flight/modules/PathFollower/inc/vtollandcontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower CONTROL interface class
   6  * @brief vtol land controller class
   7  * @{
   8  *
   9  * @file       vtollandcontroller.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes CONTROL 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 VTOLLANDCONTROLLER_H
  32 #define VTOLLANDCONTROLLER_H
  33 #include "pathfollowercontrol.h"
  34 #include "pidcontroldown.h"
  35 #include "pidcontrolne.h"
  36 // forward decl
  37 class PathFollowerFSM;
  38 class VtolLandController : public PathFollowerControl {
  39 private:
  40     static VtolLandController *p_inst;
  41     VtolLandController();
  42
  43
  44 public:
  45     static VtolLandController *instance()
  46     {
  47         if (!p_inst) {
  48             p_inst = new VtolLandController();
  49         }
  50         return p_inst;
  51     }
  52
  53     int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
  54
  55
  56     void Activate(void);
  57     void Deactivate(void);
  58     void SettingsUpdated(void);
  59     void UpdateAutoPilot(void);
  60     void ObjectiveUpdated(void);
  61     uint8_t IsActive(void);
  62     uint8_t Mode(void);
  63
  64 private:
  65     void UpdateVelocityDesired(void);
  66     int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
  67     void setArmedIfChanged(FlightStatusArmedOptions val);
  68
  69     PathFollowerFSM *fsm;
  70     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
  71     PIDControlDown controlDown;
  72     PIDControlNE controlNE;
  73     uint8_t mActive;
  74 };
  75
  76 #endif // VTOLLANDCONTROLLER_H