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| 108 | <div class="title">UavStateMachine.h</div> </div>
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| 109 | </div><!--header-->
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| 110 | <div class="contents">
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| 111 | <div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// %flair:license{</span></div>
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| 112 | <div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">// This file is part of the Flair framework distributed under the</span></div>
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| 113 | <div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// CECILL-C License, Version 1.0.</span></div>
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| 114 | <div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// %flair:license}</span></div>
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| 115 | <div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// created: 2014/04/29</span></div>
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| 116 | <div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">// filename: UavStateMachine.h</span></div>
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| 117 | <div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">//</span></div>
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| 118 | <div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">// author: Gildas Bayard, Guillaume Sanahuja</span></div>
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| 119 | <div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// Copyright Heudiasyc UMR UTC/CNRS 7253</span></div>
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| 120 | <div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">//</span></div>
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| 121 | <div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// version: $Id: $</span></div>
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| 122 | <div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">//</span></div>
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| 123 | <div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// purpose: state machine for UAV</span></div>
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| 124 | <div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">//</span></div>
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| 125 | <div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">//</span></div>
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| 126 | <div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">/*********************************************************************/</span></div>
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| 127 | <div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div>
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| 128 | <div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#ifndef UAVSTATEMACHINE_H</span></div>
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| 129 | <div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#define UAVSTATEMACHINE_H</span></div>
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| 130 | <div class="line"><a name="l00020"></a><span class="lineno"> 20</span> </div>
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| 131 | <div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include <<a class="code" href="_thread_8h.html">Thread.h</a>></span></div>
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| 132 | <div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="preprocessor">#include <<a class="code" href="_vector2_d_8h.html">Vector2D.h</a>></span></div>
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| 133 | <div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#include <<a class="code" href="_vector3_d_8h.html">Vector3D.h</a>></span></div>
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| 134 | <div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor">#include <<a class="code" href="_euler_8h.html">Euler.h</a>></span></div>
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| 135 | <div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#include <<a class="code" href="_quaternion_8h.html">Quaternion.h</a>></span></div>
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| 136 | <div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
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| 137 | <div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
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| 138 | <div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="keyword">namespace </span>core {</div>
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| 139 | <div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="keyword">class </span>FrameworkManager;</div>
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| 140 | <div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="keyword">class </span>AhrsData;</div>
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| 141 | <div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">class </span>io_data;</div>
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| 142 | <div class="line"><a name="l00032"></a><span class="lineno"> 32</span> }</div>
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| 143 | <div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="keyword">namespace </span>gui {</div>
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| 144 | <div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="keyword">class </span>PushButton;</div>
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| 145 | <div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="keyword">class </span>GridLayout;</div>
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| 146 | <div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="keyword">class </span>Tab;</div>
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| 147 | <div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="keyword">class </span>DoubleSpinBox;</div>
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| 148 | <div class="line"><a name="l00038"></a><span class="lineno"> 38</span> }</div>
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| 149 | <div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">namespace </span>filter {</div>
