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AP_SpdHgtControl: added FightStage parameter to update_pitch_throttle()

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will be used for special landing handling
This commit is contained in:
Andrew Tridgell 2013-10-12 13:12:16 +11:00
parent 6ffd84b0bd
commit 2b80df6319
1 changed files with 13 additions and 1 deletions
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14
libraries/AP_SpdHgtControl/AP_SpdHgtControl.h
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@ -24,11 +24,22 @@ public:
// Should be called at 50Hz or faster // Should be called at 50Hz or faster
virtual void update_50hz(float height_above_field) = 0; virtual void update_50hz(float height_above_field) = 0;
/**
stages of flight so the altitude controller can choose to
prioritise height or speed
*/
enum FlightStage {
FLIGHT_NORMAL = 1,
FLIGHT_TAKEOFF = 2,
FLIGHT_LAND_APPROACH = 3,
FLIGHT_LAND_FINAL = 4
};
// Update of the pitch and throttle demands // Update of the pitch and throttle demands
// Should be called at 10Hz or faster // Should be called at 10Hz or faster
virtual void update_pitch_throttle( int32_t hgt_dem_cm, virtual void update_pitch_throttle( int32_t hgt_dem_cm,
int32_t EAS_dem_cm, int32_t EAS_dem_cm,
bool climbOutDem, enum FlightStage flight_stage,
int32_t ptchMinCO_cd, int32_t ptchMinCO_cd,
int16_t throttle_nudge, int16_t throttle_nudge,
float hgt_afe) = 0; float hgt_afe) = 0;
@ -54,6 +65,7 @@ public:
CONTROLLER_TECS = 1 CONTROLLER_TECS = 1
}; };
}; };