ardupilot/libraries/AC_AttitudeControl/AC_WeatherVane.h

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#include <AP_Param/AP_Param.h>
// weather vane class
class AC_WeatherVane {
public:
// Constructor
AC_WeatherVane(void);
CLASS_NO_COPY(AC_WeatherVane);
// Calculate and return the yaw output to weathervane the vehicle
bool get_yaw_out(float &yaw_output, const int16_t pilot_yaw, const float hgt, const float roll_cdeg, const float pitch_cdeg, const bool is_takeoff, const bool is_landing);
// Function to reset all flags and set values. Invoked whenever the weather vaning process is interrupted
void reset(void);
// allow/disallow weather vaning from other means than by the parameter
void allow_weathervaning(bool allow) { allowed = allow; }
static const struct AP_Param::GroupInfo var_info[];
private:
// Different options for the direction that vehicle will turn into wind
enum class Direction {
OFF = 0,
NOSE_IN = 1, // Only nose into wind
NOSE_OR_TAIL_IN = 2, // Nose in or tail into wind, which ever is closest
SIDE_IN = 3, // Side into wind for copter tailsitters
TAIL_IN = 4, // backwards, for tailsitters, makes it easier to descend
};
enum class Options {
PITCH_ENABLE = (1<<0),
};
// Paramaters
AP_Int8 _direction;
AP_Float _gain;
AP_Float _min_dz_ang_deg;
AP_Float _min_height;
AP_Float _max_vel_xy;
AP_Float _max_vel_z;
AP_Int8 _landing_direction;
AP_Int8 _takeoff_direction;
AP_Int16 _options;
float last_output;
bool active_msg_sent;
uint32_t first_activate_ms;
uint32_t last_check_ms;
// Init to true here to avoid a race between init of RC_channel and weathervane
bool allowed = true;
};