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| 150 | <div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">class </span>ControlLaw;</div>
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| 151 | <div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">class </span>NestedSat;</div>
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| 152 | <div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">class </span>Pid;</div>
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| 153 | <div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">class </span>PidThrust;</div>
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| 154 | <div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">class </span>TrajectoryGenerator1D;</div>
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| 155 | <div class="line"><a name="l00045"></a><span class="lineno"> 45</span> }</div>
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| 156 | <div class="line"><a name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">namespace </span>sensor {</div>
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| 157 | <div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">class </span>TargetController;</div>
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| 158 | <div class="line"><a name="l00048"></a><span class="lineno"> 48</span> }</div>
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| 159 | <div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">namespace </span>meta {</div>
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| 160 | <div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="keyword">class </span>MetaDualShock3;</div>
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| 161 | <div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">class </span>Uav;</div>
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| 162 | <div class="line"><a name="l00052"></a><span class="lineno"> 52</span> }</div>
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| 163 | <div class="line"><a name="l00053"></a><span class="lineno"> 53</span> }</div>
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| 164 | <div class="line"><a name="l00054"></a><span class="lineno"> 54</span> </div>
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| 165 | <div class="line"><a name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">namespace </span><a class="code" href="namespaceflair.html">flair</a> {</div>
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| 166 | <div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">namespace </span>meta {</div>
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| 167 | <div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div>
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| 168 | <div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classflair_1_1meta_1_1_uav_state_machine.html"> 67</a></span> <span class="keyword">class </span><a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a> : <span class="keyword">public</span> <a class="code" href="classflair_1_1core_1_1_thread.html">core::Thread</a> {</div>
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| 169 | <div class="line"><a name="l00068"></a><span class="lineno"> 68</span> <span class="keyword">protected</span>:</div>
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| 170 | <div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keyword">enum class</span> AltitudeMode_t { Manual, Custom };</div>
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| 171 | <div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">const</span> AltitudeMode_t &GetAltitudeMode(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> altitudeMode; }</div>
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| 172 | <div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">bool</span> SetAltitudeMode(<span class="keyword">const</span> AltitudeMode_t &altitudeMode);</div>
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| 173 | <div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
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| 174 | <div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="comment">// uses TrajectoryGenerator1D *altitudeTrajectory to go to desiredAltitude</span></div>
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| 175 | <div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// available in mode AltitudeMode_t::Manual</span></div>
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| 176 | <div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="comment">// return true if goto is possible</span></div>
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| 177 | <div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <span class="keywordtype">bool</span> GotoAltitude(<span class="keywordtype">float</span> desiredAltitude);</div>
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| 178 | <div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
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| 179 | <div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="keyword">enum class</span> OrientationMode_t { Manual, Custom };</div>
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| 180 | <div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keyword">const</span> OrientationMode_t &GetOrientationMode(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{</div>
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| 181 | <div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">return</span> orientationMode;</div>
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| 182 | <div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  }</div>
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| 183 | <div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordtype">bool</span> SetOrientationMode(<span class="keyword">const</span> OrientationMode_t &orientationMode);</div>
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| 184 | <div class="line"><a name="l00083"></a><span class="lineno"> 83</span> </div>
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| 185 | <div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">enum class</span> ThrustMode_t { Default, Custom };</div>
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| 186 | <div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">const</span> ThrustMode_t &GetThrustMode()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> thrustMode; }</div>
