flight/modules/PathFollower/inc/fixedwingflycontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup FixedWing CONTROL interface class
   6  * @brief CONTROL interface class for pathfollower fixed wing fly controller
   7  * @{
   8  *
   9  * @file       fixedwingflycontroller.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes CONTROL for fixed wing fly objectives
  12  *
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31 #ifndef FIXEDWINGFLYCONTROLLER_H
  32 #define FIXEDWINGFLYCONTROLLER_H
  33 #include "pathfollowercontrol.h"
  34
  35 class FixedWingFlyController : public PathFollowerControl {
  36 protected:
  37     static FixedWingFlyController *p_inst;
  38     FixedWingFlyController();
  39
  40
  41 public:
  42     static FixedWingFlyController *instance()
  43     {
  44         if (!p_inst) {
  45             p_inst = new FixedWingFlyController();
  46         }
  47         return p_inst;
  48     }
  49
  50     int32_t Initialize(FixedWingPathFollowerSettingsData *fixedWingSettings);
  51     void Activate(void);
  52     void Deactivate(void);
  53     void SettingsUpdated(void);
  54     void UpdateAutoPilot(void);
  55     void ObjectiveUpdated(void);
  56     uint8_t IsActive(void);
  57     uint8_t Mode(void);
  58     void AirspeedStateUpdatedCb(__attribute__((unused)) UAVObjEvent * ev);
  59
  60 protected:
  61     FixedWingPathFollowerSettingsData *fixedWingSettings;
  62
  63     uint8_t mActive;
  64     uint8_t mMode;
  65     // correct speed by measured airspeed
  66     float indicatedAirspeedStateBias;
  67 private:
  68     void resetGlobals();
  69     uint8_t updateAutoPilotFixedWing();
  70     void updatePathVelocity(float kFF, bool limited);
  71     uint8_t updateFixedDesiredAttitude();
  72     bool correctCourse(float *C, float *V, float *F, float s);
  73     int32_t lastAirspeedUpdate;
  74
  75     struct pid PIDposH[2];
  76     struct pid PIDposV;
  77     struct pid PIDcourse;
  78     struct pid PIDspeed;
  79     struct pid PIDpower;
  80 };
  81
  82 #endif // FIXEDWINGFLYCONTROLLER_H