mirror of https://github.com/ArduPilot/ardupilot
129 lines
3.5 KiB
C++
129 lines
3.5 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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/*
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this header holds a parameter structure for each vehicle type for
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parameters needed by multiple libraries
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*/
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#include <AP_Baro/AP_Baro.h>
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#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h>
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#include <AP_Button/AP_Button.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Logger/AP_Logger.h>
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#include <AP_Notify/AP_Notify.h> // Notify library
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#include <AP_Param/AP_Param.h>
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#include <AP_Relay/AP_Relay.h> // APM relay
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h>
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class AP_Vehicle : public AP_HAL::HAL::Callbacks {
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public:
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AP_Vehicle() {}
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/*
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common parameters for fixed wing aircraft
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*/
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struct FixedWing {
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_cruise;
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AP_Int8 takeoff_throttle_max;
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AP_Int16 airspeed_min;
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AP_Int16 airspeed_max;
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AP_Int32 airspeed_cruise_cm;
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AP_Int32 min_gndspeed_cm;
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AP_Int8 crash_detection_enable;
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AP_Int16 roll_limit_cd;
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AP_Int16 pitch_limit_max_cd;
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AP_Int16 pitch_limit_min_cd;
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AP_Int8 autotune_level;
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AP_Int8 stall_prevention;
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AP_Int16 loiter_radius;
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struct Rangefinder_State {
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bool in_range:1;
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bool have_initial_reading:1;
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bool in_use:1;
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float initial_range;
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float correction;
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float initial_correction;
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float last_stable_correction;
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uint32_t last_correction_time_ms;
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uint8_t in_range_count;
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float height_estimate;
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float last_distance;
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};
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// stages of flight
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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 = 4,
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FLIGHT_ABORT_LAND = 7
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};
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};
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/*
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common parameters for multicopters
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*/
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struct MultiCopter {
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AP_Int16 angle_max;
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};
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protected:
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// board specific config
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AP_BoardConfig BoardConfig;
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#if HAL_WITH_UAVCAN
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// board specific config for CAN bus
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AP_BoardConfig_CAN BoardConfig_CAN;
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#endif
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// sensor drivers
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AP_GPS gps;
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AP_Baro barometer;
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Compass compass;
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AP_InertialSensor ins;
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AP_Button button;
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RangeFinder rangefinder;
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AP_RSSI rssi;
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AP_SerialManager serial_manager;
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AP_Relay relay;
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AP_ServoRelayEvents ServoRelayEvents;
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// notification object for LEDs, buzzers etc (parameter set to
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// false disables external leds)
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AP_Notify notify;
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};
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extern const AP_HAL::HAL& hal;
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#include "AP_Vehicle_Type.h"
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