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| 187 | <div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordtype">bool</span> SetThrustMode(<span class="keyword">const</span> ThrustMode_t &thrustMode);</div>
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| 188 | <div class="line"><a name="l00087"></a><span class="lineno"> 87</span> </div>
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| 189 | <div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">enum class</span> TorqueMode_t { Default, Custom };</div>
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| 190 | <div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keyword">const</span> TorqueMode_t &GetTorqueMode(<span class="keywordtype">void</span>)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> torqueMode; }</div>
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| 191 | <div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordtype">bool</span> SetTorqueMode(<span class="keyword">const</span> TorqueMode_t &torqueMode);</div>
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| 192 | <div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
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| 193 | <div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <span class="keyword">enum class</span> Event_t {</div>
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| 194 | <div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  EnteringFailSafeMode,</div>
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| 195 | <div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  EnteringControlLoop,</div>
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| 196 | <div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  StartLanding,</div>
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| 197 | <div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  FinishLanding,</div>
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| 198 | <div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  Stopped,</div>
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| 199 | <div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  TakingOff,</div>
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| 200 | <div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  EmergencyStop,</div>
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| 201 | <div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  Stabilized, <span class="comment">// as soon as uav is 3cm far from the ground</span></div>
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| 202 | <div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  ZTrajectoryFinished,</div>
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| 203 | <div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  };</div>
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| 204 | <div class="line"><a name="l00103"></a><span class="lineno"> 103</span> </div>
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| 205 | <div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a>(<a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a>* controller);</div>
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| 206 | <div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  ~<a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html">UavStateMachine</a>();</div>
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| 207 | <div class="line"><a name="l00106"></a><span class="lineno"> 106</span> </div>
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| 208 | <div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> &GetCurrentQuaternion(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 209 | <div class="line"><a name="l00108"></a><span class="lineno"> 108</span> </div>
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| 210 | <div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> &GetCurrentAngularSpeed(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 211 | <div class="line"><a name="l00110"></a><span class="lineno"> 110</span> </div>
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| 212 | <div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">void</span> Land(<span class="keywordtype">void</span>);</div>
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| 213 | <div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  <span class="keywordtype">void</span> EmergencyLand(<span class="keywordtype">void</span>);</div>
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| 214 | <div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordtype">void</span> TakeOff(<span class="keywordtype">void</span>);</div>
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| 215 | <div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="keywordtype">void</span> EmergencyStop(<span class="keywordtype">void</span>);</div>
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| 216 | <div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div>
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| 217 | <div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a734a11e3bbedd8dd1726b2c450353da5">SignalEvent</a>(Event_t event);</div>
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| 218 | <div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div>
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| 219 | <div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 220 | <div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetDefaultOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 221 | <div class="line"><a name="l00123"></a><span class="lineno"> 123</span> </div>
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| 222 | <div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> AltitudeValues(<span class="keywordtype">float</span> &z, <span class="keywordtype">float</span> &dz) <span class="keyword">const</span>; <span class="comment">// in uav coordinate!</span></div>
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| 223 | <div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  <span class="keywordtype">void</span> EnterFailSafeMode(<span class="keywordtype">void</span>);</div>
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| 224 | <div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordtype">bool</span> ExitFailSafeMode(<span class="keywordtype">void</span>);</div>
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| 225 | <div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="keywordtype">void</span> FailSafeAltitudeValues(<span class="keywordtype">float</span> &z, <span class="keywordtype">float</span> &dz) <span class="keyword">const</span>; <span class="comment">// in uav coordinate!</span></div>
