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ArduPlane: add REP-147 Global Position Control 

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-12-06 23:49:02 -07:00 committed by Peter Hall
parent c22a3439d4
commit 003c50a13c
2 changed files with 28 additions and 3 deletions
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21
ArduPlane/AP_ExternalControl_Plane.h Normal file
View File

@ -0,0 +1,21 @@
/*
external control library for plane
*/
#pragma once
#include <AP_ExternalControl/AP_ExternalControl.h>
#if AP_EXTERNAL_CONTROL_ENABLED
#include <AP_Common/Location.h>
class AP_ExternalControl_Plane : public AP_ExternalControl {
public:
/*
Sets the target global position for a loiter point.
*/
bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
};
#endif // AP_EXTERNAL_CONTROL_ENABLED

10
ArduPlane/Plane.h
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@ -85,7 +85,7 @@
#include <AP_Follow/AP_Follow.h>
#include <AP_ExternalControl/AP_ExternalControl_config.h>
#if AP_EXTERNAL_CONTROL_ENABLED
#include <AP_ExternalControl/AP_ExternalControl.h>
#include "AP_ExternalControl_Plane.h"
#endif
#include "GCS_Mavlink.h"
@ -167,6 +167,10 @@ public:
friend class ModeThermal;
friend class ModeLoiterAltQLand;
#if AP_EXTERNAL_CONTROL_ENABLED
friend class AP_ExternalControl_Plane;
#endif
Plane(void);
private:
@ -776,9 +780,9 @@ private:
AP_Param param_loader {var_info};
// dummy implementation of external control
// external control library
#if AP_EXTERNAL_CONTROL_ENABLED
AP_ExternalControl external_control;
AP_ExternalControl_Plane external_control;
#endif
static const AP_Scheduler::Task scheduler_tasks[];