ardupilot/libraries/AP_Vehicle/AP_Vehicle.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/>.
*/
#pragma once
/*
this header holds a parameter structure for each vehicle type for
parameters needed by multiple libraries
*/
#include <AP_Param/AP_Param.h>
class AP_Vehicle {
public:
/*
common parameters for fixed wing aircraft
*/
struct FixedWing {
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_cruise;
AP_Int8 takeoff_throttle_max;
AP_Int16 airspeed_min;
AP_Int16 airspeed_max;
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AP_Int32 airspeed_cruise_cm;
AP_Int32 min_gndspeed_cm;
AP_Int8 crash_detection_enable;
AP_Int16 roll_limit_cd;
AP_Int16 pitch_limit_max_cd;
AP_Int16 pitch_limit_min_cd;
AP_Int8 autotune_level;
AP_Int8 stall_prevention;
AP_Int16 loiter_radius;
struct Rangefinder_State {
bool in_range:1;
bool have_initial_reading:1;
bool in_use:1;
float initial_range;
float correction;
float initial_correction;
float last_stable_correction;
uint32_t last_correction_time_ms;
uint8_t in_range_count;
float height_estimate;
float last_distance;
};
// stages of flight
enum FlightStage {
FLIGHT_TAKEOFF = 1,
FLIGHT_VTOL = 2,
FLIGHT_NORMAL = 3,
FLIGHT_LAND = 4,
FLIGHT_ABORT_LAND = 7
};
};
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/*
common parameters for multicopters
*/
struct MultiCopter {
AP_Int16 angle_max;
};
};
#include "AP_Vehicle_Type.h"