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| 226 | <div class="line"><a name="l00128"></a><span class="lineno"> 128</span> </div>
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| 227 | <div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *GetButtonsLayout(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 228 | <div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraSecurityCheck(<span class="keywordtype">void</span>){};</div>
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| 229 | <div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraCheckJoystick(<span class="keywordtype">void</span>){};</div>
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| 230 | <div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> ExtraCheckPushButton(<span class="keywordtype">void</span>){};</div>
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| 231 | <div class="line"><a name="l00133"></a><span class="lineno"> 133</span> </div>
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| 232 | <div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  <span class="keywordtype">void</span> GetDefaultReferenceAltitude(<span class="keywordtype">float</span> &refAltitude,</div>
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| 233 | <div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="keywordtype">float</span> &refVerticalVelocity);</div>
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| 234 | <div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> GetReferenceAltitude(<span class="keywordtype">float</span> &refAltitude,</div>
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| 235 | <div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <span class="keywordtype">float</span> &refVerticalVelocity);</div>
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| 236 | <div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  <span class="comment">// float GetDefaultThrustOffset(void);</span></div>
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| 237 | <div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetDefaultReferenceOrientation(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 238 | <div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *GetReferenceOrientation(<span class="keywordtype">void</span>);</div>
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| 239 | <div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div>
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| 240 | <div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a239d9f75ff1a46752c2b06c37726336a">ComputeCustomTorques</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &torques);</div>
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| 241 | <div class="line"><a name="l00153"></a><span class="lineno"> 153</span> </div>
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| 242 | <div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ac93d0d595a86a014c27375c973f693a8">ComputeDefaultTorques</a>(<a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> &torques);</div>
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| 243 | <div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div>
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| 244 | <div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="comment">// const core::Euler &GetTorques() const;</span></div>
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| 245 | <div class="line"><a name="l00172"></a><span class="lineno"> 172</span> </div>
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| 246 | <div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  <span class="keyword">virtual</span> <span class="keywordtype">float</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a6af7f575d90ef500717a999ea4c4afef">ComputeCustomThrust</a>(<span class="keywordtype">void</span>);</div>
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| 247 | <div class="line"><a name="l00184"></a><span class="lineno"> 184</span> </div>
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| 248 | <div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="keywordtype">float</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ab25472bbf51a7baf97ec5e9cfc148f8b">ComputeDefaultThrust</a>(<span class="keywordtype">void</span>);</div>
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| 249 | <div class="line"><a name="l00196"></a><span class="lineno"> 196</span> </div>
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| 250 | <div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="comment">// float GetThrust() const;</span></div>
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| 251 | <div class="line"><a name="l00203"></a><span class="lineno"> 203</span> </div>
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| 252 | <div class="line"><a name="l00214"></a><span class="lineno"> 214</span>  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#ab737f2861d5c1901a0f62f54fe2c0855">AddDeviceToControlLawLog</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_i_o_device.html">core::IODevice</a> *device);</div>
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| 253 | <div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div>
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| 254 | <div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="keywordtype">void</span> <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#aa642bfeb1d97dec839088e2256a3699b">AddDataToControlLawLog</a>(<span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1io__data.html">core::io_data</a> *data);</div>
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| 255 | <div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div>
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| 256 | <div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  <span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *GetJoystick(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
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| 257 | <div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  <a class="code" href="classflair_1_1meta_1_1_meta_dual_shock3.html">MetaDualShock3</a> *joy;</div>
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| 258 | <div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  </div>
