mirror of https://github.com/ArduPilot/ardupilot
34 lines
777 B
C++
34 lines
777 B
C++
#pragma once
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/// @file AC_CommandModel.h
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/// @brief ArduCopter Command Model Library
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#include <AP_Param/AP_Param.h>
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/*
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Command model parameters
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*/
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class AC_CommandModel {
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public:
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AC_CommandModel(float initial_rate, float initial_expo, float initial_tc);
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// Accessors for parameters
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float get_rate_tc() const { return rate_tc; }
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float get_rate() const { return rate; }
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float get_expo() const { return expo; }
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// Set the max rate
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void set_rate(float input) { rate = input; }
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// var_info for holding Parameter information
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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AP_Float rate_tc; // rate time constant
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AP_Float rate; // maximum rate
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AP_Float expo; // expo shaping
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};
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