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82 lines
2.3 KiB
82 lines
2.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @file AP_SpdHgtControl.h |
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/// @brief generic speed & height controller interface |
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/* |
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This defines a generic interface for speed & height controllers. Each |
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specific controller should be a subclass of this generic |
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interface. All variables used by controllers should be in their |
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own class. |
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*/ |
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#ifndef AP_SPDHGTCONTROL_H |
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#define AP_SPDHGTCONTROL_H |
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#include <AP_Common.h> |
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#include <AP_Param.h> |
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#include <DataFlash.h> |
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class AP_SpdHgtControl { |
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public: |
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// Update the internal state of the height and height rate estimator |
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// Update of the inertial speed rate estimate internal state |
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// Should be called at 50Hz or faster |
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virtual void update_50hz(float height_above_field) = 0; |
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/** |
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stages of flight so the altitude controller can choose to |
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prioritise height or speed |
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*/ |
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enum FlightStage { |
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FLIGHT_NORMAL = 1, |
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FLIGHT_TAKEOFF = 2, |
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FLIGHT_LAND_APPROACH = 3, |
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FLIGHT_LAND_FINAL = 4 |
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}; |
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// Update of the pitch and throttle demands |
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// Should be called at 10Hz or faster |
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virtual void update_pitch_throttle( int32_t hgt_dem_cm, |
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int32_t EAS_dem_cm, |
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enum FlightStage flight_stage, |
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int32_t ptchMinCO_cd, |
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int16_t throttle_nudge, |
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float hgt_afe, |
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float load_factor) = 0; |
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// demanded throttle in percentage |
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// should return 0 to 100 |
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virtual int32_t get_throttle_demand(void)=0; |
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// demanded pitch angle in centi-degrees |
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// should return -9000 to +9000 |
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virtual int32_t get_pitch_demand(void)=0; |
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// Rate of change of velocity along X body axis in m/s^2 |
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virtual float get_VXdot(void)=0; |
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// log data on internal state of the controller. Called at 10Hz |
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virtual void log_data(DataFlash_Class &dataflash, uint8_t msgid) = 0; |
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// return current target airspeed |
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virtual float get_target_airspeed(void) const = 0; |
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// return maximum climb rate |
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virtual float get_max_climbrate(void) const = 0; |
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// return landing sink rate |
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virtual float get_land_sinkrate(void) const = 0; |
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// add new controllers to this enum. Users can then |
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// select which controller to use by setting the |
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// SPDHGT_CONTROLLER parameter |
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enum ControllerType { |
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CONTROLLER_TECS = 1 |
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}; |
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}; |
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#endif // AP_SPDHGTCONTROL_H
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