ardupilot/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp

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#include "AC_CustomControl_Empty.h"
#if CUSTOMCONTROL_EMPTY_ENABLED
#include <GCS_MAVLink/GCS.h>
// table of user settable parameters
const AP_Param::GroupInfo AC_CustomControl_Empty::var_info[] = {
// @Param: PARAM1
// @DisplayName: Empty param1
// @Description: Dummy parameter for empty custom controller backend
// @User: Advanced
AP_GROUPINFO("PARAM1", 1, AC_CustomControl_Empty, param1, 0.0f),
// @Param: PARAM2
// @DisplayName: Empty param2
// @Description: Dummy parameter for empty custom controller backend
// @User: Advanced
AP_GROUPINFO("PARAM2", 2, AC_CustomControl_Empty, param2, 0.0f),
// @Param: PARAM3
// @DisplayName: Empty param3
// @Description: Dummy parameter for empty custom controller backend
// @User: Advanced
AP_GROUPINFO("PARAM3", 3, AC_CustomControl_Empty, param3, 0.0f),
AP_GROUPEND
};
// initialize in the constructor
AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt)
{
AP_Param::setup_object_defaults(this, var_info);
}
// update controller
// return roll, pitch, yaw controller output
Vector3f AC_CustomControl_Empty::update(void)
{
// reset controller based on spool state
switch (_motors->get_spool_state()) {
case AP_Motors::SpoolState::SHUT_DOWN:
case AP_Motors::SpoolState::GROUND_IDLE:
// We are still at the ground. Reset custom controller to avoid
// build up, ex: integrator
reset();
break;
case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
case AP_Motors::SpoolState::SPOOLING_UP:
case AP_Motors::SpoolState::SPOOLING_DOWN:
// we are off the ground
break;
}
// arducopter main attitude controller already ran
// we don't need to do anything else
gcs().send_text(MAV_SEVERITY_INFO, "empty custom controller working");
// return what arducopter main controller outputted
return Vector3f(_motors->get_roll(), _motors->get_pitch(), _motors->get_yaw());
}
// reset controller to avoid build up on the ground
// or to provide bumpless transfer from arducopter main controller
void AC_CustomControl_Empty::reset(void)
{
}
#endif