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82 lines
2.7 KiB
C++
82 lines
2.7 KiB
C++
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathFollower FSM interface class
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* @brief FSM interface class for pathfollower goal fsm implementations
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* @{
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*
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* @file pathfollowerfsm.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Interface class for PathFollower FSMs
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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 PATHFOLLOWERFSM_H
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#define PATHFOLLOWERFSM_H
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extern "C" {
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#include <stabilizationdesired.h>
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}
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#include <pidcontroldowncallback.h>
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typedef enum {
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PFFSM_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
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PFFSM_STATE_ACTIVE,
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PFFSM_STATE_DISARMED,
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PFFSM_STATE_ABORT // Abort on error
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} PathFollowerFSMState_T;
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class PathFollowerFSM : public PIDControlDownCallback {
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public:
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// PathFollowerFSM() {};
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virtual void Inactive(void) {}
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virtual void Activate(void) {}
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virtual void Update(void) {}
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virtual void SettingsUpdated(void) {}
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virtual void BoundThrust(__attribute__((unused)) float &ulow, __attribute__((unused)) float &uhigh) {}
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virtual PathFollowerFSMState_T GetCurrentState(void)
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{
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return PFFSM_STATE_INACTIVE;
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}
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virtual void ConstrainStabiDesired(__attribute__((unused)) StabilizationDesiredData *stabDesired) {}
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virtual float BoundVelocityDown(float velocity)
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{
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return velocity;
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}
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virtual void CheckPidScaler(__attribute__((unused)) pid_scaler *scaler) {}
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virtual void GetYaw(bool &yaw_attitude, float &yaw_direction)
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{
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yaw_attitude = false; yaw_direction = 0.0f;
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}
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virtual void Abort(void) {}
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virtual uint8_t ManualThrust(void)
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{
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return false;
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}
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virtual uint8_t PositionHoldState(void)
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{
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return false;
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}
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// virtual ~PathFollowerFSM() = 0;
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};
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#endif // PATHFOLLOWERFSM_H
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