guidance_h.h

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/*
 * Copyright (C) 2008-2009 Antoine Drouin <poinix@gmail.com>
 *
 * This file is part of paparazzi.
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
 
#ifndef GUIDANCE_H_H
#define GUIDANCE_H_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"
 
#include "firmwares/rotorcraft/guidance/guidance_h_ref.h"
#include "firmwares/rotorcraft/stabilization.h"
#include "generated/airframe.h"
#include "std.h"
 
#ifndef GUIDANCE_H_USE_REF
#define GUIDANCE_H_USE_REF TRUE
#endif
 
#ifndef GUIDANCE_H_USE_SPEED_REF
#define GUIDANCE_H_USE_SPEED_REF TRUE
#endif
 
#define GUIDANCE_H_MODE_NONE        0
#define GUIDANCE_H_MODE_HOVER       1
#define GUIDANCE_H_MODE_NAV         2
#define GUIDANCE_H_MODE_GUIDED      3
 
#ifndef GUIDANCE_H_MAX_BANK
#define GUIDANCE_H_MAX_BANK RadOfDeg(20)
#endif
 
 
struct HorizontalGuidanceSetpoint {
  struct Int32Vect2 pos;
  struct Int32Vect2 speed;  
  struct Int32Vect2 accel;  
 
  float heading;
  float heading_rate;
 
  enum {
    GUIDANCE_H_SP_POS   = 0,
    GUIDANCE_H_SP_SPEED = 1,
    GUIDANCE_H_SP_ACCEL = 2,
    GUIDANCE_H_SP_ALL   = 3
  } h_mask;
  enum {
    GUIDANCE_H_SP_YAW       = 0,
    GUIDANCE_H_SP_YAW_RATE  = 1
  } yaw_mask;
};
 
struct HorizontalGuidanceReference {
  struct Int32Vect2 pos;     
  struct Int32Vect2 speed;   
  struct Int32Vect2 accel;   
};
 
struct HorizontalGuidanceRCInput {
  struct Int32Vect2 vect;
  float heading;
  float last_ts;
};
 
struct HorizontalGuidance {
  uint8_t mode;
  /* configuration options */
  bool use_ref;
 
  struct HorizontalGuidanceSetpoint sp;   
  struct HorizontalGuidanceReference ref; 
  struct HorizontalGuidanceRCInput rc_sp; 
};
 
extern struct HorizontalGuidance guidance_h;
 
extern void guidance_h_init(void);
extern void guidance_h_mode_changed(uint8_t new_mode);
extern void guidance_h_run_enter(void);
extern struct StabilizationSetpoint guidance_h_run(bool in_flight);
extern struct StabilizationSetpoint guidance_h_run_pos(bool in_flight, struct HorizontalGuidance *gh);
extern struct StabilizationSetpoint guidance_h_run_speed(bool in_flight, struct HorizontalGuidance *gh);
extern struct StabilizationSetpoint guidance_h_run_accel(bool in_flight, struct HorizontalGuidance *gh);
 
extern void guidance_h_hover_enter(void);
extern void guidance_h_nav_enter(void);
 
extern struct StabilizationSetpoint guidance_h_from_nav(bool in_flight);
 
extern struct StabilizationSetpoint guidance_h_guided_run(bool in_flight);
 
extern void guidance_h_set_pos(float x, float y);
 
extern void guidance_h_set_heading(float heading);
 
extern void guidance_h_set_body_vel(float vx, float vy);
 
extern void guidance_h_set_vel(float vx, float vy);
 
extern void guidance_h_set_body_acc(float ax, float ay);
 
extern void guidance_h_set_acc(float ax, float ay);
 
extern void guidance_h_set_heading_rate(float rate);
 
extern void guidance_h_set_all(float x, float y, float vx, float vy, float ax, float ay);
 
/* Make sure that ref can only be temporarily disabled for testing,
 * but not enabled if GUIDANCE_H_USE_REF was defined to FALSE.
 */
#define guidance_h_SetUseRef(_val) {                    \
    guidance_h.use_ref = _val && GUIDANCE_H_USE_REF;    \
  }
 
static inline void guidance_h_SetMaxSpeed(float speed)
{
  gh_set_max_speed(speed);
}
 
static inline void guidance_h_SetOmega(float omega)
{
  gh_set_omega(omega);
}
 
static inline void guidance_h_SetZeta(float zeta)
{
  gh_set_zeta(zeta);
}
 
static inline void guidance_h_SetTau(float tau)
{
  gh_set_tau(tau);
}
 
#ifdef __cplusplus
}
#endif
 
#endif /* GUIDANCE_H_H */