Last change
on this file since 147 was 105, checked in by Bayard Gildas, 8 years ago |
Passage du "framework" à flair
|
File size:
1.1 KB
|
Rev | Line | |
---|
[44] | 1 | // created: 2016/06/01
|
---|
| 2 | // filename: PidUav.h
|
---|
| 3 | //
|
---|
| 4 | // author: Gildas Bayard
|
---|
| 5 | // Copyright Heudiasyc UMR UTC/CNRS 7253
|
---|
| 6 | //
|
---|
| 7 | // version: $Id: $
|
---|
| 8 | //
|
---|
| 9 | // purpose: Uav class showing the incidence of pid parameters choice
|
---|
| 10 | //
|
---|
| 11 | //
|
---|
| 12 | /*********************************************************************/
|
---|
| 13 |
|
---|
| 14 | #ifndef PID_UAV_H
|
---|
| 15 | #define PID_UAV_H
|
---|
| 16 |
|
---|
| 17 | #include <UavStateMachine.h>
|
---|
| 18 |
|
---|
[105] | 19 | namespace flair {
|
---|
| 20 | namespace core {
|
---|
| 21 | class cvmatrix;
|
---|
| 22 | }
|
---|
| 23 | namespace gui {
|
---|
| 24 | class GroupBox;
|
---|
| 25 | class DoubleSpinBox;
|
---|
| 26 | }
|
---|
| 27 | namespace filter {
|
---|
| 28 | class Pid;
|
---|
| 29 | }
|
---|
| 30 | namespace sensor {
|
---|
| 31 | class TargetController;
|
---|
| 32 | }
|
---|
[44] | 33 | }
|
---|
| 34 |
|
---|
[105] | 35 | class PidUav : public flair::meta::UavStateMachine {
|
---|
| 36 | public:
|
---|
| 37 | PidUav(flair::meta::Uav *uav,
|
---|
| 38 | flair::sensor::TargetController *controller);
|
---|
| 39 | ~PidUav();
|
---|
[44] | 40 |
|
---|
[105] | 41 | protected:
|
---|
| 42 | void SignalEvent(Event_t event);
|
---|
| 43 | void ExtraCheckJoystick(void);
|
---|
| 44 |
|
---|
| 45 | private:
|
---|
| 46 | void ComputeCustomTorques(flair::core::Euler &torques);
|
---|
| 47 | bool StartCustomMode();
|
---|
| 48 | void StartOscillatingMode();
|
---|
| 49 | flair::filter::Pid *my_uPitch, *my_uRoll;
|
---|
| 50 | enum class BehaviourMode_t { Default, Oscillating };
|
---|
| 51 | BehaviourMode_t behaviourMode;
|
---|
[44] | 52 | };
|
---|
| 53 |
|
---|
| 54 | #endif // PID_UAV_H
|
---|
Note:
See
TracBrowser
for help on using the repository browser.