flight/modules/PathFollower/inc/vtollandcontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup LibrePilotModules LibrePilot Modules
   4  * @{
   5  * @addtogroup PathFollower CONTROL interface class
   6  * @brief vtol land controller class
   7  * @{
   8  *
   9  * @file       vtollandcontroller.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 landing sequence
  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 VTOLLANDCONTROLLER_H
  33 #define VTOLLANDCONTROLLER_H
  34 #include "pathfollowercontrol.h"
  35 #include "pidcontroldown.h"
  36 #include "pidcontrolne.h"
  37 // forward decl
  38 class PathFollowerFSM;
  39 class VtolLandController : public PathFollowerControl {
  40 private:
  41     static VtolLandController *p_inst;
  42     VtolLandController();
  43
  44
  45 public:
  46     static VtolLandController *instance()
  47     {
  48         if (!p_inst) {
  49             p_inst = new VtolLandController();
  50         }
  51         return p_inst;
  52     }
  53
  54     int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
  55
  56
  57     void Activate(void);
  58     void Deactivate(void);
  59     void SettingsUpdated(void);
  60     void UpdateAutoPilot(void);
  61     void ObjectiveUpdated(void);
  62     uint8_t IsActive(void);
  63     uint8_t Mode(void);
  64
  65 private:
  66     void UpdateVelocityDesired(void);
  67     int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
  68     void setArmedIfChanged(FlightStatusArmedOptions val);
  69
  70     PathFollowerFSM *fsm;
  71     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
  72     PIDControlDown controlDown;
  73     PIDControlNE controlNE;
  74     uint8_t mActive;
  75     uint8_t mOverride;
  76 };
  77
  78 #endif // VTOLLANDCONTROLLER_H