Ignore:
Timestamp:
May 31, 2017, 3:54:26 PM (8 years ago)
Author:
Sanahuja Guillaume
Message:

doc

File:
1 edited

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  • trunk/doc/Flair/_uav_state_machine_8h_source.html

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    208208<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> &amp;GetCurrentQuaternion(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
    209209<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div>
    210 <div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3D</a> &amp;GetCurrentAngularSpeed(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
     210<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> &amp;GetCurrentAngularSpeed(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
    211211<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;</div>
    212212<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">void</span> Land(<span class="keywordtype">void</span>);</div>
    … …  
    255255<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;</div>
    256256<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *GetJoystick(<span class="keywordtype">void</span>) <span class="keyword">const</span>;</div>
    257 <div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;</div>
    258 <div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *setupLawTab, *graphLawTab;</div>
    259 <div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div>
    260 <div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;<span class="keyword">private</span>:</div>
    261 <div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keyword">enum class</span> AltitudeState_t {</div>
    262 <div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2">Stopped</a>,      </div>
    263 <div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94">TakingOff</a>,    </div>
    264 <div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">Stabilized</a>,   </div>
    265 <div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">StartLanding</a>, </div>
    266 <div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">FinishLanding</a> </div>
    267 <div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  };</div>
    268 <div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  AltitudeState_t altitudeState;</div>
    269 <div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordtype">void</span> ProcessAltitudeFiniteStateMachine();</div>
    270 <div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordtype">void</span> ComputeReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude, <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
    271 <div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;</div>
    272 <div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;  <span class="keywordtype">float</span> groundAltitude; <span class="comment">// effective altitude when the uav leaves the ground</span></div>
    273 <div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordtype">float</span> currentAltitude, currentVerticalSpeed;</div>
    274 <div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;</div>
    275 <div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  <span class="keywordtype">bool</span> failSafeMode;</div>
    276 <div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keywordtype">void</span> SecurityCheck(<span class="keywordtype">void</span>);</div>
    277 <div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">void</span> MandatorySecurityCheck(<span class="keywordtype">void</span>);</div>
    278 <div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordtype">void</span> CheckJoystick();</div>
    279 <div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordtype">void</span> GenericCheckJoystick();</div>
    280 <div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordtype">void</span> CheckPushButton(<span class="keywordtype">void</span>);</div>
    281 <div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">void</span> GenericCheckPushButton(<span class="keywordtype">void</span>);</div>
    282 <div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
    283 <div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordtype">void</span> StopMotors(<span class="keywordtype">void</span>);</div>
    284 <div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keywordtype">bool</span> IsValuePossible(<span class="keywordtype">float</span> value,std::string desc);</div>
    285 <div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;</div>
    286 <div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *uav;</div>
    287 <div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *controller;</div>
    288 <div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;</div>
    289 <div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> currentQuaternion;</div>
    290 <div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3D</a> currentAngularSpeed;</div>
    291 <div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;</div>
    292 <div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *ComputeReferenceOrientation(<span class="keywordtype">void</span>);</div>
    293 <div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;</div>
    294 <div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  <span class="keywordtype">void</span> ComputeOrientation(<span class="keywordtype">void</span>);</div>
    295 <div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordtype">void</span> ComputeAltitude(<span class="keywordtype">void</span>);</div>
    296 <div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;</div>
