flight/modules/PathFollower/inc/fixedwingautotakeoffcontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup LibrePilotModules LibrePilot Modules
   4  * @{
   5  * @addtogroup FixedWing CONTROL interface class
   6  * @brief CONTROL interface class for pathfollower fixed wing fly controller
   7  * @{
   8  *
   9  * @file       fixedwingautotakeoffcontroller.h
  10  * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2016.
  11  *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  12  * @brief      Executes CONTROL for fixed wing fly objectives
  13  *
  14  * @see        The GNU Public License (GPL) Version 3
  15  *
  16  *****************************************************************************/
  17 /*
  18  * This program is free software; you can redistribute it and/or modify
  19  * it under the terms of the GNU General Public License as published by
  20  * the Free Software Foundation; either version 3 of the License, or
  21  * (at your option) any later version.
  22  *
  23  * This program is distributed in the hope that it will be useful, but
  24  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  25  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  26  * for more details.
  27  *
  28  * You should have received a copy of the GNU General Public License along
  29  * with this program; if not, write to the Free Software Foundation, Inc.,
  30  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  31  */
  32 #ifndef FIXEDWINGAUTOTAKEOFFCONTROLLER_H
  33 #define FIXEDWINGAUTOTAKEOFFCONTROLLER_H
  34 #include "fixedwingflycontroller.h"
  35
  36 // AutoTakeoff state machine
  37 typedef enum {
  38     FW_AUTOTAKEOFF_STATE_INACTIVE = 0,
  39     FW_AUTOTAKEOFF_STATE_LAUNCH,
  40     FW_AUTOTAKEOFF_STATE_CLIMB,
  41     FW_AUTOTAKEOFF_STATE_HOLD,
  42     FW_AUTOTAKEOFF_STATE_ABORT,
  43     FW_AUTOTAKEOFF_STATE_SIZE
  44 } FixedWingAutoTakeoffControllerState_T;
  45
  46 class FixedWingAutoTakeoffController : public FixedWingFlyController {
  47 protected:
  48     static FixedWingAutoTakeoffController *p_inst;
  49
  50 public:
  51     static FixedWingFlyController *instance()
  52     {
  53         if (!p_inst) {
  54             p_inst = new FixedWingAutoTakeoffController();
  55         }
  56         return p_inst;
  57     }
  58     void Activate(void);
  59     void UpdateAutoPilot(void);
  60
  61 private:
  62     // variables
  63     FixedWingAutoTakeoffControllerState_T state;
  64     float initYaw;
  65     float maxVelocity;
  66
  67     // functions
  68     void setState(FixedWingAutoTakeoffControllerState_T setstate);
  69     void setAttitude(bool unsafe);
  70     float getAirspeed(void);
  71     bool isUnsafe(void);
  72     void run_inactive(void);
  73     void run_launch(void);
  74     void run_climb(void);
  75     void run_hold(void);
  76     void run_abort(void);
  77     void init_inactive(void);
  78     void init_launch(void);
  79     void init_climb(void);
  80     void init_hold(void);
  81     void init_abort(void);
  82     void(FixedWingAutoTakeoffController::*const runFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
  83         &FixedWingAutoTakeoffController::run_inactive,
  84         &FixedWingAutoTakeoffController::run_launch,
  85         &FixedWingAutoTakeoffController::run_climb,
  86         &FixedWingAutoTakeoffController::run_hold,
  87         &FixedWingAutoTakeoffController::run_abort
  88     };
  89     void(FixedWingAutoTakeoffController::*const initFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
  90         &FixedWingAutoTakeoffController::init_inactive,
  91         &FixedWingAutoTakeoffController::init_launch,
  92         &FixedWingAutoTakeoffController::init_climb,
  93         &FixedWingAutoTakeoffController::init_hold,
  94         &FixedWingAutoTakeoffController::init_abort
  95     };
  96 };
  97
  98 #endif // FIXEDWINGAUTOTAKEOFFCONTROLLER_H