altb_pmic / Mbed OS IndNav_QK3_T265

branch for tests with T265

Dependencies:   Lib_Cntrl AHRS Lib_Misc

Threads_and_main/QK_StateMachine.h@4:dc844fde64d7, 2019-11-22 (annotated)

Committer:
Kiwicjam
Date:
Fri Nov 22 08:40:26 2019 +0000
Revision:
4:dc844fde64d7
Parent:
2:e7874762cc25 
Workin set, not running,

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 0:a479dc61e931 1 #ifndef QK_STATEMACHINE_H_
altb2 0:a479dc61e931 2 #define QK_STATEMACHINE_H_
altb2 0:a479dc61e931 3
altb2 1:d8c9f6b16279 4 #include "mbed.h"
altb2 1:d8c9f6b16279 5 #include "UAV.h"
altb2 1:d8c9f6b16279 6 #include "Signal.h"
altb2 1:d8c9f6b16279 7 #include "Controller_Loops.h"
altb2 1:d8c9f6b16279 8 #include "RCin.h"
altb2 1:d8c9f6b16279 9 #include "Data_Logger.h"
altb2 1:d8c9f6b16279 10 #include "Read_Xtern_Sensors.h"
altb2 1:d8c9f6b16279 11 #include "define_constants.h"
altb2 1:d8c9f6b16279 12
altb2 1:d8c9f6b16279 13
altb2 1:d8c9f6b16279 14
altb2 1:d8c9f6b16279 15 extern RCin myRC;
altb2 1:d8c9f6b16279 16 extern PwmOut motor_pwms[4];
altb2 1:d8c9f6b16279 17 extern UAV copter;
altb2 1:d8c9f6b16279 18 extern Controller_Loops controller;
altb2 1:d8c9f6b16279 19 extern Data_Logger my_datalogger;
altb2 1:d8c9f6b16279 20 extern DATA_Xchange data;
altb2 2:e7874762cc25 21 extern Read_Xtern_Sensors xternal_sensors;
altb2 0:a479dc61e931 22 class QK_StateMachine
altb2 0:a479dc61e931 23 {
altb2 0:a479dc61e931 24 public:
altb2 1:d8c9f6b16279 25 QK_StateMachine(float);
altb2 1:d8c9f6b16279 26 virtual ~QK_StateMachine();
altb2 1:d8c9f6b16279 27 void init_loop(void);
altb2 1:d8c9f6b16279 28 void start_loop(void);
altb2 0:a479dc61e931 29
altb2 0:a479dc61e931 30 private:
altb2 0:a479dc61e931 31 uint8_t CS;
altb2 0:a479dc61e931 32 uint8_t local_FM; // local Flight mode
altb2 0:a479dc61e931 33 void loop(void);
altb2 0:a479dc61e931 34 Signal signal;
altb2 0:a479dc61e931 35 Thread thread;
altb2 0:a479dc61e931 36 Ticker ticker;
altb2 0:a479dc61e931 37 void sendSignal();
altb2 0:a479dc61e931 38 bool flightmode_changed;
altb2 1:d8c9f6b16279 39 bool disarm_flag;
altb2 0:a479dc61e931 40 Timer timer;
altb2 1:d8c9f6b16279 41 float Ts;
altb2 1:d8c9f6b16279 42 float dt;
altb2 2:e7874762cc25 43 uint8_t get_new_flightmode(void);
altb2 1:d8c9f6b16279 44 DigitalOut dout2;
altb2 0:a479dc61e931 45
altb2 0:a479dc61e931 46 };
altb2 0:a479dc61e931 47 #endif