flight/modules/ManualControl/pathfollowerhandler.c

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup ManualControl
   6  * @brief Interpretes the control input in ManualControlCommand
   7  * @{
   8  *
   9  * @file       pathfollowerhandler.c
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  11  *
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  ******************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #include "inc/manualcontrol.h"
  32 #include <pathdesired.h>
  33 #include <manualcontrolcommand.h>
  34 #include <flightstatus.h>
  35 #include <positionstate.h>
  36 #include <flightmodesettings.h>
  37
  38 #if defined(REVOLUTION)
  39 #include <plans.h>
  40
  41 // Private constants
  42
  43 // Private types
  44
  45 // Private functions
  46
  47 /**
  48  * @brief Handler to control Guided flightmodes. FlightControl is governed by PathFollower, control via PathDesired
  49  * @input: NONE: fully automated mode -- TODO recursively call handler for advanced stick commands
  50  * @output: PathDesired
  51  */
  52 void pathFollowerHandler(bool newinit)
  53 {
  54     if (newinit) {
  55         plan_initialize();
  56     }
  57
  58     FlightStatusFlightModeOptions flightMode;
  59     FlightStatusAssistedControlStateOptions assistedControlFlightMode;
  60     FlightStatusFlightModeAssistOptions flightModeAssist;
  61     FlightStatusFlightModeGet(&flightMode);
  62     FlightStatusFlightModeAssistGet(&flightModeAssist);
  63     FlightStatusAssistedControlStateGet(&assistedControlFlightMode);
  64
  65     if (newinit) {
  66         // After not being in this mode for a while init at current height
  67         switch (flightMode) {
  68         case FLIGHTSTATUS_FLIGHTMODE_RETURNTOBASE:
  69             plan_setup_returnToBase();
  70             break;
  71         case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
  72             if ((flightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) &&
  73                 (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_PRIMARY)) {
  74                 // Switch from primary (just entered this PH flight mode) into brake
  75                 plan_setup_assistedcontrol();
  76             } else {
  77                 plan_setup_positionHold();
  78             }
  79             break;
  80         case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
  81             plan_setup_CourseLock();
  82             break;
  83         case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
  84             plan_setup_VelocityRoam();
  85             break;
  86         case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
  87             plan_setup_HomeLeash();
  88             break;
  89         case FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION:
  90             plan_setup_AbsolutePosition();
  91             break;
  92
  93         case FLIGHTSTATUS_FLIGHTMODE_LAND:
  94             if (flightModeAssist == FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
  95                 plan_setup_land();
  96             } else {
  97                 plan_setup_VelocityRoam();
  98             }
  99             break;
 100         case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
 101             plan_setup_AutoTakeoff();
 102             break;
 103         case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
 104             plan_setup_AutoCruise();
 105             break;
 106
 107         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
 108         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
 109         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
 110         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
 111         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
 112         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
 113             if (assistedControlFlightMode == FLIGHTSTATUS_ASSISTEDCONTROLSTATE_BRAKE) {
 114                 // Just initiated braking after returning from stabi control
 115                 plan_setup_assistedcontrol();
 116             }
 117             break;
 118
 119         default:
 120             plan_setup_positionHold();
 121             break;
 122         }
 123     }
 124
 125     switch (flightMode) {
 126     case FLIGHTSTATUS_FLIGHTMODE_COURSELOCK:
 127         plan_run_CourseLock();
 128         break;
 129     case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
 130         plan_run_VelocityRoam();
 131         break;
 132     case FLIGHTSTATUS_FLIGHTMODE_HOMELEASH:
 133         plan_run_HomeLeash();
 134         break;
 135     case FLIGHTSTATUS_FLIGHTMODE_ABSOLUTEPOSITION:
 136         plan_run_AbsolutePosition();
 137         break;
 138     case FLIGHTSTATUS_FLIGHTMODE_LAND:
 139         if (flightModeAssist != FLIGHTSTATUS_FLIGHTMODEASSIST_NONE) {
 140             plan_run_VelocityRoam();
 141         }
 142         break;
 143     case FLIGHTSTATUS_FLIGHTMODE_AUTOCRUISE:
 144         plan_run_AutoCruise();
 145         break;
 146     default:
 147         break;
 148     }
 149 }
 150
 151 #else /* if defined(REVOLUTION) */
 152 void pathFollowerHandler(__attribute__((unused)) bool newinit)
 153 {
 154     AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); // should not be called
 155 }
 156 #endif // REVOLUTION
 157
 158
 159 /**
 160  * @}
 161  * @}
 162  */