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84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/**
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******************************************************************************
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* @addtogroup LibrePilotModules LibrePilot Modules
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* @{
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* @addtogroup FixedWing CONTROL interface class
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* @brief CONTROL interface class for pathfollower fixed wing fly controller
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* @{
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*
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* @file fixedwingflycontroller.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 fixed wing fly objectives
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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 FIXEDWINGFLYCONTROLLER_H
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#define FIXEDWINGFLYCONTROLLER_H
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#include "pathfollowercontrol.h"
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class FixedWingFlyController : public PathFollowerControl {
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protected:
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static FixedWingFlyController *p_inst;
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FixedWingFlyController();
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public:
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static FixedWingFlyController *instance()
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{
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if (!p_inst) {
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p_inst = new FixedWingFlyController();
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}
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return p_inst;
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}
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int32_t Initialize(FixedWingPathFollowerSettingsData *fixedWingSettings);
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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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void AirspeedStateUpdatedCb(__attribute__((unused)) UAVObjEvent * ev);
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protected:
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FixedWingPathFollowerSettingsData *fixedWingSettings;
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uint8_t mActive;
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uint8_t mMode;
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// correct speed by measured airspeed
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float indicatedAirspeedStateBias;
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private:
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void resetGlobals();
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uint8_t updateAutoPilotFixedWing();
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void updatePathVelocity(float kFF, bool limited);
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uint8_t updateFixedDesiredAttitude();
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bool correctCourse(float *C, float *V, float *F, float s);
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int32_t lastAirspeedUpdate;
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struct pid PIDposH[2];
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struct pid PIDposV;
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struct pid PIDcourse;
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struct pid PIDspeed;
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struct pid PIDpower;
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};
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#endif // FIXEDWINGFLYCONTROLLER_H
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