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99 lines
3.5 KiB
C++
99 lines
3.5 KiB
C++
/**
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******************************************************************************
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* @addtogroup LibrePilotModules LibrePilot Modules
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* @{
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* @addtogroup FixedWing CONTROL interface class
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* @brief CONTROL interface class for pathfollower fixed wing fly controller
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* @{
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*
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* @file fixedwingautotakeoffcontroller.h
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
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* The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Executes CONTROL for fixed wing fly objectives
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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 FIXEDWINGAUTOTAKEOFFCONTROLLER_H
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#define FIXEDWINGAUTOTAKEOFFCONTROLLER_H
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#include "fixedwingflycontroller.h"
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// AutoTakeoff state machine
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typedef enum {
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FW_AUTOTAKEOFF_STATE_INACTIVE = 0,
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FW_AUTOTAKEOFF_STATE_LAUNCH,
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FW_AUTOTAKEOFF_STATE_CLIMB,
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FW_AUTOTAKEOFF_STATE_HOLD,
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FW_AUTOTAKEOFF_STATE_ABORT,
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FW_AUTOTAKEOFF_STATE_SIZE
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} FixedWingAutoTakeoffControllerState_T;
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class FixedWingAutoTakeoffController : public FixedWingFlyController {
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protected:
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static FixedWingAutoTakeoffController *p_inst;
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public:
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static FixedWingFlyController *instance()
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{
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if (!p_inst) {
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p_inst = new FixedWingAutoTakeoffController();
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}
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return p_inst;
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}
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void Activate(void);
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void UpdateAutoPilot(void);
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private:
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// variables
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FixedWingAutoTakeoffControllerState_T state;
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float initYaw;
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float maxVelocity;
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// functions
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void setState(FixedWingAutoTakeoffControllerState_T setstate);
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void setAttitude(bool unsafe);
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float getAirspeed(void);
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bool isUnsafe(void);
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void run_inactive(void);
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void run_launch(void);
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void run_climb(void);
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void run_hold(void);
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void run_abort(void);
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void init_inactive(void);
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void init_launch(void);
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void init_climb(void);
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void init_hold(void);
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void init_abort(void);
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void(FixedWingAutoTakeoffController::*const runFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
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&FixedWingAutoTakeoffController::run_inactive,
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&FixedWingAutoTakeoffController::run_launch,
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&FixedWingAutoTakeoffController::run_climb,
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&FixedWingAutoTakeoffController::run_hold,
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&FixedWingAutoTakeoffController::run_abort
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};
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void(FixedWingAutoTakeoffController::*const initFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
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&FixedWingAutoTakeoffController::init_inactive,
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&FixedWingAutoTakeoffController::init_launch,
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&FixedWingAutoTakeoffController::init_climb,
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&FixedWingAutoTakeoffController::init_hold,
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&FixedWingAutoTakeoffController::init_abort
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};
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};
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#endif // FIXEDWINGAUTOTAKEOFFCONTROLLER_H
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