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7d603bc6cb
Set assisted control state to HOLD when Brake controller transitions to HOLD. This impacts throttle stick behavior as it is different during braking and on brake completion in the hold state. Also cleanuped and removed unused/old code that triggered HOLD in plans.c
130 lines
4.2 KiB
C
130 lines
4.2 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 <stdint.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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void plan_setup_AutoTakeoff();
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/**
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* @brief setup pathplanner/pathfollower for braking
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*/
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void plan_setup_assistedcontrol();
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#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH 0
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#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST 1
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#define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN 2
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#define PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT 3
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#define PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH 0
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#define PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST 1
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#define PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN 2
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#define PATHDESIRED_MODEPARAMETER_VELOCITY_UNUSED 3
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#define PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_NORTH 0
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#define PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_EAST 1
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#define PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN 2
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#define PATHDESIRED_MODEPARAMETER_LAND_OPTIONS 3
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#define PATHDESIRED_MODEPARAMETER_LAND_OPTION_NONE 0
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#define PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH 1
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#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND 0
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#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1 1
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#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED2 2
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#define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED3 3
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#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH 0
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#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST 1
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#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN 2
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#define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE 3
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/**
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* @brief setup pathfollower for positionvario
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*/
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void plan_setup_CourseLock();
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void plan_setup_PositionRoam();
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void plan_setup_VelocityRoam();
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void plan_setup_HomeLeash();
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void plan_setup_AbsolutePosition();
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/**
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* @brief run for positionvario
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*/
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void plan_run_CourseLock();
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void plan_run_PositionRoam();
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void plan_run_VelocityRoam();
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void plan_run_HomeLeash();
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void plan_run_AbsolutePosition();
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void plan_run_AutoTakeoff();
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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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