Diff: Status/Status.h

Revision:

2:969dfa4f2436

Parent:

0:c6a85bb2a827

Child:

3:4823d6750629

--- a/Status/Status.h	Wed Mar 04 18:53:43 2015 +0000
+++ b/Status/Status.h	Wed Apr 01 11:19:21 2015 +0000
@@ -1,13 +1,15 @@
 #include "mbed.h"
+#include "Global.h"
+#include "StatusLights.h"
 
 #ifndef Status_H
 #define Status_H
 
-class Status                   // begin declaration of the class
+class Status                  
 {
-  public:                    // begin public section
-    Status();     // constructor
-    ~Status();                  // destructor
+  public:                    
+    Status();    
+    ~Status();                  
     
     enum State
     {
@@ -17,17 +19,20 @@
         MANUAL,
         STABILISED,
         AUTO,
-        ABORT,
-        EMG_LAND,
-        EMG_OFF,
-        GROUND_ERROR     
+        ERROR  
     };
     
     enum FlightMode
     {
         RATE,
-        STAB,
-        NOT_SET  
+        STAB
+    };
+    
+    enum NavigationMode
+    {
+        NONE,
+        ALTITUDE_HOLD,
+        POSITION_HOLD
     };
     
     enum BaseStationMode
@@ -36,40 +41,52 @@
         PID_OUTPUTS,
         IMU_OUTPUTS,
         STATUS,
-        MAPPED_RC,
+        RC,
         PID_TUNING,
         GPS,
         ZERO,
         RATE_TUNING,
         STAB_TUNING,
         ALTITUDE,
-        VELOCITY   
+        VELOCITY,
+        ALTITUDE_STATUS
     };
     
-    bool initialise();
-    bool setState(State state);
+    bool update();
     State getState();
     bool setFlightMode(FlightMode flightMode);
     FlightMode getFlightMode();
+    bool setNavigationMode(NavigationMode navigationMode);
+    NavigationMode getNavigationMode();
     bool setBaseStationMode(BaseStationMode baseStationMode);
     BaseStationMode getBaseStationMode();
-    bool setBatteryLevel(float batteryLevel);
-    float getBatteryLevel();
+    bool setBatteryLevel(double batteryLevel);
+    double getBatteryLevel();
     bool setArmed(bool armed);
     bool getArmed();
     bool setInitialised(bool initialised);
     bool getInitialised();
     bool setRcConnected(bool rcConnected);
     bool getRcConnected();
+    bool setMotorsSpinning(bool flying);
+    bool getMotorsSpinning();
+    bool setDeadZone(bool flying);
+    bool getDeadZone();
     
   private:             
     State _state; 
-    FlightMode _flightMode;             
+    FlightMode _flightMode;
+    NavigationMode _navigationMode;          
     BaseStationMode _baseStationMode;
-    float _batteryLevel;
+    StatusLights _statusLights;
+    bool setState(State state);
+    void flash();
+    double _batteryLevel;
     bool _armed;
     bool _initialised;
     bool _rcConnected;
+    bool _flying;
+    bool _deadZone;
 };
 
 #endif
\ No newline at end of file