source: flair-src/trunk/demos/SimpleFleet/uav/src/SimpleFleet.h@ 33

Last change on this file since 33 was 33, checked in by Sanahuja Guillaume, 6 years ago

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File size: 2.1 KB
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1// created: 2015/11/05
2// filename: SimpleFleet.h
3//
4// author: Guillaume Sanahuja
5// Copyright Heudiasyc UMR UTC/CNRS 7253
6//
7// version: $Id: $
8//
9// purpose: demo fleet
10//
11//
12/*********************************************************************/
13
14#ifndef SIMPLEFLEET_H
15#define SIMPLEFLEET_H
16
17#include <UavStateMachine.h>
18
19namespace flair {
20 namespace core {
21 class FrameworkManager;
22 class Socket;
23 class AhrsData;
24 }
25 namespace filter {
26 class TrajectoryGenerator2DCircle;
27 }
28 namespace gui {
29 class DoubleSpinBox;
30 }
31}
32
33
34class SimpleFleet : public flair::meta::UavStateMachine {
35 public:
36 SimpleFleet(flair::meta::Uav* uav,std::string broadcast,uint16_t ds3port);
37 ~SimpleFleet();
38
39 private:
40 enum class BehaviourMode_t {
41 Default,
42 PositionHold1,
43 Circle1,
44 PositionHold2,
45 PositionHold3,
46 Circle2,
47 PositionHold4,
48 };
49
50// BehaviourMode_t orientation_state;
51 BehaviourMode_t behaviourMode;
52 bool vrpnLost;
53
54 void VrpnPositionHold(void);//flight mode
55 void StartCircle(void);
56 void StopCircle(void);
57 void ExtraTakeOff(void);
58 void ExtraSecurityCheck(void);
59 void ExtraCheckJoystick(void);
60 const flair::core::AhrsData *GetOrientation(void) const;
61 void AltitudeValues(float &z,float &dz) const;
62 void PositionValues(flair::core::Vector2D &pos_error,flair::core::Vector2D &vel_error,float &yaw_ref);
63 const flair::core::AhrsData *GetReferenceOrientation(void);
64 void SignalEvent(Event_t event);
65 void CheckMessages(void);
66
67 flair::filter::Pid *u_x, *u_y;
68
69 flair::core::Vector2D pos_hold;
70 float yaw_hold;
71 flair::core::Socket *message;
72 flair::core::Time posWait;
73
74 flair::filter::TrajectoryGenerator2DCircle *circle;
75 flair::gui::DoubleSpinBox *xCircleCenter,*yCircleCenter,*yDisplacement;
76 flair::core::AhrsData *customReferenceOrientation,*customOrientation;
77};
78
79#endif // SIMPLEFLEET_H
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