mirror of
https://github.com/ArduPilot/ardupilot
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45cd929074
This commit changes the way libraries headers are included in source files: - If the header is in the same directory the source belongs to, so the notation '#include ""' is used with the path relative to the directory containing the source. - If the header is outside the directory containing the source, then we use the notation '#include <>' with the path relative to libraries folder. Some of the advantages of such approach: - Only one search path for libraries headers. - OSs like Windows may have a better lookup time.
36 lines
1.2 KiB
C++
36 lines
1.2 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file AC_AttitudeControl_Multi.h
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/// @brief ArduCopter attitude control library
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#ifndef AC_AttitudeControl_Multi_H
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#define AC_AttitudeControl_Multi_H
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#include "AC_AttitudeControl.h"
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#include <AP_Motors/AP_MotorsMulticopter.h>
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class AC_AttitudeControl_Multi : public AC_AttitudeControl {
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public:
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AC_AttitudeControl_Multi(AP_AHRS &ahrs,
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const AP_Vehicle::MultiCopter &aparm,
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AP_MotorsMulticopter& motors,
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AC_P& pi_angle_roll, AC_P& pi_angle_pitch, AC_P& pi_angle_yaw,
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AC_PID& pid_rate_roll, AC_PID& pid_rate_pitch, AC_PID& pid_rate_yaw
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) :
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AC_AttitudeControl(ahrs, aparm, motors, pi_angle_roll, pi_angle_pitch, pi_angle_yaw, pid_rate_roll, pid_rate_pitch, pid_rate_yaw),
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_motors_multi(motors)
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{}
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// empty destructor to suppress compiler warning
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virtual ~AC_AttitudeControl_Multi() {}
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// calculate total body frame throttle required to produce the given earth frame throttle
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float get_boosted_throttle(float throttle_in);
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protected:
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AP_MotorsMulticopter& _motors_multi;
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};
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#endif // AC_AttitudeControl_Multi_H
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