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77 lines
2.5 KiB
C
77 lines
2.5 KiB
C
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/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathFollower CONTROL interface class
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* @brief CONTROL interface class for brake controller
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* @{
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*
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* @file vtolbrakecontroller.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Executes brake controller for vtol
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef VTOLBRAKECONTROLLER_H
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#define VTOLBRAKECONTROLLER_H
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#include "pathfollowercontrol.h"
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#include "pidcontroldown.h"
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#include "pidcontrolne.h"
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// forward decl
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class PathFollowerFSM;
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class VtolBrakeController : public PathFollowerControl {
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private:
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static VtolBrakeController *p_inst;
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VtolBrakeController();
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public:
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static VtolBrakeController *instance()
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{
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if (!p_inst) {
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p_inst = new VtolBrakeController();
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}
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return p_inst;
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}
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int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
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void Activate(void);
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void Deactivate(void);
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void SettingsUpdated(void);
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void UpdateAutoPilot(void);
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void ObjectiveUpdated(void);
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uint8_t IsActive(void);
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uint8_t Mode(void);
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private:
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void UpdateVelocityDesired(void);
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int8_t UpdateStabilizationDesired(void);
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void updateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
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PathFollowerFSM *fsm;
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VtolPathFollowerSettingsData *vtolPathFollowerSettings;
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PIDControlDown controlDown;
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PIDControlNE controlNE;
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uint8_t mActive;
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uint8_t mHoldActive;
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uint8_t mManualThrust;
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};
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#endif // VTOLBRAKECONTROLLER_H
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