OP-1900 added deceleration check to autotakeoff failsafe
[librepilot.git] / flight / modules / PathFollower / inc / grounddrivecontroller.h
blob1065047697bb5e8e62cdbaf2995971ca1b796880
1 /**
2 ******************************************************************************
3 * @addtogroup OpenPilotModules OpenPilot Modules
4 * @{
5 * @addtogroup Ground CONTROL interface class
6 * @brief CONTROL interface class for ground drive controller
7 * @{
9 * @file grounddrivecontroller.h
10 * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
11 * @brief Class definition for ground drive controller implementation
13 * @see The GNU Public License (GPL) Version 3
15 *****************************************************************************/
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.
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.
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
31 #ifndef GROUNDDRIVECONTROLLER_H
32 #define GROUNDDRIVECONTROLLER_H
33 #include "pathfollowercontrol.h"
34 #include "pidcontrolne.h"
36 class GroundDriveController : public PathFollowerControl {
37 private:
38 static GroundDriveController *p_inst;
39 GroundDriveController();
42 public:
43 static GroundDriveController *instance()
45 if (!p_inst) {
46 p_inst = new GroundDriveController();
48 return p_inst;
51 int32_t Initialize(GroundPathFollowerSettingsData *groundSettings);
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);
60 private:
61 uint8_t updateAutoPilotGround();
62 void updatePathVelocity(float kFF);
63 uint8_t updateGroundDesiredAttitude();
65 GroundPathFollowerSettingsData *groundSettings;
66 uint8_t mActive;
67 uint8_t mMode;
68 PIDControlNE controlNE;
71 #endif // GROUNDDRIVECONTROLLER_H