vtol_follower_priv.h

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/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, see <http://www.gnu.org/licenses/>
 */

#ifndef VTOL_FOLLOWER_PRIV_H
#define VTOL_FOLLOWER_PRIV_H

#include "openpilot.h"
#include "pathdesired.h"
#include "paths.h"
#include "vtolpathfollowersettings.h"

enum vtol_goals {
        GOAL_LAND_NONE,           
        GOAL_HOLD_POSITION,       
        GOAL_FLY_PATH,            
        GOAL_LAND_HERE,           
        GOAL_LAND_HOME,           
};

enum vtol_pid {
        NORTH_VELOCITY,
        EAST_VELOCITY,
        DOWN_VELOCITY,
        NORTH_POSITION,
        EAST_POSITION,
        DOWN_POSITION,
        VTOL_PID_NUM
};

extern VtolPathFollowerSettingsData vtol_guidanceSettings;
extern float vtol_dT;

// Control code public API methods
int32_t vtol_follower_control_path(const PathDesiredData *pathDesired, struct path_status *progress);
int32_t vtol_follower_control_endpoint(const float *hold_pos_ned);
int32_t vtol_follower_control_altrate(const float *hold_pos_ned,
                float alt_adj);
int32_t vtol_follower_control_attitude(const float dT, const float *att_adj);
int32_t vtol_follower_control_land(const float *hold_pos_ned, bool *landed);
bool vtol_follower_control_loiter(float dT, float *hold_pos, float *att_adj,
                float *alt_adj);
void vtol_follower_control_settings_updated();

// Follower FSM public API methods

int32_t vtol_follower_fsm_activate_goal(enum vtol_goals new_goal);

int32_t vtol_follower_fsm_update();

#endif