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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/AntennaTracker/mode.h
Views: 1798
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#pragma once

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#include <stdint.h>

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#include <AP_Math/AP_Math.h>

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class Mode {

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public:

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    enum class Number {

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        MANUAL=0,

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        STOP=1,

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        SCAN=2,

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        SERVOTEST=3,

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        GUIDED=4,

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        AUTO=10,

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        INITIALISING=16

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        // Mode number 30 reserved for "offboard" for external/lua control.

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    };

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    Mode() {}

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    // do not allow copying

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    CLASS_NO_COPY(Mode);

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    // returns a unique number specific to this mode

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    virtual Mode::Number number() const = 0;

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    virtual const char* name() const = 0;

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    virtual bool requires_armed_servos() const = 0;

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    virtual void update() = 0;

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protected:

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    void update_scan();

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    void update_auto();

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    bool get_ef_yaw_direction();

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    void calc_angle_error(float pitch, float yaw, bool direction_reversed);

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    void convert_ef_to_bf(float pitch, float yaw, float& bf_pitch, float& bf_yaw);

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    bool convert_bf_to_ef(float pitch, float yaw, float& ef_pitch, float& ef_yaw);

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};

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class ModeAuto : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::AUTO; }

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    const char* name() const override { return "Auto"; }

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    bool requires_armed_servos() const override { return true; }

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    void update() override;

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};

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class ModeGuided : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::GUIDED; }

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    const char* name() const override { return "Guided"; }

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    bool requires_armed_servos() const override { return true; }

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    void update() override;

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    void set_angle(const Quaternion &target_att, bool use_yaw_rate, float yaw_rate_rads) {

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        _target_att = target_att;

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        _use_yaw_rate = use_yaw_rate;

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        _yaw_rate_rads = yaw_rate_rads;

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    }

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private:

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    Quaternion _target_att;

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    bool _use_yaw_rate;

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    float _yaw_rate_rads;

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};

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class ModeInitialising : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::INITIALISING; }

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    const char* name() const override { return "Initialising"; }

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    bool requires_armed_servos() const override { return false; }

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    void update() override {};

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};

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class ModeManual : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::MANUAL; }

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    const char* name() const override { return "Manual"; }

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    bool requires_armed_servos() const override { return true; }

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    void update() override;

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};

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class ModeScan : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::SCAN; }

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    const char* name() const override { return "Scan"; }

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    bool requires_armed_servos() const override { return true; }

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    void update() override;

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};

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class ModeServoTest : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::SERVOTEST; }

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    const char* name() const override { return "ServoTest"; }

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    bool requires_armed_servos() const override { return true; }

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    void update() override {};

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    bool set_servo(uint8_t servo_num, uint16_t pwm);

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};

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class ModeStop : public Mode {

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public:

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    Mode::Number number() const override { return Mode::Number::STOP; }

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    const char* name() const override { return "Stop"; }

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    bool requires_armed_servos() const override { return false; }

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    void update() override {};

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};

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