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Plane: create afs_plane.h to match copter and rover structure

This commit is contained in:
Tom Pittenger 2019-01-07 16:10:15 -08:00 committed by Tom Pittenger
parent dd8bfb0ad4
commit ca40c7f2d5
2 changed files with 43 additions and 19 deletions
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21
ArduPlane/Plane.h
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@ -104,6 +104,8 @@
// Configuration // Configuration
#include "config.h" #include "config.h"
#include "afs_plane.h"
// Local modules // Local modules
#include "defines.h" #include "defines.h"
#include "mode.h" #include "mode.h"
@ -121,25 +123,6 @@
#include <SITL/SITL.h> #include <SITL/SITL.h>
#endif #endif
/*
a plane specific AP_AdvancedFailsafe class
*/
class AP_AdvancedFailsafe_Plane : public AP_AdvancedFailsafe
{
public:
AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps);
// called to set all outputs to termination state
void terminate_vehicle(void);
protected:
// setup failsafe values for if FMU firmware stops running
void setup_IO_failsafe(void);
// return the AFS mapped control mode
enum AP_AdvancedFailsafe::control_mode afs_mode(void);
};
/* /*
main APM:Plane class main APM:Plane class
*/ */

41
ArduPlane/afs_plane.h Normal file
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@ -0,0 +1,41 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
/*
advanced failsafe support for plane
*/
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/*
a plane specific AP_AdvancedFailsafe class
*/
class AP_AdvancedFailsafe_Plane : public AP_AdvancedFailsafe
{
public:
AP_AdvancedFailsafe_Plane(AP_Mission &_mission, const AP_GPS &_gps);
// called to set all outputs to termination state
void terminate_vehicle(void);
protected:
// setup failsafe values for if FMU firmware stops running
void setup_IO_failsafe(void);
// return the AFS mapped control mode
enum control_mode afs_mode(void);
};