rover_guidance.h

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/*
 * Copyright (C) 2018 Gautier Hattenberger <gautier.hattenberger@enac.fr>
 *
 * 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 ROVER_GUIDANCE_H
#define ROVER_GUIDANCE_H


#include "math/pprz_algebra_float.h"
#include "generated/airframe.h"
#include "std.h"

struct RoverGuidanceSetpoint {
  struct FloatVect2 pos;    
  struct FloatVect2 speed;  
  float heading;            
  uint8_t mask;             
};

// TODO write a generic PID somewhere else ?
struct RoverGuidancePID {
  float p;
  float i;
  float d;
  float err;
  float d_err;
  float sum_err;
};

struct RoverGuidanceControl {
  float motor_speed;
  float motor_turn;
};

struct RoverGuidance {
  struct RoverGuidanceSetpoint sp;    
  struct RoverGuidanceControl cmd;    
  struct RoverGuidancePID speed_pid;  
  struct RoverGuidancePID turn_pid;   
};

extern struct RoverGuidance rover_guidance;

extern void rover_guidance_init(void);
extern void rover_guidance_periodic(void); // call state machine
extern void rover_guidance_run(float *heading_sp); // run control loop
extern void rover_guidance_enter(void);

extern void rover_guidance_set_speed_igain(uint32_t igain);
extern void rover_guidance_set_turn_igain(uint32_t igain);

#ifdef GUIDANCE_MODE_GUIDED

extern void rover_guidance_guided_run(bool in_flight);

extern bool rover_guidance_set_guided_pos(float x, float y);

extern bool rover_guidance_set_guided_heading(float heading);

extern bool rover_guidance_set_guided_body_vel(float vx, float vy);

extern bool rover_guidance_set_guided_vel(float vx, float vy);

extern bool rover_guidance_set_guided_heading_rate(float rate);
#endif

//static inline void rover_guidance_SetMaxSpeed(float speed)
//{
//  gh_set_max_speed(speed);
//}
//
//static inline void rover_guidance_SetOmega(float omega)
//{
//  gh_set_omega(omega);
//}
//
//static inline void rover_guidance_SetZeta(float zeta)
//{
//  gh_set_zeta(zeta);
//}
//
//static inline void rover_guidance_SetTau(float tau)
//{
//  gh_set_tau(tau);
//}

#endif /* ROVER_GUIDANCE_H */