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| 259 | <div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <a class="code" href="classflair_1_1filter_1_1_nested_sat.html">filter::NestedSat</a> *GetURoll(<span class="keywordtype">void</span>);</div>
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| 260 | <div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  <a class="code" href="classflair_1_1filter_1_1_nested_sat.html">filter::NestedSat</a> *GetUPitch(<span class="keywordtype">void</span>);</div>
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| 261 | <div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  <a class="code" href="classflair_1_1filter_1_1_pid.html">filter::Pid</a> *GetUYaw(<span class="keywordtype">void</span>);</div>
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| 262 | <div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">filter::PidThrust</a> *GetUZ(<span class="keywordtype">void</span>);</div>
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| 263 | <div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">filter::TrajectoryGenerator1D</a> *GetAltitudeTrajectory(<span class="keywordtype">void</span>);</div>
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| 264 | <div class="line"><a name="l00236"></a><span class="lineno"> 236</span> </div>
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| 265 | <div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *setupLawTab, *graphLawTab;</div>
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| 266 | <div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
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| 267 | <div class="line"><a name="l00239"></a><span class="lineno"> 239</span> <span class="keyword">private</span>:</div>
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| 268 | <div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">enum class</span> AltitudeState_t {</div>
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| 269 | <div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2">Stopped</a>, </div>
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| 270 | <div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94">TakingOff</a>, </div>
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| 271 | <div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">Stabilized</a>, </div>
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| 272 | <div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">StartLanding</a>, </div>
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| 273 | <div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">FinishLanding</a> </div>
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| 274 | <div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  };</div>
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| 275 | <div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  AltitudeState_t altitudeState;</div>
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| 276 | <div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  <span class="keywordtype">void</span> ProcessAltitudeFiniteStateMachine();</div>
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| 277 | <div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  <span class="keywordtype">void</span> ComputeReferenceAltitude(<span class="keywordtype">float</span> &refAltitude, <span class="keywordtype">float</span> &refVerticalVelocity);</div>
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| 278 | <div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div>
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| 279 | <div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  <span class="keywordtype">float</span> groundAltitude; <span class="comment">// effective altitude when the uav leaves the ground</span></div>
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| 280 | <div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="keywordtype">float</span> currentAltitude, currentVerticalSpeed;</div>
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| 281 | <div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div>
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| 282 | <div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  <span class="keywordtype">bool</span> failSafeMode;</div>
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| 283 | <div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">void</span> SecurityCheck(<span class="keywordtype">void</span>);</div>
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| 284 | <div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keywordtype">void</span> MandatorySecurityCheck(<span class="keywordtype">void</span>);</div>
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| 285 | <div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keywordtype">void</span> CheckJoystick();</div>
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| 286 | <div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keywordtype">void</span> GenericCheckJoystick();</div>
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| 287 | <div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  <span class="keywordtype">void</span> CheckPushButton(<span class="keywordtype">void</span>);</div>
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| 288 | <div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keywordtype">void</span> GenericCheckPushButton(<span class="keywordtype">void</span>);</div>
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| 289 | <div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
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| 290 | <div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  <span class="keywordtype">void</span> StopMotors(<span class="keywordtype">void</span>);</div>
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| 291 | <div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keywordtype">bool</span> IsValuePossible(<span class="keywordtype">float</span> value,std::string desc);</div>
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| 292 | <div class="line"><a name="l00270"></a><span class="lineno"> 270</span> </div>
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| 293 | <div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *uav;</div>
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| 294 | <div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *controller;</div>
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| 295 | <div class="line"><a name="l00273"></a><span class="lineno"> 273</span> </div>
