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LibrePilot/flight/modules/ManualControl/pathfollowerhandler.c

127 lines
3.6 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup ManualControl
* @brief Interpretes the control input in ManualControlCommand
* @{
*
* @file pathfollowerhandler.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
*
* @see The GNU Public License (GPL) Version 3
*
******************************************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details.
*
* You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/
#include "inc/manualcontrol.h"
#include <pathdesired.h>
#include <manualcontrolcommand.h>
#include <flightstatus.h>
#include <positionstate.h>
#include <flightmodesettings.h>
#if defined(REVOLUTION)
#include <plans.h>
// Private constants
// Private types
// Private functions
/**
* @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
* @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
* @output: PathDesired
*/
void pathFollowerHandler(bool newinit)
{
if (newinit) {
plan_initialize();
}
uint8_t flightMode;
FlightStatusFlightModeGet(&flightMode);
if (newinit) {
// After not being in this mode for a while init at current height
switch (flightMode) {
case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
plan_setup_returnToBase();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
plan_setup_positionHold();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV:
plan_setup_PositionVarioFPV();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS:
plan_setup_PositionVarioLOS();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW:
plan_setup_PositionVarioNSEW();
break;
case FLIGHTSTATUS_FLIGHTMODE_LAND:
plan_setup_land();
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
plan_setup_AutoCruise();
break;
default:
plan_setup_positionHold();
break;
}
}
switch (flightMode) {
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOFPV:
plan_run_PositionVarioFPV();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIOLOS:
plan_run_PositionVarioLOS();
break;
case FLIGHTSTATUS_FLIGHTMODE_POSITIONVARIONSEW:
plan_run_PositionVarioNSEW();
break;
case FLIGHTSTATUS_FLIGHTMODE_LAND:
plan_run_land();
break;
case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
plan_run_AutoCruise();
break;
default:
break;
}
}
#else /* if defined(REVOLUTION) */
void pathFollowerHandler(__attribute__((unused)) bool newinit)
{
AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
}
#endif // REVOLUTION
/**
* @}
* @}
*/