diff options
Diffstat (limited to 'src/modules/fw_pos_control_l1/mtecs/mTecs.h')
-rw-r--r-- | src/modules/fw_pos_control_l1/mtecs/mTecs.h | 75 |
1 files changed, 65 insertions, 10 deletions
diff --git a/src/modules/fw_pos_control_l1/mtecs/mTecs.h b/src/modules/fw_pos_control_l1/mtecs/mTecs.h index 376d39698..ddd6583e8 100644 --- a/src/modules/fw_pos_control_l1/mtecs/mTecs.h +++ b/src/modules/fw_pos_control_l1/mtecs/mTecs.h @@ -60,34 +60,89 @@ public: mTecs(); virtual ~mTecs(); - typedef enum { - TECS_MODE_NORMAL, - TECS_MODE_UNDERSPEED, - TECS_MODE_TAKEOFF, - TECS_MODE_LAND, - TECS_MODE_LAND_THROTTLELIM - } tecs_mode; + /* A small class which provides helper fucntions 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; }; + + + }; /* * Control in altitude setpoint and speed mode */ - int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, float airspeedSp, tecs_mode mode); + int updateAltitudeSpeed(float flightPathAngle, float altitude, float altitudeSp, float airspeed, + float airspeedSp, tecs_mode mode, LimitOverride limitOverride); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and speed mode */ - int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, float airspeedSp, tecs_mode mode); + int updateFlightPathAngleSpeed(float flightPathAngle, float flightPathAngleSp, float airspeed, + float airspeedSp, tecs_mode mode, LimitOverride limitOverride); /* * Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case) */ - int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, float accelerationLongitudinalSp, tecs_mode mode); + int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeed, + float accelerationLongitudinalSp, tecs_mode mode, LimitOverride limitOverride); /* * Reset all integrators */ void resetIntegrators(); + /* + * Reset all derivative calculations + */ + void resetDerivatives(float airspeed); /* Accessors */ bool getEnabled() {return _mTecsEnabled.get() > 0;} |