source: flair-src/trunk/demos/PidStandalone/uav/src/PidUav.h@ 45

//  created:    2016/06/01
//  filename:   PidUav.h
//
//  author:     Gildas Bayard
//              Copyright Heudiasyc UMR UTC/CNRS 7253
//
//  version:    $Id: $
//
//  purpose:    Uav class showing the incidence of pid parameters choice
//
//
/*********************************************************************/

#ifndef PID_UAV_H
#define PID_UAV_H

#include <UavStateMachine.h>

namespace framework {
    namespace core {
        class FrameworkManager;
        class cvmatrix;
    }
    namespace gui {
        class GroupBox;
        class DoubleSpinBox;
    }
    namespace filter {
        class Pid;
    }
    namespace sensor {
        class TargetController;
    }
}

class PidUav : public framework::meta::UavStateMachine {
    public:
        PidUav(framework::meta::Uav* uav, framework::sensor::TargetController *controller);
        ~PidUav();

    protected:
        void SignalEvent(Event_t event);
        void ExtraCheckJoystick(void);
    private:
        void ComputeCustomTorques(framework::core::Euler &torques);
        bool StartCustomMode();
        void StartOscillatingMode();
        framework::filter::Pid *my_uPitch,*my_uRoll;
        enum class BehaviourMode_t {
            Default,
            Oscillating
        };
        BehaviourMode_t behaviourMode;
};

#endif // PID_UAV_H