    297 <div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordtype">void</span> ComputeTorques(<span class="keywordtype">void</span>);</div>
    298 <div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> currentTorques, savedDefaultTorques;</div>
    299 <div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultTorques;</div>
    300 <div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;</div>
    301 <div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  <span class="keywordtype">void</span> ComputeThrust(<span class="keywordtype">void</span>);</div>
    302 <div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">float</span> currentThrust, savedDefaultThrust;</div>
    303 <div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultThrust;</div>
    304 <div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;</div>
    305 <div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_push_button.html">gui::PushButton</a> *button_kill, *button_take_off, *button_land,</div>
    306 <div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      *button_start_log, *button_stop_log;</div>
    307 <div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *buttonslayout;</div>
    308 <div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *desiredTakeoffAltitude, *desiredLandingAltitude;</div>
    309 <div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  AltitudeMode_t altitudeMode;</div>
    310 <div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  OrientationMode_t orientationMode;</div>
    311 <div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  ThrustMode_t thrustMode;</div>
    312 <div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  TorqueMode_t torqueMode;</div>
    313 <div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordtype">bool</span> flagBatteryLow;</div>
    314 <div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">bool</span> flagConnectionLost;</div>
    315 <div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordtype">bool</span> flagCriticalSensorLost;</div>
    316 <div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordtype">bool</span> flagZTrajectoryFinished;</div>
    317 <div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">bool</span> safeToFly;</div>
    318 <div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_nested_sat.html">filter::NestedSat</a> *uRoll, *uPitch;</div>
    319 <div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid.html">filter::Pid</a> *uYaw;</div>
    320 <div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">filter::PidThrust</a> *uZ;</div>
    321 <div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;</div>
    322 <div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_meta_dual_shock3.html">MetaDualShock3</a> *joy;</div>
    323 <div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">filter::TrajectoryGenerator1D</a> *altitudeTrajectory;</div>
     257<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_meta_dual_shock3.html">MetaDualShock3</a> *joy;</div>
     258<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;</div>
     259<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_tab.html">gui::Tab</a> *setupLawTab, *graphLawTab;</div>
     260<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;</div>
     261<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;<span class="keyword">private</span>:</div>
     262<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  <span class="keyword">enum class</span> AltitudeState_t {</div>
     263<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86ac23e2b09ebe6bf4cb5e2a9abe85c0be2">Stopped</a>,      </div>
     264<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a85916c5f3400cfa25d988f05b6736a94">TakingOff</a>,    </div>
     265<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86afda22026db89cdc5e88b262ad9424b41">Stabilized</a>,  </div>
     266<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">StartLanding</a>, </div>
     267<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;    <a class="code" href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">FinishLanding</a> </div>
     268<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  };</div>
     269<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  AltitudeState_t altitudeState;</div>
     270<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  <span class="keywordtype">void</span> ProcessAltitudeFiniteStateMachine();</div>
     271<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;  <span class="keywordtype">void</span> ComputeReferenceAltitude(<span class="keywordtype">float</span> &amp;refAltitude, <span class="keywordtype">float</span> &amp;refVerticalVelocity);</div>
     272<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;</div>
     273<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;  <span class="keywordtype">float</span> groundAltitude; <span class="comment">// effective altitude when the uav leaves the ground</span></div>
     274<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordtype">float</span> currentAltitude, currentVerticalSpeed;</div>
     275<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;</div>
     276<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;  <span class="keywordtype">bool</span> failSafeMode;</div>
     277<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">void</span> SecurityCheck(<span class="keywordtype">void</span>);</div>
     278<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordtype">void</span> MandatorySecurityCheck(<span class="keywordtype">void</span>);</div>
     279<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordtype">void</span> CheckJoystick();</div>
     280<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordtype">void</span> GenericCheckJoystick();</div>
