flight/modules/PathFollower/inc/vtolvelocitycontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup PathFollower Controller
   6  * @brief Controller for Vtol velocity roam
   7  * @{
   8  *
   9  * @file       vtolvelocitycontroller.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes velocity roam control
  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 PATHFOLLOWERCONTROLVELOCITYROAM_H
  32 #define PATHFOLLOWERCONTROLVELOCITYROAM_H
  33 #include "pathfollowercontrol.h"
  34 #include "pidcontrolne.h"
  35
  36 class VtolVelocityController : public PathFollowerControl {
  37 private:
  38     static VtolVelocityController *p_inst;
  39     VtolVelocityController();
  40
  41
  42 public:
  43     static VtolVelocityController *instance()
  44     {
  45         if (!p_inst) {
  46             p_inst = new VtolVelocityController();
  47         }
  48         return p_inst;
  49     }
  50
  51     int32_t Initialize(VtolPathFollowerSettingsData *vtolPathFollowerSettings);
  52
  53
  54     void Activate(void);
  55     void Deactivate(void);
  56     void SettingsUpdated(void);
  57     void UpdateAutoPilot(void);
  58     void ObjectiveUpdated(void);
  59     uint8_t IsActive(void);
  60     uint8_t Mode(void);
  61
  62 private:
  63     void UpdateVelocityDesired(void);
  64     int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
  65
  66     VtolPathFollowerSettingsData *vtolPathFollowerSettings;
  67     PIDControlNE controlNE;
  68     uint8_t mActive;
  69 };
  70
  71 #endif // ifndef PATHFOLLOWERCONTROLVELOCITYROAM_H