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| 296 | <div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> currentQuaternion;</div>
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| 297 | <div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> currentAngularSpeed;</div>
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| 298 | <div class="line"><a name="l00276"></a><span class="lineno"> 276</span> </div>
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| 299 | <div class="line"><a name="l00277"></a><span class="lineno"> 277</span>  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *ComputeReferenceOrientation(<span class="keywordtype">void</span>);</div>
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| 300 | <div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div>
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| 301 | <div class="line"><a name="l00279"></a><span class="lineno"> 279</span>  <span class="keywordtype">void</span> ComputeOrientation(<span class="keywordtype">void</span>);</div>
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| 302 | <div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keywordtype">void</span> ComputeAltitude(<span class="keywordtype">void</span>);</div>
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| 303 | <div class="line"><a name="l00281"></a><span class="lineno"> 281</span> </div>
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| 304 | <div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  <span class="keywordtype">void</span> ComputeTorques(<span class="keywordtype">void</span>);</div>
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| 305 | <div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  <a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> currentTorques, savedDefaultTorques;</div>
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| 306 | <div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  <span class="keywordtype">bool</span> needToComputeDefaultTorques;</div>
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| 307 | <div class="line"><a name="l00285"></a><span class="lineno"> 285</span> </div>
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| 308 | <div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  <span class="keywordtype">void</span> ComputeThrust(<span class="keywordtype">void</span>);</div>
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| 309 | <div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keywordtype">float</span> currentThrust, savedDefaultThrust;</div>
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| 310 | <div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keywordtype">bool</span> needToComputeDefaultThrust;</div>
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| 311 | <div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div>
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| 312 | <div class="line"><a name="l00290"></a><span class="lineno"> 290</span>  <a class="code" href="classflair_1_1gui_1_1_push_button.html">gui::PushButton</a> *button_kill, *button_take_off, *button_land,</div>
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| 313 | <div class="line"><a name="l00291"></a><span class="lineno"> 291</span>  *button_start_log, *button_stop_log;</div>
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| 314 | <div class="line"><a name="l00292"></a><span class="lineno"> 292</span>  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *buttonslayout;</div>
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| 315 | <div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *desiredTakeoffAltitude, *desiredLandingAltitude;</div>
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| 316 | <div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  AltitudeMode_t altitudeMode;</div>
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| 317 | <div class="line"><a name="l00295"></a><span class="lineno"> 295</span>  OrientationMode_t orientationMode;</div>
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| 318 | <div class="line"><a name="l00296"></a><span class="lineno"> 296</span>  ThrustMode_t thrustMode;</div>
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| 319 | <div class="line"><a name="l00297"></a><span class="lineno"> 297</span>  TorqueMode_t torqueMode;</div>
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| 320 | <div class="line"><a name="l00298"></a><span class="lineno"> 298</span>  <span class="keywordtype">bool</span> flagBatteryLow;</div>
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| 321 | <div class="line"><a name="l00299"></a><span class="lineno"> 299</span>  <span class="keywordtype">bool</span> flagConnectionLost;</div>
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| 322 | <div class="line"><a name="l00300"></a><span class="lineno"> 300</span>  <span class="keywordtype">bool</span> flagCriticalSensorLost;</div>
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| 323 | <div class="line"><a name="l00301"></a><span class="lineno"> 301</span>  <span class="keywordtype">bool</span> flagZTrajectoryFinished;</div>
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| 324 | <div class="line"><a name="l00302"></a><span class="lineno"> 302</span>  <span class="keywordtype">bool</span> safeToFly;</div>
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| 325 | <div class="line"><a name="l00303"></a><span class="lineno"> 303</span>  <a class="code" href="classflair_1_1filter_1_1_nested_sat.html">filter::NestedSat</a> *uRoll, *uPitch;</div>
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| 326 | <div class="line"><a name="l00304"></a><span class="lineno"> 304</span>  <a class="code" href="classflair_1_1filter_1_1_pid.html">filter::Pid</a> *uYaw;</div>
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| 327 | <div class="line"><a name="l00305"></a><span class="lineno"> 305</span>  <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">filter::PidThrust</a> *uZ;</div>
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| 328 | <div class="line"><a name="l00306"></a><span class="lineno"> 306</span>  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">filter::TrajectoryGenerator1D</a> *altitudeTrajectory;</div>
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| 329 | <div class="line"><a name="l00307"></a><span class="lineno"> 307</span> };</div>
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| 330 | <div class="line"><a name="l00308"></a><span class="lineno"> 308</span> };</div>
