ardupilot/APMrover2/afs_rover.h

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2017-01-30 10:21:55 -04:00
/*
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
/*
advanced failsafe support for rover
*/
#if ADVANCED_FAILSAFE == ENABLED
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/*
a rover specific AP_AdvancedFailsafe class
*/
class AP_AdvancedFailsafe_Rover : public AP_AdvancedFailsafe
{
public:
AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap);
// called to set all outputs to termination state
void terminate_vehicle(void);
protected:
// setup failsafe values for if FMU firmware stops running
void setup_IO_failsafe(void);
// return the AFS mapped control mode
enum control_mode afs_mode(void);
};
#endif // ADVANCED_FAILSAFE