From 1cd537895e6d8db80cefeaa05b3eac92da25b181 Mon Sep 17 00:00:00 2001
From: Bill Geyer <bnsgeyer@aol.com>
Date: Tue, 19 Apr 2022 23:42:03 -0400
Subject: [PATCH] AC_AttitudeControl: add command model class for parameters

---
 .../AC_AttitudeControl/AC_CommandModel.cpp    | 37 +++++++++++++++++++
 .../AC_AttitudeControl/AC_CommandModel.h      | 34 +++++++++++++++++
 2 files changed, 71 insertions(+)
 create mode 100644 libraries/AC_AttitudeControl/AC_CommandModel.cpp
 create mode 100644 libraries/AC_AttitudeControl/AC_CommandModel.h

diff --git a/libraries/AC_AttitudeControl/AC_CommandModel.cpp b/libraries/AC_AttitudeControl/AC_CommandModel.cpp
new file mode 100644
index 0000000000..6c7b4f3eb0
--- /dev/null
+++ b/libraries/AC_AttitudeControl/AC_CommandModel.cpp
@@ -0,0 +1,37 @@
+#include "AC_CommandModel.h"
+#include <AP_HAL/AP_HAL.h>
+
+extern const AP_HAL::HAL& hal;
+
+// table of user settable parameters
+const AP_Param::GroupInfo AC_CommandModel::var_info[] = {
+
+    // @Param: RATE
+    // @DisplayName: Maximum Controlled Rate
+    // @Description: Sets the maximum rate commanded. 
+    // @Units: deg/s
+    // @Range: 1 360
+    // @User: Standard
+    AP_GROUPINFO("RATE", 1, AC_CommandModel, rate, 202.5),
+
+    // @Param: EXPO
+    // @DisplayName: Controlled Expo
+    // @Description: Controlled expo to allow faster rotation when stick at edges
+    // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
+    // @Range: -0.5 1.0
+    // @User: Advanced
+    AP_GROUPINFO("EXPO", 2, AC_CommandModel, expo, 0),
+
+    // @Param: RATE_TC
+    // @DisplayName: Rate control input time constant
+    // @Description: Rate control input time constant.  Low numbers lead to sharper response, higher numbers to softer response
+    // @Units: s
+    // @Range: 0 1
+    // @Increment: 0.01
+    // @Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp
+    // @User: Standard
+    AP_GROUPINFO("RATE_TC", 3, AC_CommandModel, rate_tc, 0.05f),
+
+    AP_GROUPEND
+};
+
diff --git a/libraries/AC_AttitudeControl/AC_CommandModel.h b/libraries/AC_AttitudeControl/AC_CommandModel.h
new file mode 100644
index 0000000000..0888e02790
--- /dev/null
+++ b/libraries/AC_AttitudeControl/AC_CommandModel.h
@@ -0,0 +1,34 @@
+#pragma once
+
+/// @file    AC_CommandModel.h
+/// @brief   ArduCopter Command Model Library
+
+#include <AP_Param/AP_Param.h>
+
+/*
+  Command model parameters
+ */
+
+class AC_CommandModel {
+public:
+    AC_CommandModel(void)
+        {
+            AP_Param::setup_object_defaults(this, var_info);
+        }
+
+    float get_rate_tc() { return rate_tc; }
+    float get_rate() { return rate; }
+    float get_expo() { return expo; }
+
+    void set_rate(float input) { rate = input; }
+
+    // var_info for holding Parameter information
+    static const struct AP_Param::GroupInfo var_info[];
+
+protected:
+    AP_Float rate_tc;
+    AP_Float rate;
+    AP_Float expo;
+
+};
+