State machine for UAV The Thread is created with the FrameworkManager as parent. FrameworkManager must be created before. The Thread is synchronized with Ahrs, unless a period is set with SetPeriodUS or SetPeriodMS. More...

#include <UavStateMachine.h>

Inheritance diagram for flair::meta::UavStateMachine:

Protected Types
enum	AltitudeMode_t { Manual, Custom }

enum	OrientationMode_t { Manual, Custom }

enum	ThrustMode_t { Default, Custom }

enum	TorqueMode_t { Default, Custom }

enum	Event_t { EnteringFailSafeMode, EnteringControlLoop, StartLanding, FinishLanding, Stopped, TakingOff, EmergencyStop, Stabilized, ZTrajectoryFinished }

Protected Member Functions
const AltitudeMode_t &	GetAltitudeMode (void) const

bool	SetAltitudeMode (const AltitudeMode_t &altitudeMode)

bool	GotoAltitude (float desiredAltitude)

const OrientationMode_t &	GetOrientationMode (void) const

bool	SetOrientationMode (const OrientationMode_t &orientationMode)

const ThrustMode_t &	GetThrustMode () const

bool	SetThrustMode (const ThrustMode_t &thrustMode)

const TorqueMode_t &	GetTorqueMode (void) const

bool	SetTorqueMode (const TorqueMode_t &torqueMode)

	UavStateMachine (sensor::TargetController *controller)

const core::Quaternion &	GetCurrentQuaternion (void) const

const core::Vector3Df &	GetCurrentAngularSpeed (void) const

void	Land (void)

void	EmergencyLand (void)

void	TakeOff (void)

void	EmergencyStop (void)

virtual void	SignalEvent (Event_t event)
	Used to signal an event. More...

virtual const core::AhrsData *	GetOrientation (void) const

const core::AhrsData *	GetDefaultOrientation (void) const

virtual void	AltitudeValues (float &z, float &dz) const

void	EnterFailSafeMode (void)

bool	ExitFailSafeMode (void)

void	FailSafeAltitudeValues (float &z, float &dz) const

gui::GridLayout *	GetButtonsLayout (void) const

virtual void	ExtraSecurityCheck (void)

virtual void	ExtraCheckJoystick (void)

virtual void	ExtraCheckPushButton (void)

void	GetDefaultReferenceAltitude (float &refAltitude, float &refVerticalVelocity)

virtual void	GetReferenceAltitude (float &refAltitude, float &refVerticalVelocity)

const core::AhrsData *	GetDefaultReferenceOrientation (void) const

virtual const core::AhrsData *	GetReferenceOrientation (void)

virtual void	ComputeCustomTorques (core::Euler &torques)
	Compute Custom Torques. More...

void	ComputeDefaultTorques (core::Euler &torques)
	Compute Default Torques. More...

virtual float	ComputeCustomThrust (void)
	Get Torques. More...

float	ComputeDefaultThrust (void)
	Compute Default Thrust. More...

void	AddDeviceToControlLawLog (const core::IODevice *device)
	Get Thrust. More...

void	AddDataToControlLawLog (const core::io_data *data)
	Add an io_data to the control law logs. More...

const sensor::TargetController *	GetJoystick (void) const

filter::NestedSat *	GetURoll (void)

filter::NestedSat *	GetUPitch (void)

filter::Pid *	GetUYaw (void)

filter::PidThrust *	GetUZ (void)

filter::TrajectoryGenerator1D *	GetAltitudeTrajectory (void)

Protected Attributes
MetaDualShock3 *	joy

gui::Tab *	setupLawTab

gui::Tab *	graphLawTab

Additional Inherited Members
Public Types inherited from flair::core::Object
enum	color_t { Auto = 0, Red = 31, Green = 32, Orange = 33 }

Public Member Functions inherited from flair::core::Thread
	Thread (const Object parent, std::string name, uint8_t priority, uint32_t stackSize=1024 128)
	Constructor. More...

virtual	~Thread ()
	Destructor. More...

void	Start (void)
	Start the thread. More...

void	SafeStop (void)
	Set a stop flag. More...

bool	ToBeStopped (void) const
	Set a stop flag. More...

void	Join (void)
	Join the thread. More...

void	SetPeriodUS (uint32_t period_us)
	Set the period in micro second. More...

