mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.3 KiB
C++
74 lines
2.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include <AP_Winch/AP_Winch.h>
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#if AP_WINCH_ENABLED
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#include <AP_Logger/AP_Logger_config.h>
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class AP_Winch_Backend {
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public:
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AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
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config(_config) { }
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// true if winch is healthy
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virtual bool healthy() const = 0;
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// initialise the backend
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virtual void init();
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// update - should be called at at least 10hz
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virtual void update() = 0;
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// returns current length of line deployed
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virtual float get_current_length() const = 0;
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// send status to ground station
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virtual void send_status(const GCS_MAVLINK &channel) = 0;
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#if HAL_LOGGING_ENABLED
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// write log
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virtual void write_log() = 0;
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#endif
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// helper to check if option enabled
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bool option_enabled(AP_Winch::Options option) const {
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return (config.options & uint16_t(option)) != 0;
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}
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protected:
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// calculate the pilot desired rate (+ve deploys line, -ve retracts line, 0 stops) from rc input
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// may change the state to RATE and update config.rate_desired
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void read_pilot_desired_rate();
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// returns the rate limited by the maximum acceleration
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// this also updates the previous rate so should not be called more than once per loop
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float get_rate_limited_by_accel(float rate, float dt) WARN_IF_UNUSED;
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// set the rate used for acceleration limiting
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void set_previous_rate(float rate) { previous_rate = rate; }
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struct AP_Winch::Backend_Config &config;
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int16_t previous_radio_in = -1; // previous RC input from pilot, used to ignore small changes
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float previous_rate; // previous rate used for acceleration limiting
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};
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#endif // AP_WINCH_ENABLED
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