Last change
on this file since 178 was 105, checked in by Bayard Gildas, 8 years ago |
Passage du "framework" à flair
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File size:
1.1 KB
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1 | // created: 2016/06/01
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2 | // filename: PidUav.h
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3 | //
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4 | // author: Gildas Bayard
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5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
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6 | //
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7 | // version: $Id: $
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8 | //
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9 | // purpose: Uav class showing the incidence of pid parameters choice
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10 | //
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11 | //
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12 | /*********************************************************************/
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13 |
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14 | #ifndef PID_UAV_H
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15 | #define PID_UAV_H
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16 |
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17 | #include <UavStateMachine.h>
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18 |
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19 | namespace flair {
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20 | namespace core {
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21 | class cvmatrix;
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22 | }
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23 | namespace gui {
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24 | class GroupBox;
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25 | class DoubleSpinBox;
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26 | }
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27 | namespace filter {
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28 | class Pid;
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29 | }
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30 | namespace sensor {
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31 | class TargetController;
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32 | }
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33 | }
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34 |
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35 | class PidUav : public flair::meta::UavStateMachine {
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36 | public:
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37 | PidUav(flair::meta::Uav *uav,
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38 | flair::sensor::TargetController *controller);
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39 | ~PidUav();
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40 |
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41 | protected:
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42 | void SignalEvent(Event_t event);
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43 | void ExtraCheckJoystick(void);
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44 |
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45 | private:
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46 | void ComputeCustomTorques(flair::core::Euler &torques);
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47 | bool StartCustomMode();
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48 | void StartOscillatingMode();
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49 | flair::filter::Pid *my_uPitch, *my_uRoll;
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50 | enum class BehaviourMode_t { Default, Oscillating };
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51 | BehaviourMode_t behaviourMode;
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52 | };
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53 |
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54 | #endif // PID_UAV_H
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