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79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
/**
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******************************************************************************
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* @addtogroup LibrePilotModules LibrePilot Modules
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* @{
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* @addtogroup PathFollower CONTROL interface class
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* @brief vtol land controller class
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* @{
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*
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* @file vtollandcontroller.h
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Executes CONTROL for landing sequence
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#ifndef VTOLLANDCONTROLLER_H
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#define VTOLLANDCONTROLLER_H
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#include "pathfollowercontrol.h"
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#include "pidcontroldown.h"
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#include "pidcontrolne.h"
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// forward decl
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class PathFollowerFSM;
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class VtolLandController : public PathFollowerControl {
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private:
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static VtolLandController *p_inst;
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VtolLandController();
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public:
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static VtolLandController *instance()
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{
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if (!p_inst) {
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p_inst = new VtolLandController();
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}
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return p_inst;
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}
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int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
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void Activate(void);
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void Deactivate(void);
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void SettingsUpdated(void);
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void UpdateAutoPilot(void);
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void ObjectiveUpdated(void);
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uint8_t IsActive(void);
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uint8_t Mode(void);
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private:
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void UpdateVelocityDesired(void);
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int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
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void setArmedIfChanged(FlightStatusArmedOptions val);
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PathFollowerFSM *fsm;
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VtolPathFollowerSettingsData *vtolPathFollowerSettings;
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PIDControlDown controlDown;
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PIDControlNE controlNE;
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uint8_t mActive;
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uint8_t mOverride;
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};
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#endif // VTOLLANDCONTROLLER_H
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