UAS.h 10.7 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36

======================================================================*/

/**
 * @file
 *   @brief Definition of Unmanned Aerial Vehicle object
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef _UAS_H_
#define _UAS_H_

#include "UASInterface.h"
#include "MG.h"
37
#include <MAVLinkProtocol.h>
pixhawk's avatar
pixhawk committed
38 39 40 41 42 43 44 45 46 47 48 49 50
#include <mavlink.h>

/**
 * @brief A generic MAVLINK-connected MAV/UAV
 *
 * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
 * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
 * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
 * no knowledge of the communication infrastructure is needed.
 */
class UAS : public UASInterface {
    Q_OBJECT
public:
51
    UAS(MAVLinkProtocol* protocol, int id = 0);
pixhawk's avatar
pixhawk committed
52 53
    ~UAS();

54 55
    enum BatteryType
    {
pixhawk's avatar
pixhawk committed
56 57 58 59 60 61
        NICD = 0,
        NIMH = 1,
        LIION = 2,
        LIPOLY = 3,
        LIFE = 4,
        AGZN = 5
62
    }; ///< The type of battery used
pixhawk's avatar
pixhawk committed
63 64 65 66 67 68 69

    static const int lipoFull = 4.2f;  ///< 100% charged voltage
    static const int lipoEmpty = 3.5f; ///< Discharged voltage

    /* MANAGEMENT */

    /** @brief The name of the robot */
70
    QString getUASName(void) const;
pixhawk's avatar
pixhawk committed
71
    /** @brief Get the unique system id */
72
    int getUASID() const;
pixhawk's avatar
pixhawk committed
73
    /** @brief The time interval the robot is switched on */
74
    quint64 getUptime() const;
pixhawk's avatar
pixhawk committed
75
    /** @brief Get the status flag for the communication */
76
    int getCommunicationStatus() const;
pixhawk's avatar
pixhawk committed
77
    /** @brief Add one measurement and get low-passed voltage */
78
    float filterVoltage(float value) const;
pixhawk's avatar
pixhawk committed
79 80 81
    /** @brief Get the links associated with this robot */
    QList<LinkInterface*>* getLinks();

lm's avatar
lm committed
82 83 84 85 86 87 88 89 90
    double getLocalX() const { return localX; };
    double getLocalY() const { return localY; };
    double getLocalZ() const { return localZ; };

    double getRoll() const { return roll; };
    double getPitch() const { return pitch; };
    double getYaw() const { return yaw; };


pixhawk's avatar
pixhawk committed
91
friend class UASWaypointManager;
pixhawk's avatar
pixhawk committed
92
protected:
93 94
    int uasId;                    ///< Unique system ID
    int type;                     ///< UAS type (from type enum)
pixhawk's avatar
pixhawk committed
95 96 97
    quint64 startTime;            ///< The time the UAS was switched on
    CommStatus commStatus;        ///< Communication status
    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
pixhawk's avatar
pixhawk committed
98
    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
99
    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
100
    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
pixhawk's avatar
pixhawk committed
101 102
    BatteryType batteryType;      ///< The battery type
    int cells;                    ///< Number of cells
pixhawk's avatar
pixhawk committed
103

104 105
    UASWaypointManager waypointManager;

pixhawk's avatar
pixhawk committed
106 107 108 109 110 111
    QList<double> actuatorValues;
    QList<QString> actuatorNames;

    QList<double> motorValues;
    QList<QString> motorNames;

pixhawk's avatar
pixhawk committed
112 113
    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
pixhawk's avatar
pixhawk committed
114 115

    // Battery stats
pixhawk's avatar
pixhawk committed
116 117 118 119 120 121
    double fullVoltage;         ///< Voltage of the fully charged battery (100%)
    double emptyVoltage;        ///< Voltage of the empty battery (0%)
    double startVoltage;        ///< Voltage at system start
    double currentVoltage;      ///< Voltage currently measured
    float lpVoltage;            ///< Low-pass filtered voltage
    int timeRemaining;          ///< Remaining time calculated based on previous and current
lm's avatar
lm committed
122
    unsigned int mode;          ///< The current mode of the MAV
pixhawk's avatar
pixhawk committed
123
    int status;                 ///< The current status of the MAV
pixhawk's avatar
pixhawk committed
124 125
    quint64 onboardTimeOffset;

pixhawk's avatar
pixhawk committed
126 127 128 129 130 131 132 133 134
    bool controlRollManual;     ///< status flag, true if roll is controlled manually
    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually

    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
    double manualThrust;        ///< Thrust set by human pilot (radians)
lm's avatar
lm committed
135 136
    float receiveDropRate;      ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
    float sendDropRate;         ///< Percentage of packets that were not received from the MAV by the GCS
lm's avatar
lm committed
137
    bool lowBattAlarm;          ///< Switch if battery is low
138
    bool positionLock;          ///< Status if position information is available or not
lm's avatar
lm committed
139 140 141 142 143 144
    double localX;
    double localY;
    double localZ;
    double roll;
    double pitch;
    double yaw;
145
    QTimer* statusTimeout;      ///< Timer for various status timeouts
pixhawk's avatar
pixhawk committed
146

pixhawk's avatar
pixhawk committed
147 148 149 150 151 152 153 154 155 156 157
    /** @brief Set the current battery type */
    void setBattery(BatteryType type, int cells);
    /** @brief Estimate how much flight time is remaining */
    int calculateTimeRemaining();
    /** @brief Get the current charge level */
    double getChargeLevel();
    /** @brief Get the human-readable status message for this code */
    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
    /** @brief Check if vehicle is in autonomous mode */
    bool isAuto();

