mirror of https://github.com/ArduPilot/ardupilot
166 lines
3.2 KiB
C++
166 lines
3.2 KiB
C++
/*
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* AP_Autopilot.h
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*
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* Created on: Apr 30, 2011
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* Author: jgoppert
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*/
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#ifndef AP_AUTOPILOT_H_
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#define AP_AUTOPILOT_H_
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/*
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* AVR runtime
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*/
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#include <avr/io.h>
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#include <avr/eeprom.h>
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#include <avr/pgmspace.h>
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#include <math.h>
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/*
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* Libraries
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*/
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#include "../AP_Common/AP_Common.h"
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#include "../FastSerial/FastSerial.h"
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#include "../AP_GPS/GPS.h"
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#include "../APM_RC/APM_RC.h"
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#include "../AP_ADC/AP_ADC.h"
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#include "../APM_BMP085/APM_BMP085.h"
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#include "../AP_Compass/AP_Compass.h"
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#include "../AP_Math/AP_Math.h"
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#include "../AP_IMU/AP_IMU.h"
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#include "../AP_DCM/AP_DCM.h"
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#include "../AP_Common/AP_Loop.h"
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#include "../GCS_MAVLink/GCS_MAVLink.h"
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#include "../AP_RangeFinder/AP_RangeFinder.h"
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/*
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* Local Modules
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*/
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#include "AP_HardwareAbstractionLayer.h"
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#include "AP_RcChannel.h"
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#include "AP_Controller.h"
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#include "AP_Navigator.h"
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#include "AP_Guide.h"
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#include "AP_CommLink.h"
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/**
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* ArduPilotOne namespace to protect variables
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* from overlap with avr and libraries etc.
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* ArduPilotOne does not use any global
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* variables.
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*/
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namespace apo {
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// forward declarations
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class AP_CommLink;
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/**
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* This class encapsulates the entire autopilot system
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* The constructor takes guide, navigator, and controller
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* as well as the hardware abstraction layer.
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*
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* It inherits from loop to manage
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* the sub-loops and sets the overall
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* frequency for the autopilot.
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*
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*/
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class AP_Autopilot: public Loop {
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public:
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/**
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* Default constructor
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*/
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AP_Autopilot(AP_Navigator * navigator, AP_Guide * guide,
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AP_Controller * controller, AP_HardwareAbstractionLayer * hal,
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float loop0Rate, float loop1Rate, float loop2Rate, float loop3Rate);
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/**
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* Accessors
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*/
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AP_Navigator * getNavigator() {
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return _navigator;
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}
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AP_Guide * getGuide() {
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return _guide;
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}
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AP_Controller * getController() {
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return _controller;
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}
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AP_HardwareAbstractionLayer * getHal() {
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return _hal;
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}
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float getLoopRate(uint8_t i) {
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switch(i) {
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case 0: return _loop0Rate;
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case 1: return _loop1Rate;
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case 2: return _loop2Rate;
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case 3: return _loop3Rate;
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case 4: return _loop4Rate;
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default: return 0;
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}
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}
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private:
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/**
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* Loop 0 Callbacks (fastest)
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* - inertial navigation
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* @param data A void pointer used to pass the apo class
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* so that the apo public interface may be accessed.
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*/
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static void callback0(void * data);
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float _loop0Rate;
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/**
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* Loop 1 Callbacks
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* - control
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* - compass reading
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* @see callback0
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*/
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static void callback1(void * data);
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float _loop1Rate;
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/**
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* Loop 2 Callbacks
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* - gps sensor fusion
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* - compass sensor fusion
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* @see callback0
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*/
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static void callback2(void * data);
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float _loop2Rate;
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/**
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* Loop 3 Callbacks
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* - slow messages
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* @see callback0
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*/
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static void callback3(void * data);
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float _loop3Rate;
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/**
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* Loop 4 Callbacks
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* - super slow messages
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* - log writing
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* @see callback0
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*/
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static void callback4(void * data);
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float _loop4Rate;
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/**
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* Components
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*/
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AP_Navigator * _navigator;
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AP_Guide * _guide;
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AP_Controller * _controller;
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AP_HardwareAbstractionLayer * _hal;
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/**
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* Constants
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*/
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static const float deg2rad = M_PI / 180;
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static const float rad2deg = 180 / M_PI;
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};
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} // namespace apo
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#endif /* AP_AUTOPILOT_H_ */
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