flight/modules/PathFollower/inc/vtollandfsm.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower FSM
   6  * @brief Executes landing sequence via an FSM
   7  * @{
   8  *
   9  * @file       vtollandfsm.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes FSM for landing sequence
  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 VTOLLANDFSM_H
  32 #define VTOLLANDFSM_H
  33
  34 extern "C" {
  35 #include "statusvtolland.h"
  36 }
  37 #include "pathfollowerfsm.h"
  38
  39 // Landing state machine
  40 typedef enum {
  41     LAND_STATE_INACTIVE = 0, // Inactive state is the initialised state on startup
  42     LAND_STATE_INIT_ALTHOLD, // Initiate altitude hold before starting descent
  43     LAND_STATE_WTG_FOR_DESCENTRATE, // Waiting for attainment of landing descent rate
  44     LAND_STATE_AT_DESCENTRATE, // Landing descent rate achieved
  45     LAND_STATE_WTG_FOR_GROUNDEFFECT, // Waiting for group effect to be detected
  46     LAND_STATE_GROUNDEFFECT, // Ground effect detected
  47     LAND_STATE_THRUSTDOWN, // Thrust down sequence
  48     LAND_STATE_THRUSTOFF, // Thrust is now off
  49     LAND_STATE_DISARMED, // Disarmed
  50     LAND_STATE_SIZE
  51 } PathFollowerFSM_LandState_T;
  52
  53 class VtolLandFSM : public PathFollowerFSM {
  54 private:
  55     static VtolLandFSM *p_inst;
  56     VtolLandFSM();
  57
  58 public:
  59     static VtolLandFSM *instance()
  60     {
  61         if (!p_inst) {
  62             p_inst = new VtolLandFSM();
  63         }
  64         return p_inst;
  65     }
  66     int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings,
  67                        PathDesiredData *pathDesired,
  68                        FlightStatusData *flightStatus);
  69     void Inactive(void);
  70     void Activate(void);
  71     void Update(void);
  72     void BoundThrust(float &ulow, float &uhigh);
  73     PathFollowerFSMState_T GetCurrentState(void);
  74     void ConstrainStabiDesired(StabilizationDesiredData *stabDesired);
  75     float BoundVelocityDown(float);
  76     void CheckPidScaler(pid_scaler *scaler);
  77
  78 protected:
  79
  80     // FSM instance data type
  81     typedef struct {
  82         StatusVtolLandData  fsmLandStatus;
  83         StatusVtolLandStateOptions currentState;
  84         TakeOffLocationData takeOffLocation;
  85         uint32_t stateRunCount;
  86         uint32_t stateTimeoutCount;
  87         float    sum1;
  88         float    sum2;
  89         float    expectedLandPositionNorth;
  90         float    expectedLandPositionEast;
  91         float    thrustLimit;
  92         float    boundThrustMin;
  93         float    boundThrustMax;
  94         uint8_t  observationCount;
  95         uint8_t  observation2Count;
  96         uint8_t  flZeroStabiHorizontal;
  97         uint8_t  flConstrainThrust;
  98         uint8_t  flLowAltitude;
  99         uint8_t  flAltitudeHold;
 100     } VtolLandFSMData_T;
 101
 102     // FSM state structure
 103     typedef struct {
 104         void(VtolLandFSM::*setup) (void); // Called to initialise the state
 105         void(VtolLandFSM::*run) (uint8_t); // Run the event detection code for a state
 106     } PathFollowerFSM_LandStateHandler_T;
 107
 108     // Private variables
 109     VtolLandFSMData_T *mLandData;
 110     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
 111     PathDesiredData *pathDesired;
 112     FlightStatusData *flightStatus;
 113
 114     void setup_inactive(void);
 115     void setup_init_althold(void);
 116     void setup_wtg_for_descentrate(void);
 117     void setup_at_descentrate(void);
 118     void setup_wtg_for_groundeffect(void);
 119     void run_init_althold(uint8_t);
 120     void run_wtg_for_descentrate(uint8_t);
 121     void run_at_descentrate(uint8_t);
 122     void run_wtg_for_groundeffect(uint8_t);
 123     void setup_groundeffect(void);
 124     void run_groundeffect(uint8_t);
 125     void setup_thrustdown(void);
 126     void run_thrustdown(uint8_t);
 127     void setup_thrustoff(void);
 128     void run_thrustoff(uint8_t);
 129     void setup_disarmed(void);
 130     void run_disarmed(uint8_t);
 131     void initFSM(void);
 132     void setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason);
 133     int32_t runState();
 134     int32_t runAlways();
 135     void updateVtolLandFSMStatus();
 136     void assessAltitude(void);
 137
 138     void setStateTimeout(int32_t count);
 139
 140     static PathFollowerFSM_LandStateHandler_T sLandStateTable[LAND_STATE_SIZE];
 141 };
 142
 143 #endif // VTOLLANDFSM_H