mirror of https://github.com/ArduPilot/ardupilot
106 lines
4.4 KiB
C++
106 lines
4.4 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
|
|
|
|
/// @file AP_Navigation.h
|
|
/// @brief generic navigation controller interface
|
|
|
|
/*
|
|
This defines a generic interface for navigation controllers. Each
|
|
specific controller should be a subclass of this generic
|
|
interface. All variables used by controllers should be in their
|
|
own class.
|
|
*/
|
|
|
|
#ifndef AP_NAVIGATION_H
|
|
#define AP_NAVIGATION_H
|
|
|
|
#include <AP_Common.h>
|
|
|
|
class AP_Navigation {
|
|
public:
|
|
// return the desired roll angle in centi-degrees to move towards
|
|
// the target waypoint
|
|
virtual int32_t nav_roll_cd(void) = 0;
|
|
|
|
// note: all centi-degree values returned in AP_Navigation should
|
|
// be wrapped at -18000 to 18000 in centi-degrees.
|
|
|
|
// return the tracking bearing that the navigation controller is
|
|
// using in centi-degrees. This is used to display an arrow on
|
|
// ground stations showing the effect of the cross-tracking in the
|
|
// controller
|
|
virtual int32_t nav_bearing_cd(void) = 0;
|
|
|
|
// return the difference between the vehicles current course and
|
|
// the nav_bearing_cd() in centi-degrees. A positive value means
|
|
// the vehicle is tracking too far to the left of the correct
|
|
// bearing.
|
|
virtual int32_t bearing_error_cd(void) = 0;
|
|
|
|
// return the target bearing in centi-degrees. This is the bearing
|
|
// from the vehicles current position to the target waypoint. This
|
|
// should be calculated in the update_*() functions below.
|
|
virtual int32_t target_bearing_cd(void) = 0;
|
|
|
|
// return the crosstrack error in meters. This is the distance in
|
|
// the X-Y plane that we are off the desired track
|
|
virtual float crosstrack_error(void) = 0;
|
|
|
|
// return the distance in meters at which a turn should commence
|
|
// to allow the vehicle to neatly move to the next track in the
|
|
// mission when approaching a waypoint
|
|
virtual float turn_distance(float wp_radius) = 0;
|
|
|
|
// update the internal state of the navigation controller, given
|
|
// the previous and next waypoints. This is the step function for
|
|
// navigation control for path following between two points. This
|
|
// function is called at regular intervals (typically 10Hz). The
|
|
// main flight code will call an output function (such as
|
|
// nav_roll_cd()) after this function to ask for the new required
|
|
// navigation attitude/steering.
|
|
virtual void update_waypoint(const struct Location &prev_WP, const struct Location &next_WP) = 0;
|
|
|
|
// update the internal state of the navigation controller for when
|
|
// the vehicle has been commanded to circle about a point. This
|
|
// is the step function for navigation control for circling. This
|
|
// function is called at regular intervals (typically 10Hz). The
|
|
// main flight code will call an output function (such as
|
|
// nav_roll_cd()) after this function to ask for the new required
|
|
// navigation attitude/steering.
|
|
virtual void update_loiter(const struct Location ¢er_WP, float radius, int8_t loiter_direction) = 0;
|
|
|
|
// update the internal state of the navigation controller, given a
|
|
// fixed heading. This is the step function for navigation control
|
|
// for a fixed heading. This function is called at regular
|
|
// intervals (typically 10Hz). The main flight code will call an
|
|
// output function (such as nav_roll_cd()) after this function to
|
|
// ask for the new required navigation attitude/steering.
|
|
virtual void update_heading_hold(int32_t navigation_heading_cd) = 0;
|
|
|
|
// update the internal state of the navigation controller for
|
|
// level flight on the current heading. This is the step function
|
|
// for navigation control for level flight. This function is
|
|
// called at regular intervals (typically 10Hz). The main flight
|
|
// code will call an output function (such as nav_roll_cd()) after
|
|
// this function to ask for the new required navigation
|
|
// attitude/steering.
|
|
virtual void update_level_flight(void) = 0;
|
|
|
|
// return true if we have reached the target loiter location. This
|
|
// may be a fuzzy decision, depending on internal navigation
|
|
// parameters. For example the controller may return true only
|
|
// when on the circular path around the waypoint, and not when
|
|
// tracking towards the center. This function is only valid when
|
|
// the update_loiter() method is used
|
|
virtual bool reached_loiter_target(void) = 0;
|
|
|
|
// add new navigation controllers to this enum. Users can then
|
|
// select which navigation controller to use by setting the
|
|
// NAV_CONTROLLER parameter
|
|
enum ControllerType {
|
|
CONTROLLER_L1 = 1
|
|
};
|
|
};
|
|
|
|
|
|
#endif // AP_NAVIGATION_H
|