mirror of https://github.com/ArduPilot/ardupilot
124 lines
5.4 KiB
C++
124 lines
5.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/// @file AP_Navigation.h
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/// @brief generic navigation controller interface
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/*
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This defines a generic interface for navigation controllers. Each
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specific controller should be a subclass of this generic
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interface. All variables used by controllers should be in their
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own class.
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*/
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#pragma once
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#include <AP_Common/AP_Common.h>
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class AP_Navigation {
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public:
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// return the desired roll angle in centi-degrees to move towards
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// the target waypoint
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virtual int32_t nav_roll_cd(void) const = 0;
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// return the desired lateral acceleration in m/s/s to move towards
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// the target waypoint
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virtual float lateral_acceleration(void) const = 0;
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// note: all centi-degree values returned in AP_Navigation should
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// be wrapped at -18000 to 18000 in centi-degrees.
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// return the tracking bearing that the navigation controller is
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// using in centi-degrees. This is used to display an arrow on
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// ground stations showing the effect of the cross-tracking in the
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// controller
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virtual int32_t nav_bearing_cd(void) const = 0;
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// return the difference between the vehicles current course and
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// the nav_bearing_cd() in centi-degrees. A positive value means
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// the vehicle is tracking too far to the left of the correct
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// bearing.
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virtual int32_t bearing_error_cd(void) const = 0;
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// return the target bearing in centi-degrees. This is the bearing
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// from the vehicles current position to the target waypoint. This
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// should be calculated in the update_*() functions below.
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virtual int32_t target_bearing_cd(void) const = 0;
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// return the crosstrack error in meters. This is the distance in
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// the X-Y plane that we are off the desired track
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virtual float crosstrack_error(void) const = 0;
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virtual float crosstrack_error_integrator(void) const { return 0; }
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// return the distance in meters at which a turn should commence
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// to allow the vehicle to neatly move to the next track in the
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// mission when approaching a waypoint. Assumes 90 degree turn
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virtual float turn_distance(float wp_radius) const = 0;
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// return the distance in meters at which a turn should commence
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// to allow the vehicle to neatly move to the next track in the
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// mission when approaching a waypoint
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virtual float turn_distance(float wp_radius, float turn_angle) const = 0;
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// update the internal state of the navigation controller, given
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// the previous and next waypoints. This is the step function for
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// navigation control for path following between two points. This
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// function is called at regular intervals (typically 10Hz). The
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// main flight code will call an output function (such as
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// nav_roll_cd()) after this function to ask for the new required
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// navigation attitude/steering.
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virtual void update_waypoint(const struct Location &prev_WP, const struct Location &next_WP) = 0;
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// update the internal state of the navigation controller for when
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// the vehicle has been commanded to circle about a point. This
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// is the step function for navigation control for circling. This
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// function is called at regular intervals (typically 10Hz). The
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// main flight code will call an output function (such as
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// nav_roll_cd()) after this function to ask for the new required
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// navigation attitude/steering.
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virtual void update_loiter(const struct Location ¢er_WP, float radius, int8_t loiter_direction) = 0;
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// update the internal state of the navigation controller, given a
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// fixed heading. This is the step function for navigation control
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// for a fixed heading. This function is called at regular
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// intervals (typically 10Hz). The main flight code will call an
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// output function (such as nav_roll_cd()) after this function to
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// ask for the new required navigation attitude/steering.
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virtual void update_heading_hold(int32_t navigation_heading_cd) = 0;
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// update the internal state of the navigation controller for
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// level flight on the current heading. This is the step function
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// for navigation control for level flight. This function is
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// called at regular intervals (typically 10Hz). The main flight
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// code will call an output function (such as nav_roll_cd()) after
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// this function to ask for the new required navigation
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// attitude/steering.
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virtual void update_level_flight(void) = 0;
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// return true if we have reached the target loiter location. This
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// may be a fuzzy decision, depending on internal navigation
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// parameters. For example the controller may return true only
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// when on the circular path around the waypoint, and not when
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// tracking towards the center. This function is only valid when
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// the update_loiter() method is used
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virtual bool reached_loiter_target(void) = 0;
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// notify Navigation controller that a new waypoint has just been
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// processed. This means that until we handle an update_XXX() function
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// the data is stale with old navigation information.
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virtual void set_data_is_stale(void) = 0;
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// return true if a new waypoint has been processed by mission
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// controller but the navigation controller still has old stale data
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// from previous waypoint navigation handling. This gets cleared on
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// every update_XXXXXX() call.
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virtual bool data_is_stale(void) const = 0;
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// add new navigation controllers to this enum. Users can then
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// select which navigation controller to use by setting the
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// NAV_CONTROLLER parameter
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enum ControllerType {
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CONTROLLER_DEFAULT = 0,
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CONTROLLER_L1 = 1
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};
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};
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