Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-22 00:28:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_SpdHgtControl: added FightStage parameter to update_pitch_throttle()

Browse Source 
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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
libraries/AP_SpdHgtControl/AP_SpdHgtControl.h
View File

@ -24,11 +24,22 @@ public:
// Should be called at 50Hz or faster
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
// Should be called at 10Hz or faster
virtual void update_pitch_throttle( int32_t hgt_dem_cm,
int32_t EAS_dem_cm,
bool climbOutDem,
enum FlightStage flight_stage,
int32_t ptchMinCO_cd,
int16_t throttle_nudge,
float hgt_afe) = 0;
@ -53,6 +64,7 @@ public:
enum ControllerType {
CONTROLLER_TECS = 1
};
};