Changeset 432 in flair-src for trunk/lib/FlairMeta/src/UavStateMachine.h
- Timestamp:
- Jul 12, 2021, 11:19:21 AM (4 years ago)
- File:
-
- 1 edited
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trunk/lib/FlairMeta/src/UavStateMachine.h
r313 r432 26 26 27 27 namespace flair { 28 namespace core { 29 class FrameworkManager; 30 class AhrsData; 31 class io_data; 32 } 33 namespace gui { 34 class PushButton; 35 class GridLayout; 36 class Tab; 37 class DoubleSpinBox; 38 } 39 namespace filter { 40 class ControlLaw; 41 class NestedSat; 42 class Pid; 43 class PidThrust; 44 class TrajectoryGenerator1D; 45 } 46 namespace sensor { 47 class TargetController; 48 } 49 namespace meta { 50 class MetaDualShock3; 51 class Uav; 52 } 28 namespace core { 29 class FrameworkManager; 30 class AhrsData; 31 class io_data; 32 } 33 namespace gui { 34 class PushButton; 35 class GridLayout; 36 class Tab; 37 class DoubleSpinBox; 38 } 39 namespace filter { 40 class ControlLaw; 41 class NestedSat; 42 class Pid; 43 class PidThrust; 44 class TrajectoryGenerator1D; 45 } 46 namespace sensor { 47 class TargetController; 48 class AltitudeSensor; 49 } 50 namespace meta { 51 class MetaDualShock3; 52 class Uav; 53 } 53 54 } 54 55 … … 102 103 }; 103 104 104 105 105 UavStateMachine(sensor::TargetController* controller); 106 ~UavStateMachine(); 106 107 107 108 const core::Quaternion &GetCurrentQuaternion(void) const; … … 109 110 const core::Vector3Df &GetCurrentAngularSpeed(void) const; 110 111 111 112 113 114 115 116 117 118 119 112 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); 120 121 121 122 virtual const core::AhrsData *GetOrientation(void) const; … … 126 127 bool ExitFailSafeMode(void); 127 128 void FailSafeAltitudeValues(float &z, float &dz) const; // in uav coordinate! 129 130 /*! 131 * \brief Set the FailSafe AltitudeSensor 132 * 133 * by default, the failsafe AltitudeSensor is the MetaUsRangeFinder 134 * you can change it (by a vrpn one) using this method in the case us range finder is not working well 135 * use it carefully, trusting only vrpn can be risquee 136 * 137 * \param altitudeSensor altitudeSensor to use when is failsafe 138 */ 139 void SetFailSafeAltitudeSensor(sensor::AltitudeSensor *altitudeSensor); 128 140 129 141 gui::GridLayout *GetButtonsLayout(void) const; … … 306 318 filter::PidThrust *uZ; 307 319 filter::TrajectoryGenerator1D *altitudeTrajectory; 320 sensor::AltitudeSensor *failSafeAltitudeSensor; 308 321 }; 309 }; 310 }; 322 }; // end namespace meta 323 }; // end namespace flair 311 324 #endif // UAVSTATEMACHINE_H
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