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