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, write to
 * the Free Software Foundation, 59 Temple Place - Suite 330,
 * Boston, MA 02111-1307, USA.
 */

#ifndef GUIDANCE_H_H
#define GUIDANCE_H_H


#include "math/pprz_algebra_int.h"
#include "math/pprz_algebra_float.h"

#include "firmwares/rotorcraft/guidance/guidance_h_ref.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_KILL        0
#define GUIDANCE_H_MODE_RATE        1
#define GUIDANCE_H_MODE_ATTITUDE    2
#define GUIDANCE_H_MODE_HOVER       3
#define GUIDANCE_H_MODE_NAV         4
#define GUIDANCE_H_MODE_RC_DIRECT   5
#define GUIDANCE_H_MODE_CARE_FREE   6
#define GUIDANCE_H_MODE_FORWARD     7
#define GUIDANCE_H_MODE_MODULE      8
#define GUIDANCE_H_MODE_FLIP        9
#define GUIDANCE_H_MODE_GUIDED      10


struct HorizontalGuidanceSetpoint {
  struct Int32Vect2 pos;
  struct Int32Vect2 speed;  
  float heading;
  float heading_rate;
  uint8_t mask;             
};

struct HorizontalGuidanceReference {
  struct Int32Vect2 pos;     
  struct Int32Vect2 speed;   
  struct Int32Vect2 accel;   
};

struct HorizontalGuidanceGains {
  int32_t p;
  int32_t d;
  int32_t i;
  int32_t v;
  int32_t a;
};

struct HorizontalGuidance {
  uint8_t mode;
  /* configuration options */
  bool use_ref;
  bool approx_force_by_thrust;
  /* gains */
  struct HorizontalGuidanceGains gains;

  struct HorizontalGuidanceSetpoint sp; 
  struct HorizontalGuidanceReference ref; 

  struct FloatEulers rc_sp;
};

extern struct HorizontalGuidance guidance_h;

extern int32_t transition_percentage;
extern int32_t transition_theta_offset;

extern void guidance_h_init(void);
extern void guidance_h_mode_changed(uint8_t new_mode);
extern void guidance_h_read_rc(bool in_flight);
extern void guidance_h_run(bool in_flight);

extern void guidance_h_hover_enter(void);
extern void guidance_h_nav_enter(void);

extern void guidance_h_from_nav(bool in_flight);

extern void guidance_h_set_igain(uint32_t igain);

extern void guidance_h_guided_run(bool in_flight);

extern bool guidance_h_set_guided_pos(float x, float y);

extern bool guidance_h_set_guided_heading(float heading);

extern bool guidance_h_set_guided_body_vel(float vx, float vy);

extern bool guidance_h_set_guided_vel(float vx, float vy);

extern bool guidance_h_set_guided_heading_rate(float rate);

extern const struct Int32Vect2 *guidance_h_get_pos_err(void);

/* 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);
}

#endif /* GUIDANCE_H_H */