/** ****************************************************************************** * @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