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151 lines
4.1 KiB
151 lines
4.1 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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/* |
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this header holds a parameter structure for each vehicle type for |
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parameters needed by multiple libraries |
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*/ |
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#include "ModeReason.h" // reasons can't be defined in this header due to circular loops |
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#include <AP_Baro/AP_Baro.h> |
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#include <AP_BoardConfig/AP_BoardConfig.h> // board configuration library |
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#include <AP_BoardConfig/AP_BoardConfig_CAN.h> |
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#include <AP_Button/AP_Button.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <AP_Logger/AP_Logger.h> |
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#include <AP_Notify/AP_Notify.h> // Notify library |
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#include <AP_Param/AP_Param.h> |
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#include <AP_Relay/AP_Relay.h> // APM relay |
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library |
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#include <AP_SerialManager/AP_SerialManager.h> // Serial manager library |
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#include <AP_ServoRelayEvents/AP_ServoRelayEvents.h> |
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class AP_Vehicle : public AP_HAL::HAL::Callbacks { |
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public: |
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AP_Vehicle() { |
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if (_singleton) { |
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AP_HAL::panic("Too many Vehicles"); |
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} |
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_singleton = this; |
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} |
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/* Do not allow copies */ |
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AP_Vehicle(const AP_Vehicle &other) = delete; |
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AP_Vehicle &operator=(const AP_Vehicle&) = delete; |
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static AP_Vehicle *get_singleton(); |
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bool virtual set_mode(const uint8_t new_mode, const ModeReason reason) = 0; |
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bool virtual update_updownStatus(const uint8_t status) =0; |
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/* |
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common parameters for fixed wing aircraft |
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*/ |
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struct FixedWing { |
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AP_Int8 throttle_min; |
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AP_Int8 throttle_max; |
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AP_Int8 throttle_slewrate; |
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AP_Int8 throttle_cruise; |
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AP_Int8 takeoff_throttle_max; |
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AP_Int16 airspeed_min; |
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AP_Int16 airspeed_max; |
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AP_Int32 airspeed_cruise_cm; |
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AP_Int32 min_gndspeed_cm; |
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AP_Int8 crash_detection_enable; |
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AP_Int16 roll_limit_cd; |
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AP_Int16 pitch_limit_max_cd; |
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AP_Int16 pitch_limit_min_cd; |
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AP_Int8 autotune_level; |
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AP_Int8 stall_prevention; |
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AP_Int16 loiter_radius; |
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struct Rangefinder_State { |
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bool in_range:1; |
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bool have_initial_reading:1; |
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bool in_use:1; |
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float initial_range; |
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float correction; |
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float initial_correction; |
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float last_stable_correction; |
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uint32_t last_correction_time_ms; |
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uint8_t in_range_count; |
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float height_estimate; |
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float last_distance; |
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}; |
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// stages of flight |
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enum FlightStage { |
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FLIGHT_TAKEOFF = 1, |
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FLIGHT_VTOL = 2, |
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FLIGHT_NORMAL = 3, |
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FLIGHT_LAND = 4, |
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FLIGHT_ABORT_LAND = 7 |
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}; |
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}; |
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/* |
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common parameters for multicopters |
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*/ |
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struct MultiCopter { |
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AP_Int16 angle_max; |
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}; |
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protected: |
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// board specific config |
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AP_BoardConfig BoardConfig; |
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#if HAL_WITH_UAVCAN |
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// board specific config for CAN bus |
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AP_BoardConfig_CAN BoardConfig_CAN; |
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#endif |
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// sensor drivers |
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AP_GPS gps; |
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AP_Baro barometer; |
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Compass compass; |
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AP_InertialSensor ins; |
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AP_Button button; |
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RangeFinder rangefinder; |
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AP_RSSI rssi; |
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AP_SerialManager serial_manager; |
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AP_Relay relay; |
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AP_ServoRelayEvents ServoRelayEvents; |
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// notification object for LEDs, buzzers etc (parameter set to |
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// false disables external leds) |
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AP_Notify notify; |
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private: |
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static AP_Vehicle *_singleton; |
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}; |
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namespace AP { |
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AP_Vehicle *vehicle(); |
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}; |
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extern const AP_HAL::HAL& hal; |
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#include "AP_Vehicle_Type.h"
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