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LibrePilot/flight/libraries/inc/plans.h

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/**
******************************************************************************
* @addtogroup OpenPilotLibraries OpenPilot Libraries
* @{
* @addtogroup Navigation
* @brief setups RTH/PH and other pathfollower/pathplanner status
* @{
*
* @file plan.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#ifndef PLANS_H_
#define PLANS_H_
#include <stdint.h>
#include <pios_math.h>
/** \page standard Plans
How to use this library
\li Call plan_initialize() to init all needed struct and uavos at startup.<br>
It may be safely called more than once.<br>
\li Functions called plan_setup_* needs to be called once, every time the requested function is engaged.<br>
\li Functions called plan_run_* are to be periodically called while the requested mode is engaged.<br>
*/
/**
* @brief initialize UAVOs and structs used by this library
*/
void plan_initialize();
/**
* @brief setup pathplanner/pathfollower for positionhold
*/
void plan_setup_positionHold();
/**
* @brief setup pathplanner/pathfollower for return to base
*/
void plan_setup_returnToBase();
/**
* @brief setup pathplanner/pathfollower for land
*/
void plan_setup_land();
/**
* @brief execute land
*/
void plan_run_land();
/**
* @brief setup pathplanner/pathfollower for braking
*/
void plan_setup_assistedcontrol(uint8_t timeout_occurred);
#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH 0
#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST 1
#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN 2
#define PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT 3
/**
* @brief setup pathfollower for positionvario
*/
void plan_setup_CourseLock();
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void plan_setup_PositionRoam();
void plan_setup_HomeLeash();
void plan_setup_AbsolutePosition();
/**
* @brief run for positionvario
*/
void plan_run_CourseLock();
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void plan_run_PositionRoam();
void plan_run_HomeLeash();
void plan_run_AbsolutePosition();
/**
* @brief setup pathplanner/pathfollower for AutoCruise
*/
void plan_setup_AutoCruise();
/**
* @brief execute AutoCruise
*/
void plan_run_AutoCruise();
#endif /* PLANS_H_ */