flight/libraries/inc/plans.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotLibraries OpenPilot Libraries
   4  * @{
   5  * @addtogroup Navigation
   6  * @brief setups RTH/PH and other pathfollower/pathplanner status
   7  * @{
   8  *
   9  * @file       plan.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
  11  *
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  ******************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30
  31 #ifndef PLANS_H_
  32 #define PLANS_H_
  33 #include <stdint.h>
  34 #include <pios_math.h>
  35
  36 /** \page standard Plans
  37    How to use this library
  38    \li Call plan_initialize() to init all needed struct and uavos at startup.<br>
  39    It may be safely called more than once.<br>
  40
  41    \li Functions called plan_setup_* needs to be called once, every time the requested function is engaged.<br>
  42
  43    \li Functions called plan_run_* are to be periodically called while the requested mode is engaged.<br>
  44  */
  45
  46 /**
  47  * @brief initialize UAVOs and structs used by this library
  48  */
  49 void plan_initialize();
  50
  51 /**
  52  * @brief setup pathplanner/pathfollower for positionhold
  53  */
  54 void plan_setup_positionHold();
  55
  56 /**
  57  * @brief setup pathplanner/pathfollower for return to base
  58  */
  59 void plan_setup_returnToBase();
  60
  61 /**
  62  * @brief setup pathplanner/pathfollower for land
  63  */
  64 void plan_setup_land();
  65 void plan_setup_AutoTakeoff();
  66
  67 /**
  68  * @brief setup pathplanner/pathfollower for braking
  69  */
  70 void plan_setup_assistedcontrol();
  71
  72 #define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_NORTH 0
  73 #define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_EAST  1
  74 #define PATHDESIRED_MODEPARAMETER_BRAKE_STARTVELOCITYVECTOR_DOWN  2
  75 #define PATHDESIRED_MODEPARAMETER_BRAKE_TIMEOUT                   3
  76
  77 #define PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_NORTH   0
  78 #define PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_EAST    1
  79 #define PATHDESIRED_MODEPARAMETER_VELOCITY_VELOCITYVECTOR_DOWN    2
  80 #define PATHDESIRED_MODEPARAMETER_VELOCITY_UNUSED                 3
  81
  82 #define PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_NORTH       0
  83 #define PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_EAST        1
  84 #define PATHDESIRED_MODEPARAMETER_LAND_VELOCITYVECTOR_DOWN        2
  85 #define PATHDESIRED_MODEPARAMETER_LAND_OPTIONS                    3
  86
  87 #define PATHDESIRED_MODEPARAMETER_LAND_OPTION_NONE                0
  88 #define PATHDESIRED_MODEPARAMETER_LAND_OPTION_HORIZONTAL_PH       1
  89
  90 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_NEXTCOMMAND        0
  91 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED1            1
  92 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED2            2
  93 #define PATHDESIRED_MODEPARAMETER_GOTOENDPOINT_UNUSED3            3
  94
  95 #define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_NORTH               0
  96 #define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_EAST                1
  97 #define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_DOWN                2
  98 #define PATHDESIRED_MODEPARAMETER_AUTOTAKEOFF_CONTROLSTATE        3
  99
 100 /**
 101  * @brief setup pathfollower for positionvario
 102  */
 103 void plan_setup_CourseLock();
 104 void plan_setup_PositionRoam();
 105 void plan_setup_VelocityRoam();
 106 void plan_setup_HomeLeash();
 107 void plan_setup_AbsolutePosition();
 108
 109 /**
 110  * @brief run for positionvario
 111  */
 112 void plan_run_CourseLock();
 113 void plan_run_PositionRoam();
 114 void plan_run_VelocityRoam();
 115 void plan_run_HomeLeash();
 116 void plan_run_AbsolutePosition();
 117 void plan_run_AutoTakeoff();
 118
 119 /**
 120  * @brief setup pathplanner/pathfollower for AutoCruise
 121  */
 122 void plan_setup_AutoCruise();
 123
 124 /**
 125  * @brief execute AutoCruise
 126  */
 127 void plan_run_AutoCruise();
 128
 129 #endif /* PLANS_H_ */