ardupilot/libraries/AC_Fence/AC_Fence.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef AC_FENCE_H
#define AC_FENCE_H
#include <inttypes.h>
#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_Math.h>
#include <AP_InertialNav.h> // Inertial Navigation library
// bit masks for enabled fence types. Used for TYPE parameter
#define AC_FENCE_TYPE_NONE 0 // fence disabled
#define AC_FENCE_TYPE_ALT_MAX 1 // high alt fence which usually initiates an RTL
#define AC_FENCE_TYPE_CIRCLE 2 // circular horizontal fence (usually initiates an RTL)
// valid actions should a fence be breached
#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
// default boundaries
#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m
#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out
#define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach
// give up distance
#define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code
#define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control
class AC_Fence
{
public:
/// Constructor
AC_Fence(const AP_InertialNav* inav);
/// enable - allows fence to be enabled/disabled. Note: this does not update the eeprom saved value
void enable(bool true_false) { _enabled = true_false; }
/// enabled - returns true if fence is enabled
bool enabled() const { return _enabled; }
/// get_enabled_fences - returns bitmask of enabled fences
uint8_t get_enabled_fences() const;
/// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
bool pre_arm_check() const;
///
/// methods to check we are within the boundaries and recover
///
/// check_fence - returns the fence type that has been breached (if any)
uint8_t check_fence();
/// get_breaches - returns bit mask of the fence types that have been breached
uint8_t get_breaches() const { return _breached_fences; }
/// get_breach_time - returns time the fence was breached
uint32_t get_breach_time() const { return _breach_time; }
/// get_breach_count - returns number of times we have breached the fence
uint16_t get_breach_count() const { return _breach_count; }
/// get_breach_distance - returns distance in meters outside of the given fence
float get_breach_distance(uint8_t fence_type) const;
/// get_action - getter for user requested action on limit breach
uint8_t get_action() const { return _action.get(); }
/// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin)
float get_safe_alt() const { return _alt_max - _margin; }
/// manual_recovery_start - caller indicates that pilot is re-taking manual control so fence should be disabled for 10 seconds
/// should be called whenever the pilot changes the flight mode
/// has no effect if no breaches have occurred
void manual_recovery_start();
///
/// time saving methods to piggy-back on main code's calculations
///
/// set_home_distance - update vehicle's distance from home in meters - required for circular horizontal fence monitoring
void set_home_distance(float distance) { _home_distance = distance; }
static const struct AP_Param::GroupInfo var_info[];
private:
/// record_breach - update breach bitmask, time and count
void record_breach(uint8_t fence_type);
/// clear_breach - update breach bitmask, time and count
void clear_breach(uint8_t fence_type);
// pointers to other objects we depend upon
const AP_InertialNav *const _inav;
// parameters
AP_Int8 _enabled; // top level enable/disable control
AP_Int8 _enabled_fences; // bit mask holding which fences are enabled
AP_Int8 _action; // recovery action specified by user
AP_Float _alt_max; // altitude upper limit in meters
AP_Float _circle_radius; // circle fence radius in meters
AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach
// backup fences
float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away
float _circle_radius_backup; // backup circle fence radius in meters used to refire the breach if the vehicle continues to move further away
// breach distances
float _alt_max_breach_distance; // distance above the altitude max
float _circle_breach_distance; // distance beyond the circular fence
// other internal variables
float _home_distance; // distance from home in meters (provided by main code)
// breach information
uint8_t _breached_fences; // bitmask holding the fence type that was breached (i.e. AC_FENCE_TYPE_ALT_MIN, AC_FENCE_TYPE_CIRCLE)
uint32_t _breach_time; // time of last breach in milliseconds
uint16_t _breach_count; // number of times we have breached the fence
uint32_t _manual_recovery_start_ms; // system time in milliseconds that pilot re-took manual control
};
#endif // AC_FENCE_H