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/****************************************************************************
*
* Copyright (c) 2013 PX4 Development Team. All rights reserved.
* Author: @author Thomas Gubler <thomasgubler@gmail.com>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @file limitoverride.h
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef LIMITOVERRIDE_H_
#define LIMITOVERRIDE_H_
#include "mTecs_blocks.h"
namespace fwPosctrl
{
/* A small class which provides helper functions to override control output limits which are usually set by
* parameters in special cases
*/
class LimitOverride
{
public:
LimitOverride() :
overrideThrottleMinEnabled(false),
overrideThrottleMaxEnabled(false),
overridePitchMinEnabled(false),
overridePitchMaxEnabled(false)
{};
~LimitOverride() {};
/*
* Override the limits of the outputlimiter instances given by the arguments with the limits saved in
* this class (if enabled)
* @return true if the limit was applied
*/
bool applyOverride(BlockOutputLimiter &outputLimiterThrottle,
BlockOutputLimiter &outputLimiterPitch);
/* Functions to enable or disable the override */
void enableThrottleMinOverride(float value) { enable(&overrideThrottleMinEnabled,
&overrideThrottleMin, value); }
void disableThrottleMinOverride() { disable(&overrideThrottleMinEnabled); }
void enableThrottleMaxOverride(float value) { enable(&overrideThrottleMaxEnabled,
&overrideThrottleMax, value); }
void disableThrottleMaxOverride() { disable(&overrideThrottleMaxEnabled); }
void enablePitchMinOverride(float value) { enable(&overridePitchMinEnabled,
&overridePitchMin, value); }
void disablePitchMinOverride() { disable(&overridePitchMinEnabled); }
void enablePitchMaxOverride(float value) { enable(&overridePitchMaxEnabled,
&overridePitchMax, value); }
void disablePitchMaxOverride() { disable(&overridePitchMaxEnabled); }
protected:
bool overrideThrottleMinEnabled;
float overrideThrottleMin;
bool overrideThrottleMaxEnabled;
float overrideThrottleMax;
bool overridePitchMinEnabled;
float overridePitchMin; //in degrees (replaces param values)
bool overridePitchMaxEnabled;
float overridePitchMax; //in degrees (replaces param values)
/* Enable a specific limit override */
void enable(bool *flag, float *limit, float value) { *flag = true; *limit = value; };
/* Disable a specific limit override */
void disable(bool *flag) { *flag = false; };
};
} /* namespace fwPosctrl */
#endif /* LIMITOVERRIDE_H_ */
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