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@2:969dfa4f2436, 2015-04-01 (annotated)
- Committer:
- joe4465
- Date:
- Wed Apr 01 11:19:21 2015 +0000
- Revision:
- 2:969dfa4f2436
- Parent:
- 0:c6a85bb2a827
- Child:
- 3:4823d6750629
Altitude hold with 2 PID's working. Exported to offline compiler
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
joe4465 | 0:c6a85bb2a827 | 1 | #include "mbed.h" |
joe4465 | 2:969dfa4f2436 | 2 | #include "Global.h" |
joe4465 | 2:969dfa4f2436 | 3 | #include "StatusLights.h" |
joe4465 | 0:c6a85bb2a827 | 4 | |
joe4465 | 0:c6a85bb2a827 | 5 | #ifndef Status_H |
joe4465 | 0:c6a85bb2a827 | 6 | #define Status_H |
joe4465 | 0:c6a85bb2a827 | 7 | |
joe4465 | 2:969dfa4f2436 | 8 | class Status |
joe4465 | 0:c6a85bb2a827 | 9 | { |
joe4465 | 2:969dfa4f2436 | 10 | public: |
joe4465 | 2:969dfa4f2436 | 11 | Status(); |
joe4465 | 2:969dfa4f2436 | 12 | ~Status(); |
joe4465 | 0:c6a85bb2a827 | 13 | |
joe4465 | 0:c6a85bb2a827 | 14 | enum State |
joe4465 | 0:c6a85bb2a827 | 15 | { |
joe4465 | 0:c6a85bb2a827 | 16 | PREFLIGHT, |
joe4465 | 0:c6a85bb2a827 | 17 | STANDBY, |
joe4465 | 0:c6a85bb2a827 | 18 | GROUND_READY, |
joe4465 | 0:c6a85bb2a827 | 19 | MANUAL, |
joe4465 | 0:c6a85bb2a827 | 20 | STABILISED, |
joe4465 | 0:c6a85bb2a827 | 21 | AUTO, |
joe4465 | 2:969dfa4f2436 | 22 | ERROR |
joe4465 | 0:c6a85bb2a827 | 23 | }; |
joe4465 | 0:c6a85bb2a827 | 24 | |
joe4465 | 0:c6a85bb2a827 | 25 | enum FlightMode |
joe4465 | 0:c6a85bb2a827 | 26 | { |
joe4465 | 0:c6a85bb2a827 | 27 | RATE, |
joe4465 | 2:969dfa4f2436 | 28 | STAB |
joe4465 | 2:969dfa4f2436 | 29 | }; |
joe4465 | 2:969dfa4f2436 | 30 | |
joe4465 | 2:969dfa4f2436 | 31 | enum NavigationMode |
joe4465 | 2:969dfa4f2436 | 32 | { |
joe4465 | 2:969dfa4f2436 | 33 | NONE, |
joe4465 | 2:969dfa4f2436 | 34 | ALTITUDE_HOLD, |
joe4465 | 2:969dfa4f2436 | 35 | POSITION_HOLD |
joe4465 | 0:c6a85bb2a827 | 36 | }; |
joe4465 | 0:c6a85bb2a827 | 37 | |
joe4465 | 0:c6a85bb2a827 | 38 | enum BaseStationMode |
joe4465 | 0:c6a85bb2a827 | 39 | { |
joe4465 | 0:c6a85bb2a827 | 40 | MOTOR_POWER, |
joe4465 | 0:c6a85bb2a827 | 41 | PID_OUTPUTS, |
joe4465 | 0:c6a85bb2a827 | 42 | IMU_OUTPUTS, |
joe4465 | 0:c6a85bb2a827 | 43 | STATUS, |
joe4465 | 2:969dfa4f2436 | 44 | RC, |
joe4465 | 0:c6a85bb2a827 | 45 | PID_TUNING, |
joe4465 | 0:c6a85bb2a827 | 46 | GPS, |
joe4465 | 0:c6a85bb2a827 | 47 | ZERO, |
joe4465 | 0:c6a85bb2a827 | 48 | RATE_TUNING, |
joe4465 | 0:c6a85bb2a827 | 49 | STAB_TUNING, |
