source: flair-src/trunk/demos/PidStandalone/uav/src/PidUav.h@ 44

Last change on this file since 44 was 44, checked in by Bayard Gildas, 6 years ago

Demo Pid et controller automatique scripté

File size: 1.3 KB
Line 
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
19namespace framework {
20 namespace core {
21 class FrameworkManager;
22 class cvmatrix;
23 }
24 namespace gui {
25 class GroupBox;
26 class DoubleSpinBox;
27 }
28 namespace filter {
29 class Pid;
30 }
31 namespace sensor {
32 class TargetController;
33 }
34}
35
36class PidUav : public framework::meta::UavStateMachine {
37 public:
38 PidUav(framework::meta::Uav* uav, framework::sensor::TargetController *controller);
39 ~PidUav();
40
41 protected:
42 void SignalEvent(Event_t event);
43 void ExtraCheckJoystick(void);
44 private:
45 void ComputeCustomTorques(framework::core::Euler &torques);
46 bool StartCustomMode();
47 void StartOscillatingMode();
48 framework::filter::Pid *my_uPitch,*my_uRoll;
49 enum class BehaviourMode_t {
50 Default,
51 Oscillating
52 };
53 BehaviourMode_t behaviourMode;
54};
55
56#endif // PID_UAV_H
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