ardupilot/libraries/AC_AttitudeControl/AC_PosControl_Sub.h

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#pragma once
#include "AC_PosControl.h"
class AC_PosControl_Sub : public AC_PosControl {
public:
AC_PosControl_Sub(const AP_AHRS_View & ahrs, const AP_InertialNav& inav,
const AP_Motors& motors, AC_AttitudeControl& attitude_control);
/// set_alt_max - sets maximum altitude above the ekf origin in cm
/// only enforced when set_alt_target_from_climb_rate is used
/// set to zero to disable limit
void set_alt_max(float alt) { _alt_max = alt; }
/// set_alt_min - sets the minimum altitude (maximum depth) in cm
/// only enforced when set_alt_target_from_climb_rate is used
/// set to zero to disable limit
void set_alt_min(float alt) { _alt_min = alt; }
/// set_alt_target_from_climb_rate - adjusts target up or down using a climb rate in cm/s
/// should be called continuously (with dt set to be the expected time between calls)
/// actual position target will be moved no faster than the speed_down and speed_up
/// target will also be stopped if the motors hit their limits or leash length is exceeded
/// set force_descend to true during landing to allow target to move low enough to slow the motors
void set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend) override;
/// set_alt_target_from_climb_rate_ff - adjusts target up or down using a climb rate in cm/s using feed-forward
/// should be called continuously (with dt set to be the expected time between calls)
/// actual position target will be moved no faster than the speed_down and speed_up
/// target will also be stopped if the motors hit their limits or leash length is exceeded
/// set force_descend to true during landing to allow target to move low enough to slow the motors
void set_alt_target_from_climb_rate_ff(float climb_rate_cms, float dt, bool force_descend) override;
/// relax_alt_hold_controllers - set all desired and targets to measured
void relax_alt_hold_controllers(float throttle_setting) {
AC_PosControl::relax_alt_hold_controllers(throttle_setting);
}
/// relax_alt_hold_controllers - set all desired and targets to measured
/// integrator is not reset
void relax_alt_hold_controllers();
private:
float _alt_max; // max altitude - should be updated from the main code with altitude limit from fence
float _alt_min; // min altitude - should be updated from the main code with altitude limit from fence
};