad"</tt> is implicitly assumed!		* '''special treatment for <tt>unit="deg"</tt>''' (and <tt>unit="deg/s"</tt>): if <tt>code_unit</tt> is not specified, <tt>code_unit="rad"</tt> (or <tt>code_unit="rad/s"</tt>) is implicitly assumed!
	** if you really want the define in degrees, explicitly specify <tt>code_unit="deg"</tt>		** if you really want the define in degrees, explicitly specify <tt>code_unit="deg"</tt>

	E.g. now you can write		E.g. now you can write
	<~~section~~ name="~~INS~~" ~~prefix~~="~~INS_~~">		<define name="BODY_TO_IMU_PHI" value="-4.0" unit="deg"/>
	<define name="~~ROLL_NEUTRAL_DEFAULT~~" value="-4.0" unit="deg"/>		<define name="BODY_TO_IMU_THETA" value="3.5" unit="deg"/>
	<define name="~~PITCH_NEUTRAL_DEFAULT~~" value="3.5" unit="deg"/>		<define name="BODY_TO_IMU_PSI" value="-45." unit="deg"/>
	~~</section~~>
	instead of		instead of
	~~<section name="INS" prefix="INS_">~~		<define name="BODY_TO_IMU_PHI" value="-0.0698" unit="rad"/>
	<define name="~~ROLL_NEUTRAL_DEFAULT~~" value="-0.0698" unit="rad"/>		<define name="BODY_TO_IMU_THETA" value="RadOfDeg(3.5)" unit="rad"/>
	<define name="~~PITCH_NEUTRAL_DEFAULT~~" value="RadOfDeg(3.5)" unit="rad"/>		<define name="BODY_TO_IMU_PSI" value="RadOfDeg(-45.)"/>
	</~~section~~>

	The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in [https://github.com/paparazzi/paparazzi/blob/dev/conf/units.xml conf/units.xml] and hence can easily be extended.		The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in [https://github.com/paparazzi/paparazzi/blob/dev/conf/units.xml conf/units.xml] and hence can easily be extended.

Flixr: Created page with "Paparazzi tries to use SI units everywhere. All angles should be in radians and not in degrees! == Automatic unit conversion == For convenience Paparazzi handles some unit conv…"

2012-02-19T18:24:09Z

Created page with "Paparazzi tries to use SI units everywhere. All angles should be in radians and not in degrees! == Automatic unit conversion == For convenience Paparazzi handles some unit conv…"

New page

Paparazzi tries to use SI units everywhere.

All angles should be in radians and not in degrees!

== Automatic unit conversion ==
For convenience Paparazzi handles some unit conversions automatically for you (dev and 4.0_beta branches):

In the [[Airframe_Configuration]] the <tt>unit</tt> and <tt>code_unit</tt> attributes are used for automatic conversion:

* if <tt>unit</tt> and <tt>code_unit</tt> are specified the value is converted to <tt>code_unit</tt> and then written to the <tt>generated/airframe.h</tt> file
* conversion is only done if the contents of the value attribute can be converted to float, otherwise string is simply copied like for any normal define
* special treatment for <tt>unit="deg"</tt>: if <tt>code_unit</tt> is not specified, <tt>code_unit="rad"</tt> is implicitly assumed!
** if you really want the define in degrees, explicitly specify <tt>code_unit="deg"</tt>

E.g. now you can write
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-4.0" unit="deg"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="3.5" unit="deg"/>
</section>
instead of
<section name="INS" prefix="INS_">
<define name="ROLL_NEUTRAL_DEFAULT" value="-0.0698" unit="rad"/>
<define name="PITCH_NEUTRAL_DEFAULT" value="RadOfDeg(3.5)" unit="rad"/>
</section>

The units that you can use for <tt>unit</tt> and <tt>code_unit</tt> and their conversion are specified in [https://github.com/paparazzi/paparazzi/blob/dev/conf/units.xml conf/units.xml] and hence can easily be extended.

== Save settings ==
Also "save settings" now gracefully handles values containing RadOfDeg(x) or DegOfRad(x) and converts it to the correct unit when reading from the airframe file. When saving the new value it will be correctly written without that macro.

When saving the settings the values are still always displayed in the
actual unit (e.g. rad).

== defines still using degrees ==
Regarding radians in the code: the defines

CAM_PAN_MAX
CAM_PAN_MIN
CAM_PAN_NEUTRAL
CAM_PAN0
CAM_PAN_POSITION_FOR_FPV
CAM_TILT_MAX
CAM_TILT_MIN
CAM_TILT_NEUTRAL
CAM_TILT0
CAM_TILT_POSITION_FOR_FPV

are still in degrees and need to be defined in the airframe file either without any unit or with unit and code_unit both set to deg:
<define name="TILT_MAX" value="45" unit="deg" code_unit="deg"/>