ardupilot/libraries/APO/AP_Guide.h

168 lines
4.1 KiB
C++

/*
* AP_Guide.h
* Copyright (C) James Goppert 2010 <james.goppert@gmail.com>
*
* This file 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 file 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 <http://www.gnu.org/licenses/>.
*/
#ifndef AP_Guide_H
#define AP_Guide_H
#include <inttypes.h>
#include "../GCS_MAVLink/GCS_MAVLink.h"
#include "AP_MavlinkCommand.h"
#include "../AP_RangeFinder/AP_RangeFinder.h"
namespace apo {
class AP_Navigator;
class AP_Board;
/// Guide class
class AP_Guide {
public:
/**
* This is the constructor, which requires a link to the navigator.
* @param navigator This is the navigator pointer.
*/
AP_Guide(AP_Navigator * nav, AP_Board * board);
virtual void update() = 0;
virtual void nextCommand() = 0;
virtual void updateCommand() {};
MAV_NAV getMode() const {
return _mode;
}
void setMode(MAV_NAV mode) {
_mode = mode;
}
uint8_t getCurrentIndex() {
return _cmdIndex;
}
void setCurrentIndex(uint8_t val);
uint8_t getNumberOfCommands() {
return _numberOfCommands;
}
void setNumberOfCommands(uint8_t val) {
_numberOfCommands.set_and_save(val);
}
uint8_t getPreviousIndex() {
// find previous waypoint, TODO, handle non-nav commands
int16_t prevIndex = int16_t(getCurrentIndex()) - 1;
if (prevIndex < 0)
prevIndex = getNumberOfCommands() - 1;
return (uint8_t) prevIndex;
}
uint8_t getNextIndex() {
// find previous waypoint, TODO, handle non-nav commands
int16_t nextIndex = int16_t(getCurrentIndex()) + 1;
if (nextIndex > (getNumberOfCommands() - 1))
nextIndex = 0;
return nextIndex;
}
float getHeadingError();
/// the commanded course over ground for the vehicle
float getHeadingCommand() {
return _headingCommand;
}
/// wrap an angle between -180 and 180
float wrapAngle(float y) {
if (y > 180 * deg2Rad)
y -= 360 * deg2Rad;
if (y < -180 * deg2Rad)
y += 360 * deg2Rad;
return y;
}
/// the yaw attitude error of the vehicle
float getYawError();
float getAirSpeedCommand() {
return _airSpeedCommand;
}
float getGroundSpeedCommand() {
return _groundSpeedCommand;
}
float getGroundSpeedError();
float getAltitudeCommand() {
return _altitudeCommand;
}
float getDistanceToNextWaypoint();
virtual float getPNError() = 0;
virtual float getPEError() = 0;
virtual float getPDError() = 0;
MAV_NAV getMode() {
return _mode;
}
uint8_t getCommandIndex() {
return _cmdIndex;
}
protected:
AP_Navigator * _nav;
AP_Board * _board;
AP_MavlinkCommand _command, _previousCommand;
float _headingCommand;
float _yawCommand;
float _airSpeedCommand;
float _groundSpeedCommand;
float _altitudeCommand;
MAV_NAV _mode;
AP_Uint8 _numberOfCommands;
AP_Uint8 _cmdIndex;
uint16_t _nextCommandCalls;
uint16_t _nextCommandTimer;
};
class MavlinkGuide: public AP_Guide {
public:
MavlinkGuide(AP_Navigator * nav,
AP_Board * board, float velCmd, float xt, float xtLim);
virtual void update();
void nextCommand();
void handleCommand();
void updateCommand();
virtual float getPNError();
virtual float getPEError();
virtual float getPDError();
private:
AP_Var_group _group;
AP_Float _velocityCommand;
AP_Float _crossTrackGain;
AP_Float _crossTrackLim;
};
} // namespace apo
#endif // AP_Guide_H
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