mirror of https://github.com/ArduPilot/ardupilot
44 lines
815 B
C
44 lines
815 B
C
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/*
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external control library for MAVLink, DDS and scripting
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*/
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#pragma once
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#include "AP_ExternalControl_config.h"
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#if AP_EXTERNAL_CONTROL_ENABLED
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#include <AP_Math/AP_Math.h>
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class AP_ExternalControl
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{
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public:
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AP_ExternalControl();
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/*
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Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
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Velocity is in earth frame, NED [m/s].
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Yaw is in earth frame, NED [rad/s].
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*/
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virtual bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads)
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{
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return false;
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}
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static AP_ExternalControl *get_singleton(void)
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{
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return singleton;
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}
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private:
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static AP_ExternalControl *singleton;
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};
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namespace AP
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{
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AP_ExternalControl *externalcontrol();
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};
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#endif // AP_EXTERNAL_CONTROL_ENABLED
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