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

FlightController/FlightController.h@4:9ffbf9101992, 2015-05-08 (annotated)

Committer:
joe4465
Date:
Fri May 08 09:07:38 2015 +0000
Revision:
4:9ffbf9101992
Parent:
2:969dfa4f2436 
End of FYP

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "mbed.h"
joe4465 0:c6a85bb2a827 2 #include "Global.h"
joe4465 0:c6a85bb2a827 3 #include "rtos.h"
joe4465 0:c6a85bb2a827 4 #include "Status.h"
joe4465 0:c6a85bb2a827 5 #include "MotorMixer.h"
joe4465 0:c6a85bb2a827 6 #include "PidWrapper.h"
joe4465 0:c6a85bb2a827 7 #include "RateController.h"
joe4465 0:c6a85bb2a827 8 #include "StabController.h"
joe4465 2:969dfa4f2436 9 #include "ConfigFileWrapper.h"
joe4465 0:c6a85bb2a827 10
joe4465 0:c6a85bb2a827 11 #ifndef FlightController_H
joe4465 0:c6a85bb2a827 12 #define FlightController_H
joe4465 0:c6a85bb2a827 13
joe4465 0:c6a85bb2a827 14 class FlightController
joe4465 0:c6a85bb2a827 15 {
joe4465 0:c6a85bb2a827 16 public:
joe4465 2:969dfa4f2436 17 FlightController(Status& status, Sensors& sensors, NavigationController& navigationController, ConfigFileWrapper& configFileWrapper, PinName motor1, PinName motor2, PinName motor3, PinName motor4);
joe4465 0:c6a85bb2a827 18 ~FlightController();
joe4465 0:c6a85bb2a827 19
joe4465 0:c6a85bb2a827 20 MotorMixer::MotorPower getMotorPower();
joe4465 2:969dfa4f2436 21 PidWrapper::PidOutput getPidOutputs();
joe4465 2:969dfa4f2436 22 PidWrapper::FlightControllerPidParameters getPidParameters();
joe4465 2:969dfa4f2436 23 void setYawStabPidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 24 void setPitchStabPidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 25 void setRollStabPidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 26 void setYawRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 27 void setPitchRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 28 void setRollRatePidParameters(PidWrapper::PidParameter pidParameters);
joe4465 2:969dfa4f2436 29 PidWrapper::RatePidState getRatePidState();
joe4465 2:969dfa4f2436 30 PidWrapper::StabPidState getStabPidState();
joe4465 0:c6a85bb2a827 31
joe4465 0:c6a85bb2a827 32 private:
joe4465 0:c6a85bb2a827 33 static void threadStarter(void const *p);
joe4465 0:c6a85bb2a827 34 void threadWorker();
joe4465 0:c6a85bb2a827 35 RtosTimer* _rtosTimer;
joe4465 2:969dfa4f2436 36 RateController* _rateController;
joe4465 2:969dfa4f2436 37 StabController* _stabController;
joe4465 2:969dfa4f2436 38 void saveSettings();
joe4465 2:969dfa4f2436 39 Status& _status;
joe4465 2:969dfa4f2436 40 Sensors& _sensors;
joe4465 2:969dfa4f2436 41 NavigationController& _navigationController;
joe4465 2:969dfa4f2436 42 ConfigFileWrapper& _configFileWrapper;
joe4465 2:969dfa4f2436 43 MotorMixer* _motorMixer;
joe4465 2:969dfa4f2436 44
joe4465 2:969dfa4f2436 45 PidWrapper::PidOutput _pidOutputs;
joe4465 0:c6a85bb2a827 46 };
joe4465 0:c6a85bb2a827 47
joe4465 0:c6a85bb2a827 48 #endif