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APM_Control: changed to AP_Vehicle.h

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This commit is contained in:
Andrew Tridgell 2013-09-13 11:46:22 +10:00
parent 15a4582ed7
commit fbe4be94cf
4 changed files with 10 additions and 10 deletions
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6
libraries/APM_Control/AP_PitchController.h
View File

@ -5,12 +5,12 @@
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_SpdHgtControl.h> #include <AP_Vehicle.h>
#include <math.h> #include <math.h>
class AP_PitchController { class AP_PitchController {
public: public:
AP_PitchController(AP_AHRS &ahrs, const AP_SpdHgtControl::AircraftParameters &parms) : AP_PitchController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
aparm(parms), aparm(parms),
_ahrs(ahrs) _ahrs(ahrs)
{ {
@ -26,7 +26,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
const AP_SpdHgtControl::AircraftParameters &aparm; const AP_Vehicle::FixedWing &aparm;
AP_Float _tau; AP_Float _tau;
AP_Float _K_P; AP_Float _K_P;
AP_Float _K_I; AP_Float _K_I;

6
libraries/APM_Control/AP_RollController.h
View File

@ -5,12 +5,12 @@
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_SpdHgtControl.h> #include <AP_Vehicle.h>
#include <math.h> #include <math.h>
class AP_RollController { class AP_RollController {
public: public:
AP_RollController(AP_AHRS &ahrs, const AP_SpdHgtControl::AircraftParameters &parms) : AP_RollController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
aparm(parms), aparm(parms),
_ahrs(ahrs) _ahrs(ahrs)
{ {
@ -25,7 +25,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
const AP_SpdHgtControl::AircraftParameters &aparm; const AP_Vehicle::FixedWing &aparm;
AP_Float _tau; AP_Float _tau;
AP_Float _K_P; AP_Float _K_P;
AP_Float _K_I; AP_Float _K_I;

2
libraries/APM_Control/AP_SteerController.h
View File

@ -5,7 +5,7 @@
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_SpdHgtControl.h> #include <AP_Vehicle.h>
#include <math.h> #include <math.h>
class AP_SteerController { class AP_SteerController {

6
libraries/APM_Control/AP_YawController.h
View File

@ -5,12 +5,12 @@
#include <AP_AHRS.h> #include <AP_AHRS.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_SpdHgtControl.h> #include <AP_Vehicle.h>
#include <math.h> #include <math.h>
class AP_YawController { class AP_YawController {
public: public:
AP_YawController(AP_AHRS &ahrs, const AP_SpdHgtControl::AircraftParameters &parms) : AP_YawController(AP_AHRS &ahrs, const AP_Vehicle::FixedWing &parms) :
aparm(parms), aparm(parms),
_ahrs(ahrs) _ahrs(ahrs)
{ {
@ -24,7 +24,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
private: private:
const AP_SpdHgtControl::AircraftParameters &aparm; const AP_Vehicle::FixedWing &aparm;
AP_Float _K_A; AP_Float _K_A;
AP_Float _K_I; AP_Float _K_I;
AP_Float _K_D; AP_Float _K_D;