hpm6750/controller_yy_app/controlware/control_inc/control_throttle.h

#ifndef __CONTROL_THROTTLE_H
#define __CONTROL_THROTTLE_H

#include <stdbool.h>
#include <stdint.h>
#include "control_rate.h"

#define HOVER_THR 1300
// 解锁限制条状枚举类
enum
{
    // 允许解锁
    UNLOCK_ALLOW = 0,
    // 不允许解锁，IMU 通讯错包
    UNLOCK_DMAERR = 1,
    // 不允许解锁，速度超 0.4m/s
    UNLOCK_VELERR = 2,
    // 不允许解锁，遥控器拨杆位置错误
    UNLOCK_RCERR = 3,
    // 不允许解锁，未收到IMU数据
    UNLOCK_NOIMU = 4,
    // 不允许解锁，GPS状态标志错误
    UNLOCK_GPSERR = 5,
    // 不允许解锁，陀螺加速度计状态标志错误, 或加速度超 0.8m/s^2
    UNLOCK_ACCERR = 6,
    // 不允许解锁，未INS定位
    UNLOCK_NOINSGPS = 7,
    // 不允许解锁，无RTK
    UNLOCK_NORTK = 8,
    // 不允许解锁，磁状态标志错误
    UNLOCK_MAGERROR = 9,
    // 不允许解锁，陀螺超10deg/s
    UNLOCK_GYROERROR = 10,
    // 不允许解锁，温度超过80度
    UNLOCK_OVER_TEMPRATURE = 11,
    // 不允许解锁，imu版本不匹配
    UNLOCK_IMU_VERSION_ERR = 12,
    // 不允许解锁，在禁飞区内
    UNLOCK_IN_NO_FLY_ZONE = 13,
    // 不允许解锁, 电压低
    UNLOCK_VOLT_LOW = 14,
    // 不允许解锁, 智能电池 BMS 电量低
    UNLOCK_BMS_LOW_CAPACITY = 15,
    // 不允许解锁, 智能电池 BMS 故障
    UNLOCK_BMS_FAULT = 16,
    // 不允许解锁, 智能电池 BMS 通讯异常
    UNLOCK_BMS_LINK_LOST = 17,
    // 不允许解锁, 有断桨故障
    UNLOCK_SERVO_FAILSAFE = 18,
    // 不允许解锁, 姿态倾斜超 30 度
    UNLOCK_LEAN_ANGLE = 19,
    // 不允许解锁, SD 卡故障
    UNLOCK_SD_FAIL = 20,
};

// 油门上锁原因枚举类
enum
{
    //初始状态
    DEFLOCK = 0,
    //遥控器主动上锁
    RCLOCK = 1,
    //遥控器自动上锁
    RCAUTOLOCK = 2,
    //摇杆主动上锁
    ROCKLOCK = 3,
    //摇杆自动上锁
    ROCKAUTOLOCK = 4,
    //摇杆弹起上锁
    ROCKUPLOCK = 5,
    //返航上锁
    RTHLOCK = 6,
    //角度上锁
    ANGLELOCK = 7,
    //电台丢失上锁
    LINKLOSTLOCK = 8,
    //自动起飞超时上锁
    LAUNCHOTLOCK = 9,
    //丢失IMU上锁
    NOIMULOCK = 10,
    //一键上锁
    ONKEYLOCK = 11,
    //降落上锁
    LANDLOCK = 12,
    //丢星姿态降落上锁
    GPSFAILLOCK = 13,
    //遥控器错误上锁
    RCBADLOCK = 14,
    // 车载降落上锁
    VEHICLELAND_LOCK = 15,
    // 地面站强制上锁
    GCSFORCELOCK = 16,
    // 开伞上锁
    PARACHUTELOCK = 17,
};

// 解锁原因枚举类
enum
{
    // 初始状态
    DEFUNLOCK = 0,
    // 遥控器解锁
    RCUNLOCK = 1,
    // 摇杆解锁
    ROCKUNLOCK = 2,
    // 自动起飞解锁
    LAUNCHUNLOCK = 3,
    // 车载起飞解锁
    VEHICLELAUNCH_UNLOCK = 4,
};

// 油门锁状态枚举类
enum
{
    //上锁状态
    LOCKED = 1,
    //解锁状态
    UNLOCKED = 2,
    //起飞状态-给IMU发送指令使用
    TAKEOFF = 3
};

// 离地状态枚举类
enum
{
    //在地上
    ON_GROUND = 1,
    //在空中
    IN_AIR = 2,
};

// 油门控制状态
typedef enum
{
    THROTTLE_OFF = 0,
    THROTTLE_ONGROUND_IDLE = 1,
    THROTTLE_INAIR_RUNNING = 2
} ThrCtrolStatusType;
extern ThrCtrolStatusType throttle_pidctrl_status;

// 定高状态标志
enum
{
    ALT_HOLD = 1,
    NO_ALT_HOLD = 2
};
extern char althold_state;

extern bool unlock_fail;

extern char thr_lock_flag;
extern char thr_unlock_flag;

extern char thr_lock_status;
extern char ground_air_status;

void pilot_unlock_decide(void);
void pilot_takeoff_decide(void);
void pilot_lock_decide(void);

void get_pilot_desired_climb_rate_fromrc(short thr_in);

void Calculate_Target_Az(float dt);

void rate_pid_acctothrottle_alt(float dt);

extern float base_thr, temp_basethr;

void set_thr_lock_status(uint8_t lock_status, uint8_t reason);

int judge_pilot_gsunlock_allow(void);
int judge_pilot_rcunlock_allow(void);

void throttle_enable_unlock_tune(void);
bool throttle_get_enable_unlock_tune(void);

void clear_poshold_i_item(struct pid_method_ap *method);
#endif