     281<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordtype">void</span> CheckPushButton(<span class="keywordtype">void</span>);</div>
     282<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  <span class="keywordtype">void</span> GenericCheckPushButton(<span class="keywordtype">void</span>);</div>
     283<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  <span class="keywordtype">void</span> Run(<span class="keywordtype">void</span>);</div>
     284<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;  <span class="keywordtype">void</span> StopMotors(<span class="keywordtype">void</span>);</div>
     285<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keywordtype">bool</span> IsValuePossible(<span class="keywordtype">float</span> value,std::string desc);</div>
     286<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;</div>
     287<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;  <a class="code" href="classflair_1_1meta_1_1_uav.html">meta::Uav</a> *uav;</div>
     288<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  <a class="code" href="classflair_1_1sensor_1_1_target_controller.html">sensor::TargetController</a> *controller;</div>
     289<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;</div>
     290<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <a class="code" href="classflair_1_1core_1_1_quaternion.html">core::Quaternion</a> currentQuaternion;</div>
     291<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;  <a class="code" href="classflair_1_1core_1_1_vector3_d.html">core::Vector3Df</a> currentAngularSpeed;</div>
     292<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;</div>
     293<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="keyword">const</span> <a class="code" href="classflair_1_1core_1_1_ahrs_data.html">core::AhrsData</a> *ComputeReferenceOrientation(<span class="keywordtype">void</span>);</div>
     294<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;</div>
     295<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  <span class="keywordtype">void</span> ComputeOrientation(<span class="keywordtype">void</span>);</div>
     296<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keywordtype">void</span> ComputeAltitude(<span class="keywordtype">void</span>);</div>
     297<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;</div>
     298<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordtype">void</span> ComputeTorques(<span class="keywordtype">void</span>);</div>
     299<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  <a class="code" href="classflair_1_1core_1_1_euler.html">core::Euler</a> currentTorques, savedDefaultTorques;</div>
     300<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultTorques;</div>
     301<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;</div>
     302<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="keywordtype">void</span> ComputeThrust(<span class="keywordtype">void</span>);</div>
     303<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordtype">float</span> currentThrust, savedDefaultThrust;</div>
     304<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  <span class="keywordtype">bool</span> needToComputeDefaultThrust;</div>
     305<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;</div>
     306<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_push_button.html">gui::PushButton</a> *button_kill, *button_take_off, *button_land,</div>
     307<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      *button_start_log, *button_stop_log;</div>
     308<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_grid_layout.html">gui::GridLayout</a> *buttonslayout;</div>
     309<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <a class="code" href="classflair_1_1gui_1_1_double_spin_box.html">gui::DoubleSpinBox</a> *desiredTakeoffAltitude, *desiredLandingAltitude;</div>
     310<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  AltitudeMode_t altitudeMode;</div>
     311<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  OrientationMode_t orientationMode;</div>
     312<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  ThrustMode_t thrustMode;</div>
     313<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  TorqueMode_t torqueMode;</div>
     314<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="keywordtype">bool</span> flagBatteryLow;</div>
     315<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  <span class="keywordtype">bool</span> flagConnectionLost;</div>
     316<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordtype">bool</span> flagCriticalSensorLost;</div>
     317<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keywordtype">bool</span> flagZTrajectoryFinished;</div>
     318<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keywordtype">bool</span> safeToFly;</div>
     319<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_nested_sat.html">filter::NestedSat</a> *uRoll, *uPitch;</div>
     320<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid.html">filter::Pid</a> *uYaw;</div>
     321<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_pid_thrust.html">filter::PidThrust</a> *uZ;</div>
     322<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <a class="code" href="classflair_1_1filter_1_1_trajectory_generator1_d.html">filter::TrajectoryGenerator1D</a> *altitudeTrajectory;</div>
     323<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;};</div>
    324324<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;};</div>
    325325<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;};</div>
    326 <div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;};</div>
