flight/modules/PathFollower/inc/fixedwingautotakeoffcontroller.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup FixedWing CONTROL interface class
   6  * @brief CONTROL interface class for pathfollower fixed wing fly controller
   7  * @{
   8  *
   9  * @file       fixedwingautotakeoffcontroller.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
  11  * @brief      Executes CONTROL for fixed wing fly objectives
  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 FIXEDWINGAUTOTAKEOFFCONTROLLER_H
  32 #define FIXEDWINGAUTOTAKEOFFCONTROLLER_H
  33 #include "fixedwingflycontroller.h"
  34
  35 // AutoTakeoff state machine
  36 typedef enum {
  37     FW_AUTOTAKEOFF_STATE_INACTIVE = 0,
  38     FW_AUTOTAKEOFF_STATE_LAUNCH,
  39     FW_AUTOTAKEOFF_STATE_CLIMB,
  40     FW_AUTOTAKEOFF_STATE_HOLD,
  41     FW_AUTOTAKEOFF_STATE_ABORT,
  42     FW_AUTOTAKEOFF_STATE_SIZE
  43 } FixedWingAutoTakeoffControllerState_T;
  44
  45 class FixedWingAutoTakeoffController : public FixedWingFlyController {
  46 public:
  47     void Activate(void);
  48     void UpdateAutoPilot(void);
  49
  50 private:
  51     // variables
  52     FixedWingAutoTakeoffControllerState_T state;
  53     float initYaw;
  54     float maxVelocity;
  55
  56     // functions
  57     void setState(FixedWingAutoTakeoffControllerState_T setstate);
  58     void setAttitude(bool unsafe);
  59     float getAirspeed(void);
  60     bool isUnsafe(void);
  61     void run_inactive(void);
  62     void run_launch(void);
  63     void run_climb(void);
  64     void run_hold(void);
  65     void run_abort(void);
  66     void init_inactive(void);
  67     void init_launch(void);
  68     void init_climb(void);
  69     void init_hold(void);
  70     void init_abort(void);
  71     void(FixedWingAutoTakeoffController::*const runFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
  72         &FixedWingAutoTakeoffController::run_inactive,
  73         &FixedWingAutoTakeoffController::run_launch,
  74         &FixedWingAutoTakeoffController::run_climb,
  75         &FixedWingAutoTakeoffController::run_hold,
  76         &FixedWingAutoTakeoffController::run_abort
  77     };
  78     void(FixedWingAutoTakeoffController::*const initFunctionTable[FW_AUTOTAKEOFF_STATE_SIZE]) (void) = {
  79         &FixedWingAutoTakeoffController::init_inactive,
  80         &FixedWingAutoTakeoffController::init_launch,
  81         &FixedWingAutoTakeoffController::init_climb,
  82         &FixedWingAutoTakeoffController::init_hold,
  83         &FixedWingAutoTakeoffController::init_abort
  84     };
  85 };
  86
  87 #endif // FIXEDWINGAUTOTAKEOFFCONTROLLER_H