mirror of https://github.com/ArduPilot/ardupilot
33 lines
905 B
C++
33 lines
905 B
C++
/*
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external control library for copter
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*/
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#pragma once
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#include <AP_ExternalControl/AP_ExternalControl.h>
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#if AP_EXTERNAL_CONTROL_ENABLED
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class AP_ExternalControl_Copter : public AP_ExternalControl
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{
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public:
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/*
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Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
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Velocity is in earth frame, NED [m/s].
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Yaw is in earth frame, NED [rad/s].
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*/
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bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads) override WARN_IF_UNUSED;
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/*
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Sets the target global position for a loiter point.
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*/
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bool set_global_position(const Location& loc) override WARN_IF_UNUSED;
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private:
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/*
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Return true if Copter is ready to handle external control data.
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Currently checks mode and arm states.
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*/
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bool ready_for_external_control() WARN_IF_UNUSED;
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};
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#endif // AP_EXTERNAL_CONTROL_ENABLED
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