mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.3 KiB
C
44 lines
1.3 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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/*
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advanced failsafe support for rover
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*/
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#if ADVANCED_FAILSAFE == ENABLED
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#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
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/*
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a rover specific AP_AdvancedFailsafe class
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*/
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class AP_AdvancedFailsafe_Rover : public AP_AdvancedFailsafe
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{
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public:
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AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap);
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// called to set all outputs to termination state
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void terminate_vehicle(void);
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protected:
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// setup failsafe values for if FMU firmware stops running
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void setup_IO_failsafe(void);
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// return the AFS mapped control mode
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enum control_mode afs_mode(void);
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};
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#endif // ADVANCED_FAILSAFE
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