ardupilot/ArduCopter/afs_copter.h

46 lines
1.3 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/>.
*/
#pragma once
/*
advanced failsafe support for copter
*/
#if ADVANCED_FAILSAFE == ENABLED
#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>
/*
a plane specific AP_AdvancedFailsafe class
*/
class AP_AdvancedFailsafe_Copter : public AP_AdvancedFailsafe
{
public:
using AP_AdvancedFailsafe::AP_AdvancedFailsafe;
// called to set all outputs to termination state
void terminate_vehicle(void) override;
protected:
// setup failsafe values for if FMU firmware stops running
void setup_IO_failsafe(void) override;
// return the AFS mapped control mode
enum control_mode afs_mode(void) override;
};
#endif // ADVANCED_FAILSAFE