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124 lines
6.0 KiB
C
124 lines
6.0 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup ManualControlModule Manual Control Module
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* @{
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*
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* @file manualcontrol.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
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* @brief ManualControl module. Handles safety R/C link and flight mode.
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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 MANUALCONTROL_H
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#define MANUALCONTROL_H
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#include <openpilot.h>
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#include <flightstatus.h>
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typedef void (*handlerFunc)(bool newinit);
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typedef struct controlHandlerStruct {
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FlightStatusControlChainData controlChain;
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handlerFunc handler;
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} controlHandler;
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/**
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* @brief Handler to interprete Command inputs in regards to arming/disarming (called in all flight modes)
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* @input: ManualControlCommand, AccessoryDesired
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* @output: FlightStatus.Arming
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*/
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void armHandler(bool newinit);
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/**
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* @brief Handler to control Manual flightmode - input directly steers actuators
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* @input: ManualControlCommand
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* @output: ActuatorDesired
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*/
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void manualHandler(bool newinit);
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/**
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* @brief Handler to control Stabilized flightmodes. FlightControl is governed by "Stabilization"
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* @input: ManualControlCommand
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* @output: StabilizationDesired
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*/
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void stabilizedHandler(bool newinit);
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/**
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* @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
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* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
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* @output: PathDesired
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*/
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void pathFollowerHandler(bool newinit);
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/**
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* @brief Handler to control Navigated flightmodes. FlightControl is governed by PathFollower, controlled indirectly via PathPlanner
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* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands to affect navigation
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* @output: NONE
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*/
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void pathPlannerHandler(bool newinit);
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/*
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* These are assumptions we make in the flight code about the order of settings and their consistency between
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* objects. Please keep this synchronized to the UAVObjects
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*/
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#define assumptions1 \
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( \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
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)
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#define assumptions3 \
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( \
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((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION2SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
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)
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#define assumptions5 \
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( \
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((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_NONE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_NONE) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_RATE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_RATE) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_AXISLOCK == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_AXISLOCK) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_WEAKLEVELING == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_WEAKLEVELING) && \
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((int)FLIGHTMODESETTINGS_STABILIZATION3SETTINGS_ATTITUDE == (int)STABILIZATIONDESIRED_STABILIZATIONMODE_ATTITUDE) \
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)
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#define assumptions_flightmode \
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( \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_MANUAL == (int)FLIGHTSTATUS_FLIGHTMODE_MANUAL) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED1 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED1) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED2 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED2) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_STABILIZED3 == (int)FLIGHTSTATUS_FLIGHTMODE_STABILIZED3) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD == (int)FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_PATHPLANNER == (int)FLIGHTSTATUS_FLIGHTMODE_PATHPLANNER) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_RETURNTOBASE == (int)FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND == (int)FLIGHTSTATUS_FLIGHTMODE_LAND) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_AUTOTUNE == (int)FLIGHTSTATUS_FLIGHTMODE_AUTOTUNE) && \
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((int)FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POI == (int)FLIGHTSTATUS_FLIGHTMODE_POI) \
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)
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#endif // MANUALCONTROL_H
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