    327 <div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;<span class="preprocessor">#endif // UAVSTATEMACHINE_H</span></div>
     326<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;<span class="preprocessor">#endif // UAVSTATEMACHINE_H</span></div>
    328327<div class="ttc" id="classflair_1_1core_1_1io__data_html"><div class="ttname"><a href="classflair_1_1core_1_1io__data.html">flair::core::io_data</a></div><div class="ttdoc">Abstract class for data types. </div><div class="ttdef"><b>Definition:</b> io_data.h:94</div></div>
    329328<div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a734a11e3bbedd8dd1726b2c450353da5"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a734a11e3bbedd8dd1726b2c450353da5">flair::meta::UavStateMachine::SignalEvent</a></div><div class="ttdeci">virtual void SignalEvent(Event_t event)</div><div class="ttdoc">Used to signal an event. </div></div>
    … …  
    333332<div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0912358d703c9a28d93a2707b86161b2">flair::meta::UavStateMachine::AltitudeState_t::FinishLanding</a></div></div>
    334333<div class="ttc" id="namespaceflair_html"><div class="ttname"><a href="namespaceflair.html">flair</a></div><div class="ttdoc">namespace of the flair Framework </div><div class="ttdef"><b>Definition:</b> Ahrs.h:19</div></div>
    335 <div class="ttc" id="classflair_1_1core_1_1_vector3_d_html"><div class="ttname"><a href="classflair_1_1core_1_1_vector3_d.html">flair::core::Vector3D</a></div><div class="ttdoc">Class defining a 3D vector. </div><div class="ttdef"><b>Definition:</b> Vector3D.h:28</div></div>
     334<div class="ttc" id="classflair_1_1core_1_1_vector3_d_html"><div class="ttname"><a href="classflair_1_1core_1_1_vector3_d.html">flair::core::Vector3D&lt; float &gt;</a></div></div>
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    337336<div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#a8074514837d84114b8b4e2a6e1d7da86a0a0480d215decaf46260e3db52e4dc4c">flair::meta::UavStateMachine::AltitudeState_t::StartLanding</a></div></div>
    … …  
    357356<div class="ttc" id="classflair_1_1core_1_1_thread_html"><div class="ttname"><a href="classflair_1_1core_1_1_thread.html">flair::core::Thread</a></div><div class="ttdoc">Abstract class for a thread. </div><div class="ttdef"><b>Definition:</b> Thread.h:38</div></div>
    358357<div class="ttc" id="classflair_1_1gui_1_1_double_spin_box_html"><div class="ttname"><a href="classflair_1_1gui_1_1_double_spin_box.html">flair::gui::DoubleSpinBox</a></div><div class="ttdoc">Class displaying a QDoubleSpinBox on the ground station. </div><div class="ttdef"><b>Definition:</b> DoubleSpinBox.h:28</div></div>
    359 <div class="ttc" id="classflair_1_1meta_1_1_uav_html"><div class="ttname"><a href="classflair_1_1meta_1_1_uav.html">flair::meta::Uav</a></div><div class="ttdoc">Base class to construct sensors/actuators depending on uav type. The Object is created with the Frame...</div><div class="ttdef"><b>Definition:</b> Uav.h:45</div></div>
     358<div class="ttc" id="classflair_1_1meta_1_1_uav_html"><div class="ttname"><a href="classflair_1_1meta_1_1_uav.html">flair::meta::Uav</a></div><div class="ttdoc">Base class to construct sensors/actuators depending on uav type. The Object is created with the Frame...</div><div class="ttdef"><b>Definition:</b> Uav.h:46</div></div>
    360359<div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_aa642bfeb1d97dec839088e2256a3699b"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#aa642bfeb1d97dec839088e2256a3699b">flair::meta::UavStateMachine::AddDataToControlLawLog</a></div><div class="ttdeci">void AddDataToControlLawLog(const core::io_data *data)</div><div class="ttdoc">Add an io_data to the control law logs. </div></div>
    361360<div class="ttc" id="classflair_1_1meta_1_1_uav_state_machine_html_ac93d0d595a86a014c27375c973f693a8"><div class="ttname"><a href="classflair_1_1meta_1_1_uav_state_machine.html#ac93d0d595a86a014c27375c973f693a8">flair::meta::UavStateMachine::ComputeDefaultTorques</a></div><div class="ttdeci">void ComputeDefaultTorques(core::Euler &amp;torques)</div><div class="ttdoc">Compute Default Torques. </div></div>
    362 <div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:25</div></div>
     361<div class="ttc" id="classflair_1_1core_1_1_quaternion_html"><div class="ttname"><a href="classflair_1_1core_1_1_quaternion.html">flair::core::Quaternion</a></div><div class="ttdoc">Class defining a quaternion. </div><div class="ttdef"><b>Definition:</b> Quaternion.h:26</div></div>
    363362<div class="ttc" id="classflair_1_1gui_1_1_tab_html"><div class="ttname"><a href="classflair_1_1gui_1_1_tab.html">flair::gui::Tab</a></div><div class="ttdoc">Class displaying a QTab on the ground station. </div><div class="ttdef"><b>Definition:</b> Tab.h:29</div></div>
    364363<div class="ttc" id="_euler_8h_html"><div class="ttname"><a href="_euler_8h.html">Euler.h</a></div><div class="ttdoc">Class defining euler angles. </div></div>
    … …  
    369368  <ul>
    370369    <li class="navelem"><a class="el" href="dir_33c2ee9b1665499374b4225c427cf176.html">igep</a></li><li class="navelem"><a class="el" href="dir_f1fe274389177bd7e17de7949c4ffada.html">flair-src</a></li><li class="navelem"><a class="el" href="dir_3ef62148cf94871b4b6ee5d6e3a989c1.html">lib</a></li><li class="navelem"><a class="el" href="dir_e44722efdb10e7ceda2dbbaecca58ed3.html">FlairMeta</a></li><li class="navelem"><a class="el" href="dir_ed462f49eec2f2c269d321a045b86103.html">src</a></li><li class="navelem"><b>UavStateMachine.h</b></li>
    371     <li class="footer">Generated on Tue Jan 17 2017 09:52:30 for Flair by
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