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

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/**
******************************************************************************
* @addtogroup LibrePilotModules LibrePilot Modules
* @{
* @addtogroup FixedWing CONTROL interface class
* @brief CONTROL interface class for pathfollower fixed wing fly controller
* @{
*
2015-05-23 12:47:29 +02:00
* @file fixedwingautotakeoffcontroller.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
* @brief Executes CONTROL for fixed wing fly objectives
*
* @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 FIXEDWINGAUTOTAKEOFFCONTROLLER_H
#define FIXEDWINGAUTOTAKEOFFCONTROLLER_H
#include "fixedwingflycontroller.h"
// AutoTakeoff state machine
typedef enum {
FW_AUTOTAKEOFF_STATE_INACTIVE = 0,
FW_AUTOTAKEOFF_STATE_LAUNCH,
FW_AUTOTAKEOFF_STATE_CLIMB,
FW_AUTOTAKEOFF_STATE_HOLD,
FW_AUTOTAKEOFF_STATE_ABORT,
FW_AUTOTAKEOFF_STATE_SIZE
} FixedWingAutoTakeoffControllerState_T;
class FixedWingAutoTakeoffController : public FixedWingFlyController {
protected:
static FixedWingAutoTakeoffController *p_inst;
public:
static FixedWingFlyController *instance()
{
if (!p_inst) {
p_inst = new FixedWingAutoTakeoffController();
}
return p_inst;
}
void Activate(void);
void UpdateAutoPilot(void);
private:
// variables
FixedWingAutoTakeoffControllerState_T state;
float initYaw;
float maxVelocity;
// functions
void setState(FixedWingAutoTakeoffControllerState_T setstate);
void setAttitude(bool unsafe);
float getAirspeed(void);
bool isUnsafe(void);
void run_inactive(void);
void run_launch(void);
void run_climb(void);
void run_hold(void);
void run_abort(void);
void init_inactive(void);
void init_launch(void);
void init_climb(void);
void init_hold(void);
void init_abort(void);
void(FixedWingAutoTakeoffController::*const runFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
&FixedWingAutoTakeoffController::run_inactive,
&FixedWingAutoTakeoffController::run_launch,
&FixedWingAutoTakeoffController::run_climb,
&FixedWingAutoTakeoffController::run_hold,
&FixedWingAutoTakeoffController::run_abort
};
void(FixedWingAutoTakeoffController::*const initFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
&FixedWingAutoTakeoffController::init_inactive,
&FixedWingAutoTakeoffController::init_launch,
&FixedWingAutoTakeoffController::init_climb,
&FixedWingAutoTakeoffController::init_hold,
&FixedWingAutoTakeoffController::init_abort
};
};
#endif // FIXEDWINGAUTOTAKEOFFCONTROLLER_H