flight/modules/PathFollower/inc/pathfollowerfsm.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower FSM interface class
   6  * @brief FSM interface class for pathfollower goal fsm implementations
   7  * @{
   8  *
   9  * @file       pathfollowerfsm.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Interface class for PathFollower FSMs
  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 PATHFOLLOWERFSM_H
  32 #define PATHFOLLOWERFSM_H
  33
  34 extern "C" {
  35 #include <stabilizationdesired.h>
  36 }
  37 #include <pidcontroldowncallback.h>
  38
  39 typedef enum {
  40     PFFSM_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
  41     PFFSM_STATE_ACTIVE,
  42     PFFSM_STATE_DISARMED,
  43     PFFSM_STATE_ABORT // Abort on error
  44 } PathFollowerFSMState_T;
  45
  46 class PathFollowerFSM : public PIDControlDownCallback {
  47 public:
  48     // PathFollowerFSM() {};
  49     virtual void Inactive(void) {}
  50     virtual void Activate(void) {}
  51     virtual void Update(void) {}
  52     virtual void SettingsUpdated(void) {}
  53     virtual void BoundThrust(__attribute__((unused)) float &ulow, __attribute__((unused)) float &uhigh) {}
  54     virtual PathFollowerFSMState_T GetCurrentState(void)
  55     {
  56         return PFFSM_STATE_INACTIVE;
  57     }
  58     virtual void ConstrainStabiDesired(__attribute__((unused)) StabilizationDesiredData *stabDesired) {}
  59     virtual float BoundVelocityDown(float velocity)
  60     {
  61         return velocity;
  62     }
  63     virtual void CheckPidScaler(__attribute__((unused)) pid_scaler *scaler) {}
  64     virtual void GetYaw(bool &yaw_attitude, float &yaw_direction)
  65     {
  66         yaw_attitude = false; yaw_direction = 0.0f;
  67     }
  68     virtual void Abort(void) {}
  69     virtual uint8_t ManualThrust(void)
  70     {
  71         return false;
  72     }
  73     virtual uint8_t PositionHoldState(void)
  74     {
  75         return false;
  76     }
  77
  78     // virtual ~PathFollowerFSM() = 0;
  79 };
  80
  81 #endif // PATHFOLLOWERFSM_H