/* This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see . */ #pragma once /* this header holds a parameter structure for each vehicle type for parameters needed by multiple libraries */ #include "ModeReason.h" // reasons can't be defined in this header due to circular loops #include #include // board configuration library #include #include #include #include #include // Notify library #include #include // APM relay #include // RSSI Library #include // Serial manager library #include #include class AP_Vehicle : public AP_HAL::HAL::Callbacks { public: AP_Vehicle() { if (_singleton) { AP_HAL::panic("Too many Vehicles"); } _singleton = this; } /* Do not allow copies */ AP_Vehicle(const AP_Vehicle &other) = delete; AP_Vehicle &operator=(const AP_Vehicle&) = delete; static AP_Vehicle *get_singleton(); bool virtual set_mode(const uint8_t new_mode, const ModeReason reason) = 0; /* common parameters for fixed wing aircraft */ struct FixedWing { AP_Int8 throttle_min; AP_Int8 throttle_max; AP_Int8 throttle_slewrate; AP_Int8 throttle_cruise; AP_Int8 takeoff_throttle_max; AP_Int16 airspeed_min; AP_Int16 airspeed_max; AP_Int32 airspeed_cruise_cm; AP_Int32 min_gndspeed_cm; AP_Int8 crash_detection_enable; AP_Int16 roll_limit_cd; AP_Int16 pitch_limit_max_cd; AP_Int16 pitch_limit_min_cd; AP_Int8 autotune_level; AP_Int8 stall_prevention; AP_Int16 loiter_radius; struct Rangefinder_State { bool in_range:1; bool have_initial_reading:1; bool in_use:1; float initial_range; float correction; float initial_correction; float last_stable_correction; uint32_t last_correction_time_ms; uint8_t in_range_count; float height_estimate; float last_distance; }; // stages of flight enum FlightStage { FLIGHT_TAKEOFF = 1, FLIGHT_VTOL = 2, FLIGHT_NORMAL = 3, FLIGHT_LAND = 4, FLIGHT_ABORT_LAND = 7 }; }; /* common parameters for multicopters */ struct MultiCopter { AP_Int16 angle_max; }; protected: // board specific config AP_BoardConfig BoardConfig; #if HAL_WITH_UAVCAN // board specific config for CAN bus AP_BoardConfig_CAN BoardConfig_CAN; #endif // sensor drivers AP_GPS gps; AP_Baro barometer; Compass compass; AP_InertialSensor ins; AP_Button button; RangeFinder rangefinder; AP_RSSI rssi; AP_SerialManager serial_manager; AP_Relay relay; AP_ServoRelayEvents ServoRelayEvents; // notification object for LEDs, buzzers etc (parameter set to // false disables external leds) AP_Notify notify; #if HAL_HOTT_TELEM_ENABLED AP_Hott_Telem hott_telem; #endif // called from each vehicle void vehicle_setup(void); private: static AP_Vehicle *_singleton; }; namespace AP { AP_Vehicle *vehicle(); }; extern const AP_HAL::HAL& hal; #include "AP_Vehicle_Type.h"