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LibrePilot/flight/modules/PathFollower/inc/vtolautotakeoffcontroller.h

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/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup PathFollower CONTROL interface class
* @brief vtol land controller class
* @{
*
* @file vtollandcontroller.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Executes CONTROL for landing sequence
*
* @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 VTOLAUTOTAKEOFFCONTROLLER_H
#define VTOLAUTOTAKEOFFCONTROLLER_H
#include "pathfollowercontrol.h"
#include "pidcontroldown.h"
#include "pidcontrolne.h"
// forward decl
class VtolAutoTakeoffFSM;
class VtolAutoTakeoffController : public PathFollowerControl {
private:
static VtolAutoTakeoffController *p_inst;
VtolAutoTakeoffController();
public:
static VtolAutoTakeoffController *instance()
{
if (!p_inst) {
p_inst = new VtolAutoTakeoffController();
}
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);
VtolAutoTakeoffFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;
PIDControlDown controlDown;
PIDControlNE controlNE;
uint8_t mActive;
};
#endif // VTOLAUTOTAKEOFFCONTROLLER_H