flight/modules/PathFollower/inc/vtolflycontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower CONTROL interface class
   6  * @brief vtol fly controller class definition
   7  * @{
   8  *
   9  * @file       vtolflycontroller.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes fly control for vtols
  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 VTOLFLYCONTROLLER_H
  32 #define VTOLFLYCONTROLLER_H
  33 #include "pathfollowercontrol.h"
  34 #include "pidcontrolne.h"
  35 #include "pidcontroldown.h"
  36
  37 class VtolFlyController : public PathFollowerControl {
  38 private:
  39     static VtolFlyController *p_inst;
  40     VtolFlyController();
  41
  42
  43 public:
  44     static VtolFlyController *instance()
  45     {
  46         if (!p_inst) {
  47             p_inst = new VtolFlyController();
  48         }
  49         return p_inst;
  50     }
  51
  52     int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
  53
  54
  55     void Activate(void);
  56     void Deactivate(void);
  57     void SettingsUpdated(void);
  58     void UpdateAutoPilot(void);
  59     void ObjectiveUpdated(void);
  60     uint8_t IsActive(void);
  61     uint8_t Mode(void);
  62
  63 private:
  64     void UpdateVelocityDesired(void);
  65     int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
  66     void UpdateDesiredAttitudeEmergencyFallback();
  67     void fallback_to_hold(void);
  68     float updateTailInBearing();
  69     float updateCourseBearing();
  70     float updatePathBearing();
  71     float updatePOIBearing();
  72     uint8_t RunAutoPilot();
  73
  74     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
  75     PIDControlNE controlNE;
  76     PIDControlDown controlDown;
  77     uint8_t mActive;
  78     uint8_t mManualThrust;
  79     uint8_t mMode;
  80     float vtolEmergencyFallback;
  81     bool vtolEmergencyFallbackSwitch;
  82 };
  83
  84 #endif // VTOLFLYCONTROLLER_H