mirror of https://github.com/ArduPilot/ardupilot
77 lines
2.2 KiB
C++
77 lines
2.2 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef AP_VEHICLE_H
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#define AP_VEHICLE_H
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/*
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this header holds a parameter structure for each vehicle type for
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parameters needed by multiple libraries
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*/
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#include <AP_Param.h>
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class AP_Vehicle {
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public:
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/*
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common parameters for fixed wing aircraft
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*/
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struct FixedWing {
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AP_Int8 throttle_min;
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AP_Int8 throttle_max;
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AP_Int8 throttle_slewrate;
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AP_Int8 throttle_cruise;
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AP_Int16 airspeed_min;
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AP_Int16 airspeed_max;
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AP_Int16 pitch_limit_max_cd;
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AP_Int16 pitch_limit_min_cd;
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AP_Int8 autotune_level;
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AP_Int16 land_pitch_cd;
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AP_Float land_flare_sec;
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AP_Int8 stall_prevention;
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};
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/*
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common parameters for multicopters
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*/
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struct MultiCopter {
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AP_Int16 angle_max;
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};
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};
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/*
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define common vehicle build types. Note that the APM_BUILD_DIRECTORY
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define is only available with makefile based build, not with
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arduino.
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Also note that code needs to support other APM_BUILD_DIRECTORY
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values for example sketches
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*/
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#define APM_BUILD_APMrover2 1
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#define APM_BUILD_ArduCopter 2
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#define APM_BUILD_ArduPlane 3
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#define APM_BUILD_AntennaTracker 4
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#define APM_BUILD_UNKNOWN 5
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/*
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using this macro catches cases where we try to check vehicle type on
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build systems that don't support it
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*/
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#ifdef APM_BUILD_DIRECTORY
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#define APM_BUILD_TYPE(type) ((type) == APM_BUILD_DIRECTORY)
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#else
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#define APM_BUILD_TYPE(type) ((type) == APM_BUILD_UNKNOWN)
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#endif
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#endif // AP_VEHICLE_H
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