MAV'RIC: /home/travis/build/lis-epfl/MAVRIC_Library/flight_controller/flight_controller

00001 /*******************************************************************************
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00031 
00032 /*******************************************************************************
00033  * \file   flight_controller_stack.hpp
00034  *
00035  * \author MAV'RIC Team
00036  * \author Basil Huber
00037  * \author Julien Lecoeur
00038  *
00039  * \brief  Base class for cascade style controller hierarchy
00040  *
00041  ******************************************************************************/
00042 
00043 
00044 #ifndef FLIGHT_CONTROLLER_STACK_HPP_
00045 #define FLIGHT_CONTROLLER_STACK_HPP_
00046 
00047 #include "control/control_command.hpp"
00048 #include "control/controller.hpp"
00049 #include "flight_controller/flight_controller.hpp"
00050 #include "control/servos_mix.hpp"
00051 
00055 class Flight_controller_stack: public Flight_controller
00056 {
00057 public:
00058     typedef Controller< position_command_t, velocity_command_t>                         pos_ctrl_t;  
00059     typedef Controller_1_to_2<velocity_command_t, attitude_command_t, thrust_command_t> vel_ctrl_t;  
00060     typedef Controller<attitude_command_t, rate_command_t>                              att_ctrl_t;  
00061     typedef Controller<rate_command_t, torque_command_t>                                rate_ctrl_t; 
00062     typedef Servos_mix                                                                  mix_ctrl_t;  
00063 
00073     Flight_controller_stack(pos_ctrl_t& pos_ctrl,
00074                             vel_ctrl_t& vel_ctrl,
00075                             att_ctrl_t& att_ctrl,
00076                             rate_ctrl_t& rate_ctrl,
00077                             mix_ctrl_t& mix_ctrl);
00078 
00079 
00086     virtual bool update(void);
00087 
00088 
00092     bool failsafe(void);
00093 
00094 
00101     bool set_command(const position_command_t& position);
00102     bool set_command(const velocity_command_t& velocity);
00103     bool set_command(const attitude_command_t& attitude);
00104     bool set_command(const rate_command_t& rate);
00105     bool set_command(const torque_command_t& torque);
00106     bool set_command(const thrust_command_t& thrust);
00107 
00111     bool get_command(position_command_t& position) const;
00112     bool get_command(velocity_command_t& velocity) const;
00113     bool get_command(attitude_command_t& attitude) const;
00114     bool get_command(rate_command_t& rate) const;
00115     bool get_command(torque_command_t& torque) const;
00116     bool get_command(thrust_command_t& thrust) const;
00117     bool get_output(empty_command_t& command) const;
00118 
00119 protected:
00123     bool update_in_thrust_and_torque_mode(void);
00124 
00128     bool update_in_thrust_and_rate_mode(void);
00129 
00133     bool update_in_thrust_and_attitude_mode(void);
00134 
00138     bool update_in_velocity_mode(void);
00139 
00143     bool update_in_position_mode(void);
00144 
00145 
00146 protected:
00147     command_t command_;      
00148 
00149 private:
00150     pos_ctrl_t&  pos_ctrl_;  
00151     vel_ctrl_t&  vel_ctrl_;  
00152     att_ctrl_t&  att_ctrl_;  
00153     rate_ctrl_t& rate_ctrl_; 
00154     mix_ctrl_t&  mix_ctrl_;  
00155 };
00156 
00157 #endif /* FLIGHT_CONTROLLER_STACK_HPP_ */