158 159
public:
    UASWaypointManager &getWaypointManager(void) { return waypointManager; }
160
    int getSystemType();
161

pixhawk's avatar
pixhawk committed
162 163 164
public slots:
    /** @brief Launches the system **/
    void launch();
lm's avatar
lm committed
165
    /** @brief Write this waypoint to the list of waypoints */
166
    //void setWaypoint(Waypoint* wp); FIXME tbd
lm's avatar
lm committed
167
    /** @brief Set currently active waypoint */
168
    //void setWaypointActive(int id); FIXME tbd
pixhawk's avatar
pixhawk committed
169 170 171 172 173 174 175 176 177 178 179 180 181
    /** @brief Order the robot to return home / to land on the runway **/
    void home();
    void halt();
    void go();
    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
    void emergencySTOP();

    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
    bool emergencyKILL();

    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
    void shutdown();

182 183 184
    /** @brief Set the target position for the robot to navigate to. */
    void setTargetPosition(float x, float y, float z, float yaw);

lm's avatar
lm committed
185 186 187
    void startLowBattAlarm();
    void stopLowBattAlarm();

188 189
    //void requestWaypoints();  FIXME tbd
    //void clearWaypointList();   FIXME tbd
190
    void requestParameters();
pixhawk's avatar
pixhawk committed
191 192 193 194 195 196 197 198 199 200
    /** @brief Enable the motors */
    void enable_motors();
    /** @brief Disable the motors */
    void disable_motors();

    /** @brief Set the values for the manual control of the vehicle */
    void setManualControlCommands(double roll, double pitch, double yaw, double thrust);
    /** @brief Receive a button pressed event from an input device, e.g. joystick */
    void receiveButton(int buttonIndex);

pixhawk's avatar
pixhawk committed
201
    /** @brief Add a link associated with this robot */
pixhawk's avatar
pixhawk committed
202 203 204 205 206 207 208 209 210 211 212 213 214 215
    void addLink(LinkInterface* link);

    /** @brief Receive a message from one of the communication links. */
    void receiveMessage(LinkInterface* link, mavlink_message_t message);

    /** @brief Send a message over this link (to this or to all UAS on this link) */
    void sendMessage(LinkInterface* link, mavlink_message_t message);
    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
    void sendMessage(mavlink_message_t message);

    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
    void setSelected();

    /** @brief Set current mode of operation, e.g. auto or manual */
pixhawk's avatar
pixhawk committed
216
    void setMode(int mode);
pixhawk's avatar
pixhawk committed
217

218 219 220 221
    /** @brief Set a system parameter */
    void setParameter(int component, QString id, float value);

    /** @brief Write parameters to permanent storage */
222 223 224
    void writeParametersToStorage();
    /** @brief Read parameters from permanent storage */
    void readParametersFromStorage();
225

lm's avatar
lm committed
226 227 228 229 230 231
    void enableAllDataTransmission(bool enabled);
    void enableRawSensorDataTransmission(bool enabled);
    void enableExtendedSystemStatusTransmission(bool enabled);
    void enableRCChannelDataTransmission(bool enabled);
    void enableRawControllerDataTransmission(bool enabled);
    void enableRawSensorFusionTransmission(bool enabled);
pixhawk's avatar
pixhawk committed
232 233 234 235
    void enablePositionTransmission(bool enabled);
    void enableExtra1Transmission(bool enabled);
    void enableExtra2Transmission(bool enabled);
    void enableExtra3Transmission(bool enabled);
lm's avatar
lm committed
236

237 238 239
    /** @brief Update the system state */
    void updateState();

pixhawk's avatar
pixhawk committed
240 241
    /** @brief Set local position setpoint */
    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
pixhawk's avatar
pixhawk committed
242 243 244 245 246 247 248
    /** @brief Add an offset in body frame to the setpoint */
    void setLocalPositionOffset(float x, float y, float z, float yaw);

    void startRadioControlCalibration();
    void startMagnetometerCalibration();
    void startGyroscopeCalibration();
    void startPressureCalibration();
pixhawk's avatar
pixhawk committed
249

pixhawk's avatar
pixhawk committed
250 251 252 253 254 255 256 257 258 259 260 261 262
signals:

    /** @brief The main/battery voltage has changed/was updated */
    void voltageChanged(int uasId, double voltage);
    /** @brief An actuator value has changed */
    void actuatorChanged(UASInterface*, int actId, double value);
    /** @brief An actuator value has changed */
    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
    /** @brief The system load (MCU/CPU usage) changed */
    void loadChanged(UASInterface* uas, double load);
    /** @brief Propagate a heartbeat received from the system */
    void heartbeat(UASInterface* uas);
263 264 265 266

    protected:
    /** @brief Get the UNIX timestamp in microseconds */
    quint64 getUnixTime(quint64 time);
pixhawk's avatar
pixhawk committed
267 268 269 270
};


#endif // _UAS_H_