mirror of https://github.com/ArduPilot/ardupilot
112 lines
3.2 KiB
C++
112 lines
3.2 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_config.h"
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#if AP_WINCH_ENABLED
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#include <AP_Common/AP_Common.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Param/AP_Param.h>
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#include <AC_PID/AC_PID.h>
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class AP_Winch_Backend;
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class AP_Winch {
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friend class AP_Winch_Backend;
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friend class AP_Winch_PWM;
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friend class AP_Winch_Daiwa;
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public:
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AP_Winch();
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// Do not allow copies
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CLASS_NO_COPY(AP_Winch);
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// indicate whether this module is enabled
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bool enabled() const;
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// true if winch is healthy
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bool healthy() const;
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// initialise the winch
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void init();
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// update the winch
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void update();
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// relax the winch so it does not attempt to maintain length or rate
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void relax() { config.control_mode = ControlMode::RELAXED; }
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// release specified length of cable (in meters)
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void release_length(float length);
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// deploy line at specified speed in m/s (+ve deploys line, -ve retracts line, 0 stops)
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void set_desired_rate(float rate);
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// get rate maximum in m/s
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float get_rate_max() const { return MAX(config.rate_max, 0.0f); }
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// send status to ground station
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void send_status(const class GCS_MAVLINK &channel);
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// write log
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void write_log();
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// returns true if pre arm checks have passed
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bool pre_arm_check(char *failmsg, uint8_t failmsg_len) const;
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static AP_Winch *get_singleton();
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static const struct AP_Param::GroupInfo var_info[];
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private:
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enum class WinchType {
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NONE = 0,
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PWM = 1,
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DAIWA = 2
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};
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// winch states
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enum class ControlMode : uint8_t {
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RELAXED = 0, // winch is realxed
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POSITION, // moving or maintaining a target length (from an external source)
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RATE, // extending or retracting at a target rate (from an external source)
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RATE_FROM_RC // extending or retracting at a target rate (from RC input)
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};
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struct Backend_Config {
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AP_Int8 type; // winch type
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AP_Float rate_max; // deploy or retract rate maximum (in m/s).
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AP_Float pos_p; // position error P gain
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ControlMode control_mode; // state of winch control (using target position or target rate)
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float length_desired; // target desired length (in meters)
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float rate_desired; // target deploy rate (in m/s, +ve = deploying, -ve = retracting)
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} config;
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AP_Winch_Backend *backend;
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static AP_Winch *_singleton;
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};
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namespace AP {
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AP_Winch *winch();
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};
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#endif // AP_WINCH_ENABLED
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