mirror of https://github.com/ArduPilot/ardupilot
127 lines
6.0 KiB
C++
127 lines
6.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AC_FENCE_H
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#define AC_FENCE_H
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#include <inttypes.h>
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#include <AP_Common.h>
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#include <AP_Param.h>
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#include <AP_Math.h>
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#include <AP_InertialNav.h> // Inertial Navigation library
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// bit masks for enabled fence types. Used for TYPE parameter
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#define AC_FENCE_TYPE_NONE 0 // fence disabled
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#define AC_FENCE_TYPE_ALT_MAX 1 // high alt fence which usually initiates an RTL
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#define AC_FENCE_TYPE_CIRCLE 2 // circular horizontal fence (usually initiates an RTL)
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// valid actions should a fence be breached
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#define AC_FENCE_ACTION_REPORT_ONLY 0 // report to GCS that boundary has been breached but take no further action
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#define AC_FENCE_ACTION_RTL_AND_LAND 1 // return to launch and, if that fails, land
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// default boundaries
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#define AC_FENCE_ALT_MAX_DEFAULT 100.0f // default max altitude is 100m
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#define AC_FENCE_CIRCLE_RADIUS_DEFAULT 300.0f // default circular fence radius is 300m
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#define AC_FENCE_ALT_MAX_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further up
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#define AC_FENCE_CIRCLE_RADIUS_BACKUP_DISTANCE 20.0f // after fence is broken we recreate the fence 20m further out
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#define AC_FENCE_MARGIN_DEFAULT 2.0f // default distance in meters that autopilot's should maintain from the fence to avoid a breach
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// give up distance
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#define AC_FENCE_GIVE_UP_DISTANCE 100.0f // distance outside the fence at which we should give up and just land. Note: this is not used by library directly but is intended to be used by the main code
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#define AC_FENCE_MANUAL_RECOVERY_TIME_MIN 10000 // pilot has 10seconds to recover during which time the autopilot will not attempt to re-take control
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class AC_Fence
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{
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public:
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/// Constructor
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AC_Fence(const AP_InertialNav* inav);
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/// enable - allows fence to be enabled/disabled. Note: this does not update the eeprom saved value
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void enable(bool true_false) { _enabled = true_false; }
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/// enabled - returns true if fence is enabled
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bool enabled() const { return _enabled; }
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/// get_enabled_fences - returns bitmask of enabled fences
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uint8_t get_enabled_fences() const;
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/// pre_arm_check - returns true if all pre-takeoff checks have completed successfully
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bool pre_arm_check() const;
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///
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/// methods to check we are within the boundaries and recover
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///
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/// check_fence - returns the fence type that has been breached (if any)
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uint8_t check_fence();
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/// get_breaches - returns bit mask of the fence types that have been breached
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uint8_t get_breaches() const { return _breached_fences; }
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/// get_breach_time - returns time the fence was breached
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uint32_t get_breach_time() const { return _breach_time; }
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/// get_breach_count - returns number of times we have breached the fence
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uint16_t get_breach_count() const { return _breach_count; }
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/// get_breach_distance - returns distance in meters outside of the given fence
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float get_breach_distance(uint8_t fence_type) const;
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/// get_action - getter for user requested action on limit breach
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uint8_t get_action() const { return _action.get(); }
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/// get_safe_alt - returns maximum safe altitude (i.e. alt_max - margin)
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float get_safe_alt() const { return _alt_max - _margin; }
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/// manual_recovery_start - caller indicates that pilot is re-taking manual control so fence should be disabled for 10 seconds
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/// should be called whenever the pilot changes the flight mode
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/// has no effect if no breaches have occurred
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void manual_recovery_start();
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///
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/// time saving methods to piggy-back on main code's calculations
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///
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/// set_home_distance - update vehicle's distance from home in meters - required for circular horizontal fence monitoring
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void set_home_distance(float distance) { _home_distance = distance; }
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static const struct AP_Param::GroupInfo var_info[];
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private:
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/// record_breach - update breach bitmask, time and count
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void record_breach(uint8_t fence_type);
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/// clear_breach - update breach bitmask, time and count
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void clear_breach(uint8_t fence_type);
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// pointers to other objects we depend upon
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const AP_InertialNav *const _inav;
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// parameters
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AP_Int8 _enabled; // top level enable/disable control
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AP_Int8 _enabled_fences; // bit mask holding which fences are enabled
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AP_Int8 _action; // recovery action specified by user
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AP_Float _alt_max; // altitude upper limit in meters
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AP_Float _circle_radius; // circle fence radius in meters
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AP_Float _margin; // distance in meters that autopilot's should maintain from the fence to avoid a breach
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// backup fences
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float _alt_max_backup; // backup altitude upper limit in meters used to refire the breach if the vehicle continues to move further away
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float _circle_radius_backup; // backup circle fence radius in meters used to refire the breach if the vehicle continues to move further away
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// breach distances
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float _alt_max_breach_distance; // distance above the altitude max
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float _circle_breach_distance; // distance beyond the circular fence
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// other internal variables
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float _home_distance; // distance from home in meters (provided by main code)
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// breach information
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uint8_t _breached_fences; // bitmask holding the fence type that was breached (i.e. AC_FENCE_TYPE_ALT_MIN, AC_FENCE_TYPE_CIRCLE)
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uint32_t _breach_time; // time of last breach in milliseconds
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uint16_t _breach_count; // number of times we have breached the fence
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uint32_t _manual_recovery_start_ms; // system time in milliseconds that pilot re-took manual control
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};
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#endif // AC_FENCE_H
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