mirror of https://github.com/ArduPilot/ardupilot
78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
#pragma once
|
|
|
|
/// @file AC_CustomControl.h
|
|
/// @brief ArduCopter custom control library
|
|
|
|
#include "AC_CustomControl_config.h"
|
|
|
|
#if AP_CUSTOMCONTROL_ENABLED
|
|
|
|
#include <AP_Common/AP_Common.h>
|
|
#include <AP_Param/AP_Param.h>
|
|
#include <AP_AHRS/AP_AHRS_View.h>
|
|
#include <AC_AttitudeControl/AC_AttitudeControl.h>
|
|
#include <AP_Motors/AP_MotorsMulticopter.h>
|
|
#include <AP_Logger/AP_Logger.h>
|
|
|
|
#ifndef CUSTOMCONTROL_MAX_TYPES
|
|
#define CUSTOMCONTROL_MAX_TYPES 2
|
|
#endif
|
|
|
|
class AC_CustomControl_Backend;
|
|
|
|
class AC_CustomControl {
|
|
public:
|
|
AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& _att_control, AP_MotorsMulticopter*& motors, float dt);
|
|
|
|
CLASS_NO_COPY(AC_CustomControl); /* Do not allow copies */
|
|
|
|
void init(void);
|
|
void update(void);
|
|
void motor_set(Vector3f motor_out);
|
|
void set_custom_controller(bool enabled);
|
|
void reset_main_att_controller(void);
|
|
bool is_safe_to_run(void);
|
|
void log_switch(void);
|
|
|
|
// set the PID notch sample rates
|
|
void set_notch_sample_rate(float sample_rate);
|
|
|
|
// zero index controller type param, only use it to access _backend or _backend_var_info array
|
|
uint8_t get_type() { return _controller_type > 0 ? (_controller_type - 1) : 0; };
|
|
|
|
// User settable parameters
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
static const struct AP_Param::GroupInfo *_backend_var_info[CUSTOMCONTROL_MAX_TYPES];
|
|
|
|
protected:
|
|
// add custom controller here
|
|
enum class CustomControlType : uint8_t {
|
|
CONT_NONE = 0,
|
|
CONT_EMPTY = 1,
|
|
CONT_PID = 2,
|
|
}; // controller that should be used
|
|
|
|
enum class CustomControlOption {
|
|
ROLL = 1 << 0,
|
|
PITCH = 1 << 1,
|
|
YAW = 1 << 2,
|
|
};
|
|
|
|
// Intersampling period in seconds
|
|
float _dt;
|
|
bool _custom_controller_active;
|
|
|
|
// References to external libraries
|
|
AP_AHRS_View*& _ahrs;
|
|
AC_AttitudeControl*& _att_control;
|
|
AP_MotorsMulticopter*& _motors;
|
|
|
|
AP_Enum<CustomControlType> _controller_type;
|
|
AP_Int8 _custom_controller_mask;
|
|
|
|
private:
|
|
AC_CustomControl_Backend *_backend;
|
|
};
|
|
|
|
#endif // AP_CUSTOMCONTROL_ENABLED
|