Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

NavigationController/NavigationController.h@2:969dfa4f2436, 2015-04-01 (annotated)

Committer:
joe4465
Date:
Wed Apr 01 11:19:21 2015 +0000
Revision:
2:969dfa4f2436
Parent:
0:c6a85bb2a827 
Altitude hold with 2 PID's working. Exported to offline compiler

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 2:969dfa4f2436 1 #ifndef NavigationController_H
joe4465 2:969dfa4f2436 2 #define NavigationController_H
joe4465 2:969dfa4f2436 3
joe4465 2:969dfa4f2436 4 #include "mbed.h"
joe4465 2:969dfa4f2436 5 #include "Global.h"
joe4465 2:969dfa4f2436 6 #include "Status.h"
joe4465 2:969dfa4f2436 7 #include "rtos.h"
joe4465 2:969dfa4f2436 8 #include "Rc.h"
joe4465 2:969dfa4f2436 9 #include "Sensors.h"
joe4465 2:969dfa4f2436 10 #include "AltitudeController.h"
joe4465 2:969dfa4f2436 11 #include "ConfigFileWrapper.h"
joe4465 2:969dfa4f2436 12
joe4465 2:969dfa4f2436 13 class NavigationController
joe4465 2:969dfa4f2436 14 {
joe4465 2:969dfa4f2436 15 public:
joe4465 2:969dfa4f2436 16 NavigationController(Status& status, Sensors& sensors, Rc& rc, ConfigFileWrapper& configFileWrapper);
joe4465 2:969dfa4f2436 17 ~NavigationController();
joe4465 2:969dfa4f2436 18
joe4465 2:969dfa4f2436 19 struct SetPoint
joe4465 2:969dfa4f2436 20 {
joe4465 2:969dfa4f2436 21 double yaw;
joe4465 2:969dfa4f2436 22 double pitch;
joe4465 2:969dfa4f2436 23 double roll;
joe4465 2:969dfa4f2436 24 double throttle;
joe4465 2:969dfa4f2436 25 double yawTarget;
joe4465 2:969dfa4f2436 26 double yawDifference;
joe4465 2:969dfa4f2436 27 double climbRate;
joe4465 2:969dfa4f2436 28 double targetAltitude;
joe4465 2:969dfa4f2436 29 };
joe4465 2:969dfa4f2436 30
joe4465 2:969dfa4f2436 31 SetPoint getSetPoint();
joe4465 2:969dfa4f2436 32 void updateYawTarget();
joe4465 2:969dfa4f2436 33 void updateAltitudeTarget();
joe4465 2:969dfa4f2436 34 PidWrapper::NavigationControllerPidParameters getPidParameters();
joe4465 2:969dfa4f2436 35 void setAltitudeRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 36 void setAltitudeStabPidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 37
joe4465 2:969dfa4f2436 38 private:
joe4465 2:969dfa4f2436 39 static void threadStarter(void const *p);
joe4465 2:969dfa4f2436 40 void threadWorker();
joe4465 2:969dfa4f2436 41 double map(double input, double inputMin, double inputMax, double outputMin, double outputMax);
joe4465 2:969dfa4f2436 42
joe4465 2:969dfa4f2436 43 Thread* _thread;
joe4465 2:969dfa4f2436 44 Status& _status;
joe4465 2:969dfa4f2436 45 Sensors& _sensors;
joe4465 2:969dfa4f2436 46 Rc& _rc;
joe4465 2:969dfa4f2436 47 ConfigFileWrapper& _configFileWrapper;
joe4465 2:969dfa4f2436 48 void saveSettings();
joe4465 2:969dfa4f2436 49 SetPoint _setPoints;
joe4465 2:969dfa4f2436 50 AltitudeController* _altitudeController;
joe4465 2:969dfa4f2436 51 Status::State _state;
joe4465 2:969dfa4f2436 52 Status::NavigationMode _navigationMode;
joe4465 2:969dfa4f2436 53 Rc::MappedRc _mappedRc;
joe4465 2:969dfa4f2436 54 Imu::Angle _angle;
joe4465 2:969dfa4f2436 55 Sensors::Altitude _altitude;
joe4465 2:969dfa4f2436 56 double _altitudeHoldPidOutput;
joe4465 2:969dfa4f2436 57 };
joe4465 2:969dfa4f2436 58
joe4465 2:969dfa4f2436 59 #endif