ardupilot/libraries/AP_Vehicle/AP_Vehicle.h

76 lines
2.1 KiB
C++

/*
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/>.
*/
#ifndef AP_VEHICLE_H
#define AP_VEHICLE_H
/*
this header holds a parameter structure for each vehicle type for
parameters needed by multiple libraries
*/
#include <AP_Param.h>
class AP_Vehicle {
public:
/*
common parameters for fixed wing aircraft
*/
struct FixedWing {
AP_Int8 throttle_min;
AP_Int8 throttle_max;
AP_Int8 throttle_slewrate;
AP_Int8 throttle_cruise;
AP_Int16 airspeed_min;
AP_Int16 airspeed_max;
AP_Int16 pitch_limit_max_cd;
AP_Int16 pitch_limit_min_cd;
AP_Int8 autotune_level;
AP_Int16 land_pitch_cd;
AP_Int8 stall_prevention;
};
/*
common parameters for multicopters
*/
struct MultiCopter {
AP_Int16 angle_max;
};
};
/*
define common vehicle build types. Note that the APM_BUILD_DIRECTORY
define is only available with makefile based build, not with
arduino.
Also note that code needs to support other APM_BUILD_DIRECTORY
values for example sketches
*/
#define APM_BUILD_APMrover2 1
#define APM_BUILD_ArduCopter 2
#define APM_BUILD_ArduPlane 3
#define APM_BUILD_AntennaTracker 4
#define APM_BUILD_UNKNOWN 5
/*
using this macro catches cases where we try to check vehicle type on
build systems that don't support it
*/
#ifdef APM_BUILD_DIRECTORY
#define APM_BUILD_TYPE(type) ((type) == APM_BUILD_DIRECTORY)
#else
#define APM_BUILD_TYPE(type) ((type) == APM_BUILD_UNKNOWN)
#endif
#endif // AP_VEHICLE_H