flight/modules/PathFollower/inc/fixedwinglandcontroller.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       fixedwinglandcontroller.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 FIXEDWINGLANDCONTROLLER_H
  33 #define FIXEDWINGLANDCONTROLLER_H
  34 #include "pathfollowercontrol.h"
  35
  36 class FixedWingLandController : public PathFollowerControl {
  37 private:
  38     static FixedWingLandController *p_inst;
  39     FixedWingLandController();
  40
  41
  42 public:
  43     static FixedWingLandController *instance()
  44     {
  45         if (!p_inst) {
  46             p_inst = new FixedWingLandController();
  47         }
  48         return p_inst;
  49     }
  50
  51     int32_t Initialize(FixedWingPathFollowerSettingsData *fixedWingSettings);
  52     void Activate(void);
  53     void Deactivate(void);
  54     void SettingsUpdated(void);
  55     void UpdateAutoPilot(void);
  56     void ObjectiveUpdated(void);
  57     uint8_t IsActive(void);
  58     uint8_t Mode(void);
  59
  60 private:
  61     void resetGlobals();
  62     FixedWingPathFollowerSettingsData *fixedWingSettings;
  63     uint8_t mActive;
  64     uint8_t mMode;
  65 };
  66
  67 #endif // FIXEDWINGLANDCONTROLLER_H