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| 331 | <div class="line"><a name="l00309"></a><span class="lineno"> 309</span> };</div>
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| 332 | <div class="line"><a name="l00310"></a><span class="lineno"> 310</span> <span class="preprocessor">#endif // UAVSTATEMACHINE_H</span></div>
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| 333 | <div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:94</div></div>
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| 334 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a734a11e3bbedd8dd1726b2c450353da5"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a734a11e3bbedd8dd1726b2c450353da5">flair::meta::UavStateMachine::SignalEvent</a></div><div class="ttdeci">virtual void SignalEvent(Event_t event)</div><div class="ttdoc">Used to signal an event. </div></div>
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| 335 | <div class="ttc" id="classflair_1_1meta_1_1_meta_dual_shock3_html"><div class="ttname"><a href="classflair_1_1meta_1_1_meta_dual_shock3.html">flair::meta::MetaDualShock3</a></div><div class="ttdoc">Classe intégrant la manette MetaDualShock3. </div><div class="ttdef"><b>Definition:</b> MetaDualShock3.h:38</div></div>
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| 336 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">flair::meta::UavStateMachine::AltitudeState_t::Stabilized</a></div></div>
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| 337 | <div class="ttc" id="classflair_1_1core_1_1_i_o_device_html"><div class="ttname"><a href="classflair_1_1core_1_1_i_o_device.html">flair::core::IODevice</a></div><div class="ttdoc">Abstract class for input/ouput system. </div><div class="ttdef"><b>Definition:</b> IODevice.h:45</div></div>
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| 338 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">flair::meta::UavStateMachine::AltitudeState_t::FinishLanding</a></div></div>
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| 339 | <div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
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| 340 | <div class="ttc" id="classflair_1_1core_1_1_vector3_d_html"><div class="ttname"><a href="classflair_1_1core_1_1_vector3_d.html">flair::core::Vector3D< float ></a></div></div>
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| 341 | <div class="ttc" id="classflair_1_1core_1_1_euler_html"><div class="ttname"><a href="classflair_1_1core_1_1_euler.html">flair::core::Euler</a></div><div class="ttdoc">Class defining euler angles. </div><div class="ttdef"><b>Definition:</b> Euler.h:27</div></div>
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| 342 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">flair::meta::UavStateMachine::AltitudeState_t::StartLanding</a></div></div>
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| 343 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_ab25472bbf51a7baf97ec5e9cfc148f8b"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#ab25472bbf51a7baf97ec5e9cfc148f8b">flair::meta::UavStateMachine::ComputeDefaultThrust</a></div><div class="ttdeci">float ComputeDefaultThrust(void)</div><div class="ttdoc">Compute Default Thrust. </div></div>
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| 344 | <div class="ttc" id="_vector2_d_8h_html"><div class="ttname"><a href="_vector2_d_8h.html">Vector2D.h</a></div><div class="ttdoc">Class defining a 2D vector. </div></div>
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| 345 | <div class="ttc" id="classflair_1_1gui_1_1_grid_layout_html"><div class="ttname"><a href="classflair_1_1gui_1_1_grid_layout.html">flair::gui::GridLayout</a></div><div class="ttdoc">Class displaying a QGridLayout on the ground station. </div><div class="ttdef"><b>Definition:</b> GridLayout.h:27</div></div>
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| 346 | <div class="ttc" id="classflair_1_1filter_1_1_pid_thrust_html"><div class="ttname"><a href="classflair_1_1filter_1_1_pid_thrust.html">flair::filter::PidThrust</a></div><div class="ttdoc">Class defining a Pid for Thrust. This Pid as an extra offset for compensating gravity. </div><div class="ttdef"><b>Definition:</b> PidThrust.h:33</div></div>
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| 347 | <div class="ttc" id="classflair_1_1core_1_1_ahrs_data_html"><div class="ttname"><a href="classflair_1_1core_1_1_ahrs_data.html">flair::core::AhrsData</a></div><div class="ttdoc">Class defining AHRS datas. </div><div class="ttdef"><b>Definition:</b> AhrsData.h:30</div></div>
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| 348 | <div class="ttc" id="_vector3_d_8h_html"><div class="ttname"><a href="_vector3_d_8h.html">Vector3D.h</a></div><div class="ttdoc">Class defining a 3D vector. </div></div>
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| 349 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html">flair::meta::UavStateMachine</a></div><div class="ttdoc">State machine for UAV The Thread is created with the FrameworkManager as parent. FrameworkManager mus...</div><div class="ttdef"><b>Definition:</b> UavStateMachine.h:67</div></div>
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| 350 | <div class="ttc" id="classflair_1_1sensor_1_1_target_controller_html"><div class="ttname"><a href="classflair_1_1sensor_1_1_target_controller.html">flair::sensor::TargetController</a></div><div class="ttdoc">Base Class for target side remote controls. </div><div class="ttdef"><b>Definition:</b> TargetController.h:49</div></div>
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| 351 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94">flair::meta::UavStateMachine::AltitudeState_t::TakingOff</a></div></div>
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| 352 | <div class="ttc" id="classflair_1_1filter_1_1_trajectory_generator1_d_html"><div class="ttname"><a href="classflair_1_1filter_1_1_trajectory_generator1_d.html">flair::filter::TrajectoryGenerator1D</a></div><div class="ttdoc">Class generating a trajectory in 1D. </div><div class="ttdef"><b>Definition:</b> TrajectoryGenerator1D.h:47</div></div>
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| 353 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a6af7f575d90ef500717a999ea4c4afef"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a6af7f575d90ef500717a999ea4c4afef">flair::meta::UavStateMachine::ComputeCustomThrust</a></div><div class="ttdeci">virtual float ComputeCustomThrust(void)</div><div class="ttdoc">Get Torques. </div></div>
