/** ****************************************************************************** * @addtogroup LibrePilotModules LibrePilot Modules * @{ * @addtogroup FixedWing CONTROL interface class * @brief CONTROL interface class for pathfollower fixed wing fly controller * @{ * * @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