mirror of https://github.com/ArduPilot/ardupilot
151 lines
3.8 KiB
C++
151 lines
3.8 KiB
C++
/*
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* AP_Guide.h
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* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
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*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_Guide_H
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#define AP_Guide_H
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#include <inttypes.h>
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#include "../GCS_MAVLink/GCS_MAVLink.h"
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#include "AP_MavlinkCommand.h"
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#include "../AP_RangeFinder/AP_RangeFinder.h"
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namespace apo {
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class AP_Navigator;
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class AP_HardwareAbstractionLayer;
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/// Guide class
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class AP_Guide {
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public:
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/**
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* This is the constructor, which requires a link to the navigator.
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* @param navigator This is the navigator pointer.
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*/
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AP_Guide(AP_Navigator * navigator, AP_HardwareAbstractionLayer * hal);
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virtual void update() = 0;
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virtual void nextCommand() = 0;
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virtual void updateCommand() {};
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MAV_NAV getMode() const {
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return _mode;
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}
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void setMode(MAV_NAV mode) {
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_mode = mode;
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}
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uint8_t getCurrentIndex() {
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return _cmdIndex;
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}
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void setCurrentIndex(uint8_t val);
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uint8_t getNumberOfCommands() {
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return _numberOfCommands;
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}
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void setNumberOfCommands(uint8_t val) {
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_numberOfCommands.set_and_save(val);
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}
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uint8_t getPreviousIndex() {
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// find previous waypoint, TODO, handle non-nav commands
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int16_t prevIndex = int16_t(getCurrentIndex()) - 1;
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if (prevIndex < 0)
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prevIndex = getNumberOfCommands() - 1;
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return (uint8_t) prevIndex;
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}
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uint8_t getNextIndex() {
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// find previous waypoint, TODO, handle non-nav commands
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int16_t nextIndex = int16_t(getCurrentIndex()) + 1;
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if (nextIndex > (getNumberOfCommands() - 1))
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nextIndex = 0;
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return nextIndex;
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}
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float getHeadingError();
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float getHeadingCommand() {
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return _headingCommand;
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}
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float getAirSpeedCommand() {
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return _airSpeedCommand;
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}
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float getGroundSpeedCommand() {
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return _groundSpeedCommand;
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}
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float getAltitudeCommand() {
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return _altitudeCommand;
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}
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float getDistanceToNextWaypoint();
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virtual float getPNError() = 0;
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virtual float getPEError() = 0;
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virtual float getPDError() = 0;
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MAV_NAV getMode() {
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return _mode;
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}
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uint8_t getCommandIndex() {
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return _cmdIndex;
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}
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protected:
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AP_Navigator * _navigator;
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AP_HardwareAbstractionLayer * _hal;
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AP_MavlinkCommand _command, _previousCommand;
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float _headingCommand;
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float _airSpeedCommand;
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float _groundSpeedCommand;
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float _altitudeCommand;
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MAV_NAV _mode;
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AP_Uint8 _numberOfCommands;
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AP_Uint8 _cmdIndex;
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uint16_t _nextCommandCalls;
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uint16_t _nextCommandTimer;
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};
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class MavlinkGuide: public AP_Guide {
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public:
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MavlinkGuide(AP_Navigator * navigator,
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AP_HardwareAbstractionLayer * hal, float velCmd, float xt, float xtLim);
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virtual void update();
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void nextCommand();
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void handleCommand();
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void updateCommand();
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virtual float getPNError();
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virtual float getPEError();
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virtual float getPDError();
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private:
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AP_Var_group _group;
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AP_Float _velocityCommand;
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AP_Float _crossTrackGain;
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AP_Float _crossTrackLim;
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};
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} // namespace apo
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#endif // AP_Guide_H
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// vim:ts=4:sw=4:expandtab
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