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105 lines
4.4 KiB
105 lines
4.4 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @brief Imposes limits on location (geofence), altitude and other parameters. |
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/// Each breach will trigger an action or set of actions to recover. Adapted from geofence. |
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/// @author Andrew Tridgell |
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/// Andreas Antonopoulos |
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#ifndef AP_LIMITS_H |
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#define AP_LIMITS_H |
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#ifndef AP_LIMITS |
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#define AP_LIMITS ENABLED |
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#endif |
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#include <stdint.h> |
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#include <AP_Limit_Module.h> |
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#include <AP_Common.h> |
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// MAVLink messages, trying to pull into library |
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//#include "../GCS_MAVLink/include/mavlink/v1.0/protocol.h" |
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//#include "../GCS_MAVLink/include/mavlink/v1.0/mavlink_types.h" |
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//#include "../GCS_MAVLink/include/mavlink/v1.0/common/mavlink.h" |
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//#include "../GCS_MAVLink/include/mavlink/v1.0/ardupilotmega/mavlink_msg_limits_status.h" |
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#ifndef HAVE_ENUM_LIMITS_STATE |
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#define HAVE_ENUM_LIMITS_STATE |
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enum LimitState { |
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LIMITS_INIT, // pre-initialization |
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LIMITS_DISABLED, // disabled |
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LIMITS_ENABLED, // checking limits |
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LIMITS_TRIGGERED, // a limit has been breached |
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LIMITS_RECOVERING, // taking action, eg. RTL |
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LIMITS_RECOVERED, // we're no longer in breach of a limit |
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}; |
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#endif |
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class AP_Limits { |
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public: |
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AP_Limits(); |
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// access functions |
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bool enabled(); |
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bool debug(); |
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bool required(); |
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AP_Int8 state(); |
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AP_Int8 safetime(); |
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AP_Int8 channel(); |
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AP_Int8 recmode(); |
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// module linked list management methods |
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void modules(AP_Limit_Module *m); // pointer to the first module in linked list of modules |
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AP_Limit_Module * modules_first(); |
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AP_Limit_Module * modules_current(); |
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AP_Limit_Module * modules_last(); |
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AP_Limit_Module * modules_next(); |
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void modules_add(AP_Limit_Module *m); |
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uint8_t modules_count(); |
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// main limit methods |
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bool init(); // initialize self and all modules |
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void set_state(int s); // change state |
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bool check_all(); // check if any limit is triggered |
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bool check_required(); // check if any of the required modules is triggered |
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bool check_triggered(bool required); // the function that does the checking for the two above |
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uint32_t last_trigger; // time of last limit breach (trigger) |
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uint32_t last_action; // time of last recovery action taken |
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uint32_t last_recovery; // time of last recovery success |
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uint32_t last_status_update; // time of last recovery success |
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uint32_t last_clear; // last time all triggers were clear (or 0 if never clear) |
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uint16_t breach_count; // count of total breaches |
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byte old_mode_switch; |
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LimitModuleBits mods_enabled; |
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LimitModuleBits mods_required; |
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LimitModuleBits mods_triggered; |
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LimitModuleBits mods_recovering; |
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static const struct AP_Param::GroupInfo var_info[]; // module parameters |
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protected: |
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AP_Int8 _enabled; // the entire AP_Limits system on/off switch |
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AP_Int8 _required; // master switch for pre-arm checks of limits. Will not allow vehicle to "arm" if breaching limits. |
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AP_Int8 _debug; // enable debug console messages |
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AP_Int8 _safetime; // how long after recovered before switching to stabilize |
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AP_Int8 _state; // overall state - used in the main loop state machine inside the vehicle's slow loop. |
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AP_Int8 _channel; // channel used for switching limits on/off |
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AP_Int8 _recmode; // recovery mode: 0=RTL mode, 1=bounce mode |
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private: |
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AP_Limit_Module * _modules_head; // points to linked list of modules |
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AP_Limit_Module * _modules_current; // points to linked list of modules |
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uint8_t _modules_count; |
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}; |
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#endif // AP_LIMITS_H
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