mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-13 20:48:42 +01:00
21eb48c58c
redundant with flying to (0,0,0)
119 lines
7.1 KiB
C
119 lines
7.1 KiB
C
/**
|
|
******************************************************************************
|
|
* @addtogroup OpenPilotModules OpenPilot Modules
|
|
* @{
|
|
* @addtogroup ManualControlModule Manual Control Module
|
|
* @{
|
|
*
|
|
* @file manualcontrol.h
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief ManualControl module. Handles safety R/C link and flight mode.
|
|
*
|
|
* @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 MANUALCONTROL_H
|
|
#define MANUALCONTROL_H
|
|
|
|
#include "manualcontrolcommand.h"
|
|
|
|
typedef enum {FLIGHTMODE_UNDEFINED = 0, FLIGHTMODE_MANUAL = 1, FLIGHTMODE_STABILIZED = 2, FLIGHTMODE_GUIDANCE = 3} flightmode_path;
|
|
|
|
#define PARSE_FLIGHT_MODE(x) ( \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_MANUAL) ? FLIGHTMODE_MANUAL : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) ? FLIGHTMODE_STABILIZED : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) ? FLIGHTMODE_STABILIZED : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) ? FLIGHTMODE_STABILIZED : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_ALTITUDEHOLD) ? FLIGHTMODE_GUIDANCE : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) ? FLIGHTMODE_GUIDANCE : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) ? FLIGHTMODE_GUIDANCE : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) ? FLIGHTMODE_GUIDANCE : \
|
|
(x == FLIGHTSTATUS_FLIGHTMODE_RTH) ? FLIGHTMODE_GUIDANCE : FLIGHTMODE_UNDEFINED \
|
|
)
|
|
|
|
int32_t ManualControlInitialize();
|
|
|
|
|
|
/*
|
|
* These are assumptions we make in the flight code about the order of settings and their consistency between
|
|
* objects. Please keep this synchronized to the UAVObjects
|
|
*/
|
|
#define assumptions1 ( \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
|
|
)
|
|
|
|
#define assumptions3 ( \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
|
|
)
|
|
|
|
#define assumptions5 ( \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
|
|
((int)MANUALCONTROLSETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
|
|
)
|
|
|
|
#define ARMING_CHANNEL_ROLL 0
|
|
#define ARMING_CHANNEL_PITCH 1
|
|
#define ARMING_CHANNEL_YAW 2
|
|
|
|
#define assumptions7 ( \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_ROLL) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_PITCH) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)/2 == ARMING_CHANNEL_YAW) \
|
|
)
|
|
|
|
#define assumptions8 ( \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_ROLLRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHFORWARD -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_PITCHAFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWLEFT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 == 0) && \
|
|
( ((int)MANUALCONTROLSETTINGS_ARMING_YAWRIGHT -(int)MANUALCONTROLSETTINGS_ARMING_ROLLLEFT)%2 != 0) \
|
|
)
|
|
|
|
#define assumptions_flightmode ( \
|
|
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_MANUAL == (int) FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
|
|
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
|
|
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
|
|
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int) FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
|
|
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_VELOCITYCONTROL == (int) FLIGHTSTATUS_FLIGHTMODE_VELOCITYCONTROL) && \
|
|
( (int)MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int) FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) \
|
|
)
|
|
|
|
#define assumptions_channelcount ( \
|
|
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELGROUPS_NUMELEM ) && \
|
|
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNUMBER_NUMELEM ) && \
|
|
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMIN_NUMELEM ) && \
|
|
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELMAX_NUMELEM ) && \
|
|
( (int)MANUALCONTROLCOMMAND_CHANNEL_NUMELEM == (int)MANUALCONTROLSETTINGS_CHANNELNEUTRAL_NUMELEM ) )
|
|
|
|
#endif // MANUALCONTROL_H
|