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| 354 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_ab737f2861d5c1901a0f62f54fe2c0855"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#ab737f2861d5c1901a0f62f54fe2c0855">flair::meta::UavStateMachine::AddDeviceToControlLawLog</a></div><div class="ttdeci">void AddDeviceToControlLawLog(const core::IODevice *device)</div><div class="ttdoc">Get Thrust. </div></div>
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| 355 | <div class="ttc" id="classflair_1_1gui_1_1_push_button_html"><div class="ttname"><a href="classflair_1_1gui_1_1_push_button.html">flair::gui::PushButton</a></div><div class="ttdoc">Class displaying a QPushButton on the ground station. </div><div class="ttdef"><b>Definition:</b> PushButton.h:28</div></div>
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| 356 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2">flair::meta::UavStateMachine::AltitudeState_t::Stopped</a></div></div>
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| 357 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a239d9f75ff1a46752c2b06c37726336a"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a239d9f75ff1a46752c2b06c37726336a">flair::meta::UavStateMachine::ComputeCustomTorques</a></div><div class="ttdeci">virtual void ComputeCustomTorques(core::Euler &torques)</div><div class="ttdoc">Compute Custom Torques. </div></div>
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| 358 | <div class="ttc" id="classflair_1_1filter_1_1_pid_html"><div class="ttname"><a href="classflair_1_1filter_1_1_pid.html">flair::filter::Pid</a></div><div class="ttdoc">Class defining a PID. </div><div class="ttdef"><b>Definition:</b> Pid.h:32</div></div>
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| 359 | <div class="ttc" id="_thread_8h_html"><div class="ttname"><a href="_thread_8h.html">Thread.h</a></div><div class="ttdoc">Abstract class for a thread. </div></div>
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| 360 | <div class="ttc" id="_quaternion_8h_html"><div class="ttname"><a href="_quaternion_8h.html">Quaternion.h</a></div><div class="ttdoc">Class defining a quaternion. </div></div>
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| 361 | <div class="ttc" id="classflair_1_1filter_1_1_nested_sat_html"><div class="ttname"><a href="classflair_1_1filter_1_1_nested_sat.html">flair::filter::NestedSat</a></div><div class="ttdoc">Class defining a PID with saturations. </div><div class="ttdef"><b>Definition:</b> NestedSat.h:43</div></div>
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| 362 | <div class="ttc" id="classflair_1_1core_1_1_thread_html"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html">flair::core::Thread</a></div><div class="ttdoc">Abstract class for a thread. </div><div class="ttdef"><b>Definition:</b> Thread.h:38</div></div>
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| 363 | <div class="ttc" id="classflair_1_1gui_1_1_double_spin_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_double_spin_box.html">flair::gui::DoubleSpinBox</a></div><div class="ttdoc">Class displaying a QDoubleSpinBox on the ground station. </div><div class="ttdef"><b>Definition:</b> DoubleSpinBox.h:28</div></div>
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| 364 | <div class="ttc" id="classflair_1_1meta_1_1_uav_html"><div class="ttname"><a href="classflair_1_1meta_1_1_uav.html">flair::meta::Uav</a></div><div class="ttdoc">Base class to construct sensors/actuators depending on uav type. The Object is created with the Frame...</div><div class="ttdef"><b>Definition:</b> Uav.h:48</div></div>
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| 365 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_aa642bfeb1d97dec839088e2256a3699b"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#aa642bfeb1d97dec839088e2256a3699b">flair::meta::UavStateMachine::AddDataToControlLawLog</a></div><div class="ttdeci">void AddDataToControlLawLog(const core::io_data *data)</div><div class="ttdoc">Add an io_data to the control law logs. </div></div>
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| 366 | <div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_ac93d0d595a86a014c27375c973f693a8"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#ac93d0d595a86a014c27375c973f693a8">flair::meta::UavStateMachine::ComputeDefaultTorques</a></div><div class="ttdeci">void ComputeDefaultTorques(core::Euler &torques)</div><div class="ttdoc">Compute Default Torques. </div></div>
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| 367 | <div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:26</div></div>
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| 368 | <div class="ttc" id="classflair_1_1gui_1_1_tab_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a></div><div class="ttdoc">Class displaying a QTab on the ground station. </div><div class="ttdef"><b>Definition:</b> Tab.h:29</div></div>
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| 369 | <div class="ttc" id="_euler_8h_html"><div class="ttname"><a href="_euler_8h.html">Euler.h</a></div><div class="ttdoc">Class defining euler angles. </div></div>
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| 370 | </div><!-- fragment --></div><!-- contents -->
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| 371 | </div><!-- doc-content -->
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| 372 | <!-- start footer part -->
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| 373 | <div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
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| 374 | <ul>
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| 375 | <li class="navelem"><a class="el" href="dir_33c2ee9b1665499374b4225c427cf176.html">igep</a></li><li class="navelem"><a class="el" href="dir_f1fe274389177bd7e17de7949c4ffada.html">flair-src</a></li><li class="navelem"><a class="el" href="dir_3ef62148cf94871b4b6ee5d6e3a989c1.html">lib</a></li><li class="navelem"><a class="el" href="dir_e44722efdb10e7ceda2dbbaecca58ed3.html">FlairMeta</a></li><li class="navelem"><a class="el" href="dir_ed462f49eec2f2c269d321a045b86103.html">src</a></li><li class="navelem"><b>UavStateMachine.h</b></li>
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| 376 | <li class="footer">Generated on Thu Jan 31 2019 12:34:23 for Flair by
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