uint32_t	GetPeriodUS () const

void	SetPeriodMS (uint32_t period_ms)
	Set the period in milli second. More...

uint32_t	GetPeriodMS () const

bool	IsPeriodSet (void)
	Returns if period was set. More...

void	WaitPeriod (void) const
	Wait the period. More...

int	WaitUpdate (const IODevice *device)
	Wait update of an IODevice. More...

void	Suspend (void)
	Suspend the thread. More...

bool	SuspendUntil (Time date)
	Suspend the thread with timeout. More...

void	Resume (void)
	Resume the thread. More...

bool	IsSuspended (void) const
	Is the thread suspended? More...

bool	IsRunning (void) const
	Is the thread running? More...

void	SleepUntil (Time time) const
	Sleep until absolute time. More...

void	SleepUS (uint32_t time_us) const
	Sleep for a certain time in micro second. More...

void	SleepMS (uint32_t time_ms) const
	Sleep for a cartain time in milli second. More...

Public Member Functions inherited from flair::core::Object
	Object (const Object *parent=NULL, std::string name="", std::string type="")
	Constructor. More...

virtual	~Object ()
	Destructor. More...

std::string	ObjectName (void) const
	Name. More...

std::string	ObjectType (void) const
	Type. More...

const Object *	Parent (void) const
	Parent. More...

std::vector< const Object * > *	TypeChilds (void) const
	Childs of the same type. More...

std::vector< const Object * > *	Childs (void) const
	Childs. More...

void	Information (const char function, int line, const char format,...) const
	Formatted information. More...

void	Warning (const char function, const char format,...) const
	Formatted warning. More...

void	Error (const char function, const char format,...) const
	Formatted error. More...

bool	ErrorOccured (bool recursive=true) const
	Has an errror occured? More...

Static Public Member Functions inherited from flair::core::Thread
static void	WarnUponSwitches (bool enable)
	Warn if real time / non real time switches occur. More...

Detailed Description

State machine for UAV The Thread is created with the FrameworkManager as parent. FrameworkManager must be created before. The Thread is synchronized with Ahrs, unless a period is set with SetPeriodUS or SetPeriodMS.

Member Function Documentation

virtual void flair::meta::UavStateMachine::SignalEvent ( Event_t event )

protectedvirtual

Used to signal an event.

Parameters

event the event which occured

virtual void flair::meta::UavStateMachine::ComputeCustomTorques ( core::Euler & torques )

protectedvirtual

Compute Custom Torques.

Reimplement this method to use TorqueMode_t::Custom.
This method is called internally by UavStateMachine, do not call it by yourself.
See GetTorques if you need torques values.

Parameters

torques custom torques

void flair::meta::UavStateMachine::ComputeDefaultTorques ( core::Euler & torques )

protected

Compute Default Torques.

This method is called internally by UavStateMachine when using TorqueMode_t::Default.
Torques are only computed once by loop, other calls to this method will use previously computed torques.

Parameters

torques default torques

virtual float flair::meta::UavStateMachine::ComputeCustomThrust ( void )

protectedvirtual

Get Torques.

Returns: torques current torques

Compute Custom Thrust

Reimplement this method to use ThrustMode_t::Custom.
This method is called internally by UavStateMachine, do not call it by yourself.
See GetThrust if you need thrust value.

Returns: custom Thrust

float flair::meta::UavStateMachine::ComputeDefaultThrust ( void )

protected

Compute Default Thrust.

This method is called internally by UavStateMachine when using ThrustMode_t::Default.
Thrust is only computed once by loop, other calls to this method will use previously computed thrust.

Returns: default thrust

void flair::meta::UavStateMachine::AddDeviceToControlLawLog ( const core::IODevice * device )

protected

Get Thrust.

Returns: current thrust

Add an IODevice to the control law logs

The IODevice will be automatically logged among the Uz logs, if logging is enabled (see IODevice::SetDataToLog, FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog).

Parameters

device IODevice to log

void flair::meta::UavStateMachine::AddDataToControlLawLog ( const core::io_data * data )

protected

Add an io_data to the control law logs.

The io_data will be automatically logged among the Uz logs, if logging is enabled (see IODevice::SetDataToLog, FrameworkManager::StartLog and FrameworkManager::AddDeviceToLog).

Parameters

data	io_data to log

Protected Types

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Member Function Documentation