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110 lines
3.5 KiB
C++
110 lines
3.5 KiB
C++
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup PathFollower FSM Brake
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* @brief Executes brake seqeuence
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* @{
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*
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* @file vtolbrakfsm.h
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
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* @brief Executes brake sequence fsm
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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 VTOLBRAKEFSM_H
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#define VTOLBRAKEFSM_H
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#include "pathfollowerfsm.h"
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// Brakeing state machine
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typedef enum {
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BRAKE_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
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BRAKE_STATE_BRAKE, // Initiate altitude hold before starting descent
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BRAKE_STATE_HOLD, // Waiting for attainment of landing descent rate
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BRAKE_STATE_SIZE
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} PathFollowerFSM_BrakeState_T;
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typedef enum {
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FSMBRAKESTATUS_STATEEXITREASON_NONE = 0
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} VtolBrakeFSMStatusStateExitReasonOptions;
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class VtolBrakeFSM : public PathFollowerFSM {
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private:
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static VtolBrakeFSM *p_inst;
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VtolBrakeFSM();
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public:
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static VtolBrakeFSM *instance()
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{
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if (!p_inst) {
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p_inst = new VtolBrakeFSM();
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}
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return p_inst;
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}
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int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings,
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PathDesiredData *pathDesired,
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FlightStatusData *flightStatus,
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PathStatusData *ptr_pathStatus);
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void Inactive(void);
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void Activate(void);
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void Update(void);
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PathFollowerFSMState_T GetCurrentState(void);
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uint8_t PositionHoldState(void);
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protected:
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// FSM instance data type
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typedef struct {
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PathFollowerFSM_BrakeState_T currentState;
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uint32_t stateRunCount;
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uint32_t stateTimeoutCount;
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float sum1;
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float sum2;
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uint8_t observationCount;
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uint8_t observation2Count;
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} VtolBrakeFSMData_T;
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// FSM state structure
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typedef struct {
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void(VtolBrakeFSM::*setup) (void); // Called to initialise the state
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void(VtolBrakeFSM::*run) (uint8_t); // Run the event detection code for a state
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} PathFollowerFSM_BrakeStateHandler_T;
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// Private variables
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VtolBrakeFSMData_T *mBrakeData;
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VtolPathFollowerSettingsData *vtolPathFollowerSettings;
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PathDesiredData *pathDesired;
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PathStatusData *pathStatus;
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FlightStatusData *flightStatus;
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void setup_brake(void);
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void run_brake(uint8_t);
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void initFSM(void);
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void setState(PathFollowerFSM_BrakeState_T newState, VtolBrakeFSMStatusStateExitReasonOptions reason);
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int32_t runState();
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// void updateVtolBrakeFSMStatus();
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void setStateTimeout(int32_t count);
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static PathFollowerFSM_BrakeStateHandler_T sBrakeStateTable[BRAKE_STATE_SIZE];
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};
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#endif // VTOLBRAKEFSM_H
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