mirror of https://github.com/ArduPilot/ardupilot
85 lines
2.4 KiB
C++
85 lines
2.4 KiB
C++
#pragma once
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/// @file AP_SpdHgtControl.h
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/// @brief generic speed & height controller interface
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/*
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This defines a generic interface for speed & height 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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#include <AP_Common/AP_Common.h>
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#include <AP_Param/AP_Param.h>
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#include <DataFlash/DataFlash.h>
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class AP_SpdHgtControl {
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public:
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// Update the internal state of the height and height rate estimator
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// Update of the inertial speed rate estimate internal state
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// Should be called at 50Hz or faster
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virtual void update_50hz(void) = 0;
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/**
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stages of flight so the altitude controller can choose to
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prioritise height or speed
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*/
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enum FlightStage {
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FLIGHT_TAKEOFF = 1,
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FLIGHT_VTOL = 2,
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FLIGHT_NORMAL = 3,
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FLIGHT_LAND_APPROACH = 4,
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FLIGHT_LAND_PREFLARE = 5,
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FLIGHT_LAND_FINAL = 6,
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FLIGHT_LAND_ABORT = 7
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};
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// Update of the pitch and throttle demands
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// Should be called at 10Hz or faster
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virtual void update_pitch_throttle( int32_t hgt_dem_cm,
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int32_t EAS_dem_cm,
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enum FlightStage flight_stage,
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bool is_doing_auto_land,
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float distance_beyond_land_wp,
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int32_t ptchMinCO_cd,
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int16_t throttle_nudge,
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float hgt_afe,
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float load_factor) = 0;
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// demanded throttle in percentage
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// should return 0 to 100
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virtual int32_t get_throttle_demand(void)=0;
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// demanded pitch angle in centi-degrees
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// should return -9000 to +9000
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virtual int32_t get_pitch_demand(void)=0;
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// Rate of change of velocity along X body axis in m/s^2
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virtual float get_VXdot(void)=0;
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// return current target airspeed
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virtual float get_target_airspeed(void) const = 0;
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// return maximum climb rate
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virtual float get_max_climbrate(void) const = 0;
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// return landing sink rate
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virtual float get_land_sinkrate(void) const = 0;
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// return landing airspeed
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virtual float get_land_airspeed(void) const = 0;
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// set path_proportion accessor
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virtual void set_path_proportion(float path_proportion) = 0;
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// add new controllers to this enum. Users can then
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// select which controller to use by setting the
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// SPDHGT_CONTROLLER parameter
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enum ControllerType {
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CONTROLLER_TECS = 1
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};
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};
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