ardupilot/libraries/AC_CustomControl/AC_CustomControl_Backend.h

38 lines
1.0 KiB
C++

#pragma once
#include "AC_CustomControl.h"
#if AP_CUSTOMCONTROL_ENABLED
class AC_CustomControl_Backend
{
public:
AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
_frontend(frontend),
_ahrs(ahrs),
_att_control(att_control),
_motors(motors)
{}
// empty destructor to suppress compiler warning
virtual ~AC_CustomControl_Backend() {}
// update controller, return roll, pitch, yaw controller output
virtual Vector3f update() = 0;
// reset controller to avoid build up or abrupt response upon switch, ex: integrator, filter
virtual void reset() = 0;
// set the PID notch sample rates
virtual void set_notch_sample_rate(float sample_rate) {};
protected:
// References to external libraries
AP_AHRS_View*& _ahrs;
AC_AttitudeControl_Multi*& _att_control;
AP_MotorsMulticopter*& _motors;
AC_CustomControl& _frontend;
};
#endif