ardupilot/libraries/AP_Winch/AP_Winch_Backend.h

65 lines
2.1 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <AP_Winch/AP_Winch.h>
#if AP_WINCH_ENABLED
class AP_Winch_Backend {
public:
AP_Winch_Backend(struct AP_Winch::Backend_Config &_config) :
config(_config) { }
// true if winch is healthy
virtual bool healthy() const = 0;
// initialise the backend
virtual void init();
// update - should be called at at least 10hz
virtual void update() = 0;
// returns current length of line deployed
virtual float get_current_length() const = 0;
// send status to ground station
virtual void send_status(const GCS_MAVLINK &channel) = 0;
// write log
virtual void write_log() = 0;
protected:
// calculate the pilot desired rate (+ve deploys line, -ve retracts line, 0 stops) from rc input
// may change the state to RATE and update config.rate_desired
void read_pilot_desired_rate();
// returns the rate limited by the maximum acceleration
// this also updates the previous rate so should not be called more than once per loop
float get_rate_limited_by_accel(float rate, float dt) WARN_IF_UNUSED;
// set the rate used for acceleration limiting
void set_previous_rate(float rate) { previous_rate = rate; }
struct AP_Winch::Backend_Config &config;
int16_t previous_radio_in = -1; // previous RC input from pilot, used to ignore small changes
float previous_rate; // previous rate used for acceleration limiting
};
#endif // AP_WINCH_ENABLED