mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-11 19:24:10 +01:00
77 lines
2.5 KiB
C
77 lines
2.5 KiB
C
|
/**
|
||
|
******************************************************************************
|
||
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
||
|
* @{
|
||
|
* @addtogroup PathFollower CONTROL interface class
|
||
|
* @brief CONTROL interface class for brake controller
|
||
|
* @{
|
||
|
*
|
||
|
* @file vtolbrakecontroller.h
|
||
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
|
||
|
* @brief Executes brake controller for vtol
|
||
|
*
|
||
|
* @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 VTOLBRAKECONTROLLER_H
|
||
|
#define VTOLBRAKECONTROLLER_H
|
||
|
#include "pathfollowercontrol.h"
|
||
|
#include "pidcontroldown.h"
|
||
|
#include "pidcontrolne.h"
|
||
|
// forward decl
|
||
|
class PathFollowerFSM;
|
||
|
class VtolBrakeController : public PathFollowerControl {
|
||
|
private:
|
||
|
static VtolBrakeController *p_inst;
|
||
|
VtolBrakeController();
|
||
|
|
||
|
|
||
|
public:
|
||
|
static VtolBrakeController *instance()
|
||
|
{
|
||
|
if (!p_inst) {
|
||
|
p_inst = new VtolBrakeController();
|
||
|
}
|
||
|
return p_inst;
|
||
|
}
|
||
|
|
||
|
int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
|
||
|
void Activate(void);
|
||
|
void Deactivate(void);
|
||
|
void SettingsUpdated(void);
|
||
|
void UpdateAutoPilot(void);
|
||
|
void ObjectiveUpdated(void);
|
||
|
uint8_t IsActive(void);
|
||
|
uint8_t Mode(void);
|
||
|
|
||
|
private:
|
||
|
void UpdateVelocityDesired(void);
|
||
|
int8_t UpdateStabilizationDesired(void);
|
||
|
void updateBrakeVelocity(float startingVelocity, float dT, float brakeRate, float currentVelocity, float *updatedVelocity);
|
||
|
|
||
|
PathFollowerFSM *fsm;
|
||
|
VtolPathFollowerSettingsData *vtolPathFollowerSettings;
|
||
|
PIDControlDown controlDown;
|
||
|
PIDControlNE controlNE;
|
||
|
uint8_t mActive;
|
||
|
uint8_t mHoldActive;
|
||
|
uint8_t mManualThrust;
|
||
|
};
|
||
|
|
||
|
#endif // VTOLBRAKECONTROLLER_H
|