source: flair-src/trunk/demos/Gps/uav/src/DemoGps.h@ 185

Last change on this file since 185 was 185, checked in by Sanahuja Guillaume, 5 years ago

modifs gps

File size: 1.6 KB
Line 
1// created: 2016/07/01
2// filename: DemoGps.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo GPS
10//
11//
12/*********************************************************************/
13
14#ifndef DEMOGPS_H
15#define DEMOGPS_H
16
17#include <UavStateMachine.h>
18
19namespace flair {
20 namespace gui {
21 class PushButton;
22 }
23 namespace filter {
24 class TrajectoryGenerator2DCircle;
25 }
26 namespace sensor {
27 class TargetController;
28 }
29}
30
31class DemoGps : public flair::meta::UavStateMachine {
32 public:
33 DemoGps(flair::sensor::TargetController *controller);
34 ~DemoGps();
35
36 private:
37 enum class BehaviourMode_t {
38 Default,
39 PositionHold,
40 Circle
41 };
42
43 BehaviourMode_t behaviourMode;
44
45 void GpsPositionHold(void);
46 void StartCircle(void);
47 void StopCircle(void);
48 void ExtraSecurityCheck(void);
49 void ExtraCheckPushButton(void);
50 void ExtraCheckJoystick(void);
51 void PositionValues(flair::core::Vector2Df &pos_error,flair::core::Vector2Df &vel_error,float &yaw_ref);
52 flair::core::AhrsData *GetReferenceOrientation(void);
53 void SignalEvent(Event_t event);
54
55 flair::filter::Pid *uX, *uY;
56
57 flair::core::Vector2Df posHold;
58 float yawHold;
59
60 flair::gui::PushButton *startCircle,*stopCircle;
61 flair::filter::TrajectoryGenerator2DCircle *circle;
62 flair::core::AhrsData *customReferenceOrientation,*customOrientation;
63};
64
65#endif // DEMOGPS_H
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