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Copter: use base class AC_AttitudeControl object

This commit is contained in:
Iampete1 2023-07-19 14:07:31 +01:00 committed by Randy Mackay
parent d26fdfc3b2
commit 60816f4351
4 changed files with 8 additions and 19 deletions
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9
ArduCopter/Copter.h
View File

@ -77,12 +77,6 @@
#include "defines.h"
#include "config.h"
#if FRAME_CONFIG == HELI_FRAME
#define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
#define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif
#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#else
@ -485,7 +479,8 @@ private:
// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_t *attitude_control;
AC_AttitudeControl *attitude_control;
const struct AP_Param::GroupInfo *attitude_control_var_info;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;
AC_Loiter *loiter_nav;

6
ArduCopter/Parameters.cpp
View File

@ -498,11 +498,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Group: ATC_
// @Path: ../libraries/AC_AttitudeControl/AC_AttitudeControl.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Multi.cpp,../libraries/AC_AttitudeControl/AC_AttitudeControl_Heli.cpp
#if FRAME_CONFIG == HELI_FRAME
GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Heli),
#else
GOBJECTPTR(attitude_control, "ATC_", AC_AttitudeControl_Multi),
#endif
GOBJECTVARPTR(attitude_control, "ATC_", &copter.attitude_control_var_info),
// @Group: PSC
// @Path: ../libraries/AC_AttitudeControl/AC_PosControl.cpp

2
ArduCopter/mode.h
View File

@ -241,7 +241,7 @@ protected:
AC_PosControl *&pos_control;
AP_InertialNav &inertial_nav;
AP_AHRS &ahrs;
AC_AttitudeControl_t *&attitude_control;
AC_AttitudeControl *&attitude_control;
MOTOR_CLASS *&motors;
RC_Channel *&channel_roll;
RC_Channel *&channel_pitch;

10
ArduCopter/system.cpp
View File

@ -444,26 +444,24 @@ void Copter::allocate_motors(void)
AP_BoardConfig::allocation_error("AP_AHRS_View");
}
const struct AP_Param::GroupInfo *ac_var_info;
#if FRAME_CONFIG != HELI_FRAME
if ((AP_Motors::motor_frame_class)g2.frame_class.get() == AP_Motors::MOTOR_FRAME_6DOF_SCRIPTING) {
#if AP_SCRIPTING_ENABLED
attitude_control = new AC_AttitudeControl_Multi_6DoF(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
attitude_control_var_info = AC_AttitudeControl_Multi_6DoF::var_info;
#endif // AP_SCRIPTING_ENABLED
} else {
attitude_control = new AC_AttitudeControl_Multi(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Multi::var_info;
attitude_control_var_info = AC_AttitudeControl_Multi::var_info;
}
#else
attitude_control = new AC_AttitudeControl_Heli(*ahrs_view, aparm, *motors);
ac_var_info = AC_AttitudeControl_Heli::var_info;
attitude_control_var_info = AC_AttitudeControl_Heli::var_info;
#endif
if (attitude_control == nullptr) {
AP_BoardConfig::allocation_error("AttitudeControl");
}
AP_Param::load_object_from_eeprom(attitude_control, ac_var_info);
AP_Param::load_object_from_eeprom(attitude_control, attitude_control_var_info);
pos_control = new AC_PosControl(*ahrs_view, inertial_nav, *motors, *attitude_control);
if (pos_control == nullptr) {