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

Status/Status.h@0:c6a85bb2a827, 2015-03-04 (annotated)

Committer:
joe4465
Date:
Wed Mar 04 18:50:37 2015 +0000
Revision:
0:c6a85bb2a827
Child:
2:969dfa4f2436
New version of quadcopter software, written following OO principles

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 0:c6a85bb2a827 1 #include "mbed.h"
joe4465 0:c6a85bb2a827 2
joe4465 0:c6a85bb2a827 3 #ifndef Status_H
joe4465 0:c6a85bb2a827 4 #define Status_H
joe4465 0:c6a85bb2a827 5
joe4465 0:c6a85bb2a827 6 class Status // begin declaration of the class
joe4465 0:c6a85bb2a827 7 {
joe4465 0:c6a85bb2a827 8 public: // begin public section
joe4465 0:c6a85bb2a827 9 Status(); // constructor
joe4465 0:c6a85bb2a827 10 ~Status(); // destructor
joe4465 0:c6a85bb2a827 11
joe4465 0:c6a85bb2a827 12 enum State
joe4465 0:c6a85bb2a827 13 {
joe4465 0:c6a85bb2a827 14 PREFLIGHT,
joe4465 0:c6a85bb2a827 15 STANDBY,
joe4465 0:c6a85bb2a827 16 GROUND_READY,
joe4465 0:c6a85bb2a827 17 MANUAL,
joe4465 0:c6a85bb2a827 18 STABILISED,
joe4465 0:c6a85bb2a827 19 AUTO,
joe4465 0:c6a85bb2a827 20 ABORT,
joe4465 0:c6a85bb2a827 21 EMG_LAND,
joe4465 0:c6a85bb2a827 22 EMG_OFF,
joe4465 0:c6a85bb2a827 23 GROUND_ERROR
joe4465 0:c6a85bb2a827 24 };
joe4465 0:c6a85bb2a827 25
joe4465 0:c6a85bb2a827 26 enum FlightMode
joe4465 0:c6a85bb2a827 27 {
joe4465 0:c6a85bb2a827 28 RATE,
joe4465 0:c6a85bb2a827 29 STAB,
joe4465 0:c6a85bb2a827 30 NOT_SET
joe4465 0:c6a85bb2a827 31 };
joe4465 0:c6a85bb2a827 32
joe4465 0:c6a85bb2a827 33 enum BaseStationMode
joe4465 0:c6a85bb2a827 34 {
joe4465 0:c6a85bb2a827 35 MOTOR_POWER,
joe4465 0:c6a85bb2a827 36 PID_OUTPUTS,
joe4465 0:c6a85bb2a827 37 IMU_OUTPUTS,
joe4465 0:c6a85bb2a827 38 STATUS,
joe4465 0:c6a85bb2a827 39 MAPPED_RC,
joe4465 0:c6a85bb2a827 40 PID_TUNING,
joe4465 0:c6a85bb2a827 41 GPS,
joe4465 0:c6a85bb2a827 42 ZERO,
joe4465 0:c6a85bb2a827 43 RATE_TUNING,
joe4465 0:c6a85bb2a827 44 STAB_TUNING,
joe4465 0:c6a85bb2a827 45 ALTITUDE,
joe4465 0:c6a85bb2a827 46 VELOCITY
joe4465 0:c6a85bb2a827 47 };
joe4465 0:c6a85bb2a827 48
joe4465 0:c6a85bb2a827 49 bool initialise();
joe4465 0:c6a85bb2a827 50 bool setState(State state);
joe4465 0:c6a85bb2a827 51 State getState();
joe4465 0:c6a85bb2a827 52 bool setFlightMode(FlightMode flightMode);
joe4465 0:c6a85bb2a827 53 FlightMode getFlightMode();
joe4465 0:c6a85bb2a827 54 bool setBaseStationMode(BaseStationMode baseStationMode);
joe4465 0:c6a85bb2a827 55 BaseStationMode getBaseStationMode();
joe4465 0:c6a85bb2a827 56 bool setBatteryLevel(float batteryLevel);
joe4465 0:c6a85bb2a827 57 float getBatteryLevel();
joe4465 0:c6a85bb2a827 58 bool setArmed(bool armed);
joe4465 0:c6a85bb2a827 59 bool getArmed();
joe4465 0:c6a85bb2a827 60 bool setInitialised(bool initialised);
joe4465 0:c6a85bb2a827 61 bool getInitialised();
joe4465 0:c6a85bb2a827 62 bool setRcConnected(bool rcConnected);
joe4465 0:c6a85bb2a827 63 bool getRcConnected();
joe4465 0:c6a85bb2a827 64
joe4465 0:c6a85bb2a827 65 private:
joe4465 0:c6a85bb2a827 66 State _state;
joe4465 0:c6a85bb2a827 67 FlightMode _flightMode;
joe4465 0:c6a85bb2a827 68 BaseStationMode _baseStationMode;
joe4465 0:c6a85bb2a827 69 float _batteryLevel;
joe4465 0:c6a85bb2a827 70 bool _armed;
joe4465 0:c6a85bb2a827 71 bool _initialised;
joe4465 0:c6a85bb2a827 72 bool _rcConnected;
joe4465 0:c6a85bb2a827 73 };
joe4465 0:c6a85bb2a827 74
joe4465 0:c6a85bb2a827 75 #endif