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LibrePilot/flight/modules/PathFollower/inc/fixedwingflycontroller.h
2016-04-25 18:45:35 +02:00

84 lines
2.7 KiB
C++

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