Changeset 105 in flair-src for trunk/demos/PidStandalone/uav/src/PidUav.h
- Timestamp:
- 10/18/16 09:13:08 (7 years ago)
- File:
-
- 1 edited
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trunk/demos/PidStandalone/uav/src/PidUav.h
r44 r105 17 17 #include <UavStateMachine.h> 18 18 19 namespace 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 } 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 } 34 33 } 35 34 36 class PidUav : public framework::meta::UavStateMachine { 37 public: 38 PidUav(framework::meta::Uav* uav, framework::sensor::TargetController *controller); 39 ~PidUav(); 35 class PidUav : public flair::meta::UavStateMachine { 36 public: 37 PidUav(flair::meta::Uav *uav, 38 flair::sensor::TargetController *controller); 39 ~PidUav(); 40 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; 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; 54 52 }; 55 53
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