ardupilot/libraries/AC_PrecLand/AC_PrecLand.h

112 lines
4.3 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AC_PRECLAND_H__
#define __AC_PRECLAND_H__
#include <AP_Common/AP_Common.h>
#include <AP_Math/AP_Math.h>
#include <AC_PID/AC_PI_2D.h>
#include <AP_InertialNav/AP_InertialNav.h>
// definitions
#define AC_PRECLAND_SPEED_XY_DEFAULT 100.0f // maximum horizontal speed
#define PRECLAND_P 2.0f // velocity controller P gain default
#define PRECLAND_I 1.0f // velocity controller I gain default
#define PRECLAND_IMAX 500.0f // velocity controller IMAX default
#define PRECLAND_FILT_HZ 5.0f // velocity controller filter hz
#define PRECLAND_UPDATE_TIME 0.02f // precland runs at 50hz
// declare backend classes
class AC_PrecLand_Backend;
class AC_PrecLand_Companion;
class AC_PrecLand_IRLock;
class AC_PrecLand
{
// declare backends as friends
friend class AC_PrecLand_Backend;
friend class AC_PrecLand_Companion;
friend class AC_PrecLand_IRLock;
public:
// precision landing behaviours (held in PRECLAND_ENABLED parameter)
enum PrecLandBehaviour {
PRECLAND_BEHAVIOUR_DISABLED,
PRECLAND_BEHAVIOR_ALWAYSLAND,
PRECLAND_BEHAVIOR_CAUTIOUS
};
// types of precision landing (used for PRECLAND_TYPE parameter)
enum PrecLandType {
PRECLAND_TYPE_NONE = 0,
PRECLAND_TYPE_COMPANION,
PRECLAND_TYPE_IRLOCK
};
// Constructor
AC_PrecLand(const AP_AHRS& ahrs, const AP_InertialNav& inav, float dt);
// init - perform any required initialisation of landing controllers
void init();
// healthy - returns true if precision landing is healthy
bool healthy() { return _backend_state.healthy; }
// update - give chance to driver to get updates from sensor
void update(float alt_above_terrain_cm);
// get_target_shift - returns 3D vector of earth-frame position adjustments to target
Vector3f get_target_shift(const Vector3f& orig_target);
// handle_msg - Process a LANDING_TARGET mavlink message
void handle_msg(mavlink_message_t* msg);
// accessors for logging
bool enabled() const { return _enabled; }
const Vector2f& last_bf_angle_to_target() const { return _angle_to_target; }
const Vector2f& last_ef_angle_to_target() const { return _ef_angle_to_target; }
const Vector3f& last_target_pos_offset() const { return _target_pos_offset; }
// parameter var table
static const struct AP_Param::GroupInfo var_info[];
private:
// calc_angles_and_pos - converts sensor's body-frame angles to earth-frame angles and position estimate
// angles stored in _angle_to_target
// earth-frame angles stored in _ef_angle_to_target
// position estimate is stored in _target_pos
void calc_angles_and_pos(float alt_above_terrain_cm);
// get_behaviour - returns enabled parameter as an behaviour
enum PrecLandBehaviour get_behaviour() const { return (enum PrecLandBehaviour)(_enabled.get()); }
// references to inertial nav and ahrs libraries
const AP_AHRS& _ahrs;
const AP_InertialNav& _inav;
AC_PI_2D _pi_vel_xy; // horizontal velocity PI controller
// parameters
AP_Int8 _enabled; // enabled/disabled and behaviour
AP_Int8 _type; // precision landing controller type
AP_Float _speed_xy; // maximum horizontal speed in cm/s
// internal variables
float _dt; // time difference (in seconds) between calls from the main program
// output from sensor (stored for logging)
Vector2f _angle_to_target; // last raw sensor angle to target
Vector2f _ef_angle_to_target;// last earth-frame angle to target
// output from controller
bool _have_estimate; // true if we have a recent estimated position offset
Vector3f _target_pos_offset; // estimate target position offset from vehicle in earth-frame
// backend state
struct precland_state {
bool healthy;
} _backend_state;
AC_PrecLand_Backend *_backend; // pointers to backend precision landing driver
};
#endif // __AC_PRECLAND_H__