/** ****************************************************************************** * @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 #include /** \page standard Plans How to use this library \li Call plan_initialize() to init all needed struct and uavos at startup.
It may be safely called more than once.
\li Functions called plan_setup_* needs to be called once, every time the requested function is engaged.
\li Functions called plan_run_* are to be periodically called while the requested mode is engaged.
*/ /** * @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(); void plan_setup_PositionRoam(); void plan_setup_HomeLeash(); void plan_setup_AbsolutePosition(); /** * @brief run for positionvario */ void plan_run_CourseLock(); 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_ */