Line data    Source code

       1             : #pragma once
       2             : 
       3             : /// @file    AC_CustomControl.h
       4             : /// @brief   ArduCopter custom control library
       5             : 
       6             : #include "AC_CustomControl_config.h"
       7             : 
       8             : #if AP_COPTER_CUSTOMCONTROL_ENABLED
       9             : 
      10             : #include <AP_Common/AP_Common.h>
      11             : #include <AP_Param/AP_Param.h>
      12             : #include <AP_AHRS/AP_AHRS_View.h>
      13             : #include <AC_AttitudeControl/AC_AttitudeControl.h>
      14             : #include <AP_Motors/AP_MotorsMulticopter.h>
      15             : 
      16             : #ifndef CUSTOMCONTROL_MAX_TYPES
      17             : #define CUSTOMCONTROL_MAX_TYPES 2
      18             : #endif
      19             : 
      20             : class AC_CustomControl_Backend;
      21             : 
      22             : class AC_CustomControl {
      23             : public:
      24             :     AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& _att_control, AP_MotorsMulticopter*& motors);
      25             : 
      26             :     CLASS_NO_COPY(AC_CustomControl);  /* Do not allow copies */
      27             : 
      28             :     void init(void);
      29             :     void update(void);
      30             :     void motor_set(Vector3f motor_out);
      31             :     void set_custom_controller(bool enabled);
      32             :     void reset_main_att_controller(void);
      33             :     bool is_safe_to_run(void);
      34             :     void log_switch(void);
      35             : 
      36             :     // set the PID notch sample rates
      37             :     void set_notch_sample_rate(float sample_rate);
      38             : 
      39             :     // zero index controller type param, only use it to access _backend or _backend_var_info array
      40           6 :     uint8_t get_type() { return _controller_type > 0 ? (_controller_type - 1) : 0; };
      41             : 
      42             :     // User settable parameters
      43             :     static const struct AP_Param::GroupInfo var_info[];
      44             :     static const struct AP_Param::GroupInfo *_backend_var_info[CUSTOMCONTROL_MAX_TYPES];
      45             : 
      46             : protected:
      47             :     // add custom controller here
      48             :     enum class CustomControlType : uint8_t {
      49             :         CONT_NONE            = 0,
      50             :         CONT_EMPTY           = 1,
      51             :         CONT_PID             = 2,
      52             :     };            // controller that should be used     
      53             : 
      54             :     enum class  CustomControlOption {
      55             :         ROLL = 1 << 0,
      56             :         PITCH = 1 << 1,
      57             :         YAW = 1 << 2,
      58             :     };
      59             : 
      60             :     // Intersampling period in seconds
      61             :     float _dt;
      62             :     bool _custom_controller_active;
      63             : 
      64             :     // References to external libraries
      65             :     AP_AHRS_View*& _ahrs;
      66             :     AC_AttitudeControl*& _att_control;
      67             :     AP_MotorsMulticopter*& _motors;
      68             : 
      69             :     AP_Enum<CustomControlType> _controller_type;
      70             :     AP_Int8 _custom_controller_mask;
      71             : 
      72             : private:
      73             :     AC_CustomControl_Backend *_backend;
      74             : };
      75             : 
      76             : #endif  // AP_COPTER_CUSTOMCONTROL_ENABLED