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95 lines
2.5 KiB
C
95 lines
2.5 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotLibraries OpenPilot Libraries
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* @{
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* @addtogroup Navigation
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* @brief setups RTH/PH and other pathfollower/pathplanner status
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* @{
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*
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* @file plan.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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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 PLANS_H_
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#define PLANS_H_
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#include <pios_math.h>
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/** \page standard Plans
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How to use this library
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\li Call plan_initialize() to init all needed struct and uavos at startup.<br>
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It may be safely called more than once.<br>
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\li Functions called plan_setup_* needs to be called once, every time the requested function is engaged.<br>
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\li Functions called plan_run_* are to be periodically called while the requested mode is engaged.<br>
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*/
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/**
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* @brief initialize UAVOs and structs used by this library
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*/
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void plan_initialize();
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/**
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* @brief setup pathplanner/pathfollower for positionhold
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*/
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void plan_setup_positionHold();
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/**
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* @brief setup pathplanner/pathfollower for return to base
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*/
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void plan_setup_returnToBase();
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/**
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* @brief setup pathplanner/pathfollower for land
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*/
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void plan_setup_land();
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/**
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* @brief execute land
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*/
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void plan_run_land();
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/**
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* @brief setup pathfollower for positionvario
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*/
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void plan_setup_PositionVarioFPV();
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void plan_setup_PositionVarioLOS();
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void plan_setup_PositionVarioNSEW();
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/**
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* @brief run for positionvario
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*/
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void plan_run_PositionVarioFPV();
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void plan_run_PositionVarioLOS();
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void plan_run_PositionVarioNSEW();
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/**
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* @brief setup pathplanner/pathfollower for AutoCruise
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*/
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void plan_setup_AutoCruise();
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/**
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* @brief execute AutoCruise
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*/
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void plan_run_AutoCruise();
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#endif /* PLANS_H_ */
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