Changeset 25 in flair-dev for trunk/include/FlairMeta/UavStateMachine.h


Ignore:
Timestamp:
Jun 23, 2016, 10:18:10 AM (4 years ago)
Author:
Bayard Gildas
Message:

Plop

File:
1 edited

Legend:

Unmodified
Added
Removed
  • trunk/include/FlairMeta/UavStateMachine.h

    r13 r25  
    101101  };
    102102
    103   UavStateMachine(meta::Uav *uav, uint16_t ds3Port = 20000);
    104   ~UavStateMachine();
     103        UavStateMachine(meta::Uav* uav, sensor::TargetController* controller);
     104        ~UavStateMachine();
    105105
    106106  const core::Quaternion &GetCurrentQuaternion(void) const;
     
    110110  const meta::Uav *GetUav(void) const;
    111111
    112   void Land(void);
    113   void TakeOff(void);
    114   void EmergencyStop(void);
    115   //! Used to signal an event
    116   /*!
    117       \param event the event which occured
    118   */
    119   virtual void SignalEvent(Event_t event);
     112        void Land(void);
     113        void EmergencyLand(void);
     114        void TakeOff(void);
     115        void EmergencyStop(void);
     116        //! Used to signal an event
     117        /*!
     118            \param event the event which occured
     119        */
     120        virtual void SignalEvent(Event_t event);
    120121
    121122  virtual const core::AhrsData *GetOrientation(void) const;
     
    262263
    263264  meta::Uav *uav;
     265  sensor::TargetController *controller;
    264266
    265267  core::Quaternion currentQuaternion;
     
    289291  bool flagBatteryLow;
    290292  bool flagConnectionLost;
     293  bool flagCriticalSensorLost;
    291294  bool flagZTrajectoryFinished;
     295  bool safeToFly;
    292296  filter::NestedSat *uRoll, *uPitch;
    293297  filter::Pid *uYaw;
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