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AP_ExternalControl: 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 da976300d1
commit c22a3439d4
2 changed files with 32 additions and 0 deletions
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22
ArduPlane/AP_ExternalControl_Plane.cpp Normal file
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@ -0,0 +1,22 @@
/*
external control library for plane
*/
#include "AP_ExternalControl_Plane.h"
#if AP_EXTERNAL_CONTROL_ENABLED
#include "Plane.h"
/*
Sets the target global position for a loiter point.
*/
bool AP_ExternalControl_Plane::set_global_position(const Location& loc)
{
// set_target_location already checks if plane is ready for external control.
// It doesn't check if flying or armed, just that it's in guided mode.
return plane.set_target_location(loc);
}
#endif // AP_EXTERNAL_CONTROL_ENABLED

10
libraries/AP_ExternalControl/AP_ExternalControl.h
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@ -8,6 +8,7 @@
#if AP_EXTERNAL_CONTROL_ENABLED #if AP_EXTERNAL_CONTROL_ENABLED
#include <AP_Common/Location.h>
#include <AP_Math/AP_Math.h> #include <AP_Math/AP_Math.h>
class AP_ExternalControl class AP_ExternalControl
@ -24,9 +25,18 @@ public:
return false; return false;
} }
/*
Sets the target global position with standard guided mode behavior.
*/
virtual bool set_global_position(const Location& loc) WARN_IF_UNUSED {
return false;
}
static AP_ExternalControl *get_singleton(void) WARN_IF_UNUSED { static AP_ExternalControl *get_singleton(void) WARN_IF_UNUSED {
return singleton; return singleton;
} }
protected:
~AP_ExternalControl() {}
private: private:
static AP_ExternalControl *singleton; static AP_ExternalControl *singleton;