joe4465 | 0:c6a85bb2a827 | 50 | ALTITUDE, |
joe4465 | 2:969dfa4f2436 | 51 | VELOCITY, |
joe4465 | 2:969dfa4f2436 | 52 | ALTITUDE_STATUS |
joe4465 | 0:c6a85bb2a827 | 53 | }; |
joe4465 | 0:c6a85bb2a827 | 54 | |
joe4465 | 2:969dfa4f2436 | 55 | bool update(); |
joe4465 | 0:c6a85bb2a827 | 56 | State getState(); |
joe4465 | 0:c6a85bb2a827 | 57 | bool setFlightMode(FlightMode flightMode); |
joe4465 | 0:c6a85bb2a827 | 58 | FlightMode getFlightMode(); |
joe4465 | 2:969dfa4f2436 | 59 | bool setNavigationMode(NavigationMode navigationMode); |
joe4465 | 2:969dfa4f2436 | 60 | NavigationMode getNavigationMode(); |
joe4465 | 0:c6a85bb2a827 | 61 | bool setBaseStationMode(BaseStationMode baseStationMode); |
joe4465 | 0:c6a85bb2a827 | 62 | BaseStationMode getBaseStationMode(); |
joe4465 | 2:969dfa4f2436 | 63 | bool setBatteryLevel(double batteryLevel); |
joe4465 | 2:969dfa4f2436 | 64 | double getBatteryLevel(); |
joe4465 | 0:c6a85bb2a827 | 65 | bool setArmed(bool armed); |
joe4465 | 0:c6a85bb2a827 | 66 | bool getArmed(); |
joe4465 | 0:c6a85bb2a827 | 67 | bool setInitialised(bool initialised); |
joe4465 | 0:c6a85bb2a827 | 68 | bool getInitialised(); |
joe4465 | 0:c6a85bb2a827 | 69 | bool setRcConnected(bool rcConnected); |
joe4465 | 0:c6a85bb2a827 | 70 | bool getRcConnected(); |
joe4465 | 2:969dfa4f2436 | 71 | bool setMotorsSpinning(bool flying); |
joe4465 | 2:969dfa4f2436 | 72 | bool getMotorsSpinning(); |
joe4465 | 2:969dfa4f2436 | 73 | bool setDeadZone(bool flying); |
joe4465 | 2:969dfa4f2436 | 74 | bool getDeadZone(); |
joe4465 | 0:c6a85bb2a827 | 75 | |
joe4465 | 0:c6a85bb2a827 | 76 | private: |
joe4465 | 0:c6a85bb2a827 | 77 | State _state; |
joe4465 | 2:969dfa4f2436 | 78 | FlightMode _flightMode; |
joe4465 | 2:969dfa4f2436 | 79 | NavigationMode _navigationMode; |
joe4465 | 0:c6a85bb2a827 | 80 | BaseStationMode _baseStationMode; |
joe4465 | 2:969dfa4f2436 | 81 | StatusLights _statusLights; |
joe4465 | 2:969dfa4f2436 | 82 | bool setState(State state); |
joe4465 | 2:969dfa4f2436 | 83 | void flash(); |
joe4465 | 2:969dfa4f2436 | 84 | double _batteryLevel; |
joe4465 | 0:c6a85bb2a827 | 85 | bool _armed; |
joe4465 | 0:c6a85bb2a827 | 86 | bool _initialised; |
joe4465 | 0:c6a85bb2a827 | 87 | bool _rcConnected; |
joe4465 | 2:969dfa4f2436 | 88 | bool _flying; |
joe4465 | 2:969dfa4f2436 | 89 | bool _deadZone; |
joe4465 | 0:c6a85bb2a827 | 90 | }; |
joe4465 | 0:c6a85bb2a827 | 91 | |
joe4465 | 0:c6a85bb2a827 | 92 | #endif |