guidance_v.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_V_H
#define GUIDANCE_V_H
 
#include "std.h"
 
#include "firmwares/rotorcraft/guidance/guidance_v_ref.h"
#include "firmwares/rotorcraft/guidance/guidance_v_adapt.h"
#include "firmwares/rotorcraft/stabilization.h"
 
#define GUIDANCE_V_MODE_KILL      0
#define GUIDANCE_V_MODE_RC_DIRECT 1
#define GUIDANCE_V_MODE_RC_CLIMB  2
#define GUIDANCE_V_MODE_CLIMB     3
#define GUIDANCE_V_MODE_HOVER     4
#define GUIDANCE_V_MODE_NAV       5
#define GUIDANCE_V_MODE_GUIDED    6
 
struct VerticalGuidance {
  uint8_t mode;
 
  int32_t z_sp;
 
  int32_t zd_sp;
 
  int32_t z_ref;
 
  int32_t zd_ref;
 
  int32_t zdd_ref;
 
  int32_t rc_delta_t;
 
  int32_t rc_zd_sp;
 
  int32_t th_sp;
 
  struct ThrustSetpoint thrust; // FIXME maybe not needed to store the value ?
 
  float nominal_throttle;
 
  int32_t thrust_coeff;
};
 
extern struct VerticalGuidance guidance_v;
 
extern void guidance_v_init(void);
extern void guidance_v_mode_changed(uint8_t new_mode);
extern void guidance_v_notify_in_flight(bool in_flight);
extern void guidance_v_thrust_adapt(bool in_flight);
extern void guidance_v_update_ref(void);
extern void guidance_v_z_enter(void);
extern void guidance_v_run_enter(void);
 
extern struct ThrustSetpoint guidance_v_run(bool in_flight);
extern struct ThrustSetpoint guidance_v_run_pos(bool in_flight, struct VerticalGuidance *gv);
extern struct ThrustSetpoint guidance_v_run_speed(bool in_flight, struct VerticalGuidance *gv);
extern struct ThrustSetpoint guidance_v_run_accel(bool in_flight, struct VerticalGuidance *gv);
 
extern void guidance_v_set_ref(int32_t pos, int32_t speed, int32_t accel);
// macro for backward compatibility
#define GuidanceVSetRef guidance_v_set_ref
 
extern struct ThrustSetpoint guidance_v_from_nav(bool in_flight);
 
extern void guidance_v_guided_enter(void);
 
extern struct ThrustSetpoint guidance_v_guided_run(bool in_flight);
 
extern void guidance_v_set_z(float z);
 
extern void guidance_v_set_vz(float vz);
 
extern void guidance_v_set_th(float th);
 
#endif /* GUIDANCE_V_H */