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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 mTecs.h
*
* @author Thomas Gubler <thomasgubler@gmail.com>
*/
#ifndef MTECS_H_
#define MTECS_H_
#include "mTecs_blocks.h"
#include "limitoverride.h"
#include <controllib/block/BlockParam.hpp>
#include <drivers/drv_hrt.h>
#include <uORB/Publication.hpp>
#include <uORB/topics/tecs_status.h>
namespace fwPosctrl
{
/* Main class of the mTecs */
class mTecs : public control::SuperBlock
{
public:
mTecs();
virtual ~mTecs();
/*
* Control in altitude setpoint and speed 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, LimitOverride limitOverride);
/*
* Control in flightPathAngle setpoint (flollow a slope etc.) and acceleration mode (base case)
*/
int updateFlightPathAngleAcceleration(float flightPathAngle, float flightPathAngleSp, float airspeedFiltered,
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; }
float getThrottleSetpoint() { return _throttleSp; }
float getPitchSetpoint() { return _pitchSp; }
float airspeedLowpassUpdate(float input) { return _airspeedLowpass.update(input); }
protected:
/* parameters */
control::BlockParamInt _mTecsEnabled; /**< 1 if mTecs is enabled */
control::BlockParamFloat _airspeedMin; /**< minimal airspeed */
/* Publications */
uORB::Publication<tecs_status_s> _status; /**< publish internal values for logging */
/* control blocks */
BlockFFPILimitedCustom _controlTotalEnergy; /**< FFPI controller for total energy control: output
is throttle */
BlockFFPILimitedCustom _controlEnergyDistribution; /**< FFPI controller for energy distribution control:
output is pitch */
BlockPDLimited _controlAltitude; /**< PD controller for altitude: output is the flight
path angle setpoint */
BlockPDLimited _controlAirSpeed; /**< PD controller for airspeed: output is acceleration
setpoint */
/* Other calculation Blocks */
control::BlockLowPass _flightPathAngleLowpass; /**< low pass filter for the flight path angle */
control::BlockLowPass _airspeedLowpass; /**< low pass filter for airspeed */
control::BlockDerivative _airspeedDerivative; /**< airspeed derivative calulation */
/* Output setpoints */
float _throttleSp; /**< Throttle Setpoint from 0 to 1 */
float _pitchSp; /**< Pitch Setpoint from -pi to pi */
/* Output Limits in special modes */
BlockOutputLimiter _BlockOutputLimiterTakeoffThrottle; /**< Throttle Limits during takeoff */
BlockOutputLimiter _BlockOutputLimiterTakeoffPitch; /**< Pitch Limit during takeoff */
BlockOutputLimiter _BlockOutputLimiterUnderspeedThrottle; /**< Throttle Limits when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterUnderspeedPitch; /**< Pitch Limit when underspeed is detected */
BlockOutputLimiter _BlockOutputLimiterLandThrottle; /**< Throttle Limits during landing (only in
last phase)*/
BlockOutputLimiter _BlockOutputLimiterLandPitch; /**< Pitch Limit during landing */
/* Time measurements */
hrt_abstime timestampLastIteration; /**< Saves the result of hrt_absolute_time() of the last iteration */
bool _firstIterationAfterReset; /**< True during the first iteration after a reset */
bool _dtCalculated; /**< True if dt has been calculated in this iteration */
int _counter;
bool _debug; ///< Set true to enable debug output
static void debug_print(const char *fmt, va_list args);
void debug(const char *fmt, ...);
/*
* Measure and update the time step dt if this was not already done in the current iteration
*/
void updateTimeMeasurement();
};
} /* namespace fwPosctrl */
#endif /* MTECS_H_ */
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