mirror of https://github.com/ArduPilot/ardupilot
38 lines
2.1 KiB
C++
38 lines
2.1 KiB
C++
#pragma once
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#include "AC_PosControl.h"
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class AC_PosControl_Sub : public AC_PosControl {
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public:
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AC_PosControl_Sub(const AP_AHRS_View & ahrs, const AP_InertialNav& inav,
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const AP_Motors& motors, AC_AttitudeControl& attitude_control);
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/// set_alt_max - sets maximum altitude above the ekf origin in cm
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/// only enforced when set_alt_target_from_climb_rate is used
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/// set to zero to disable limit
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void set_alt_max(float alt) { _alt_max = alt; }
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/// set_alt_min - sets the minimum altitude (maximum depth) in cm
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/// only enforced when set_alt_target_from_climb_rate is used
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/// set to zero to disable limit
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void set_alt_min(float alt) { _alt_min = alt; }
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/// set_alt_target_from_climb_rate - adjusts target up or down using a climb rate in cm/s
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/// should be called continuously (with dt set to be the expected time between calls)
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/// actual position target will be moved no faster than the speed_down and speed_up
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/// target will also be stopped if the motors hit their limits or leash length is exceeded
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/// set force_descend to true during landing to allow target to move low enough to slow the motors
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void set_alt_target_from_climb_rate(float climb_rate_cms, float dt, bool force_descend) override;
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/// set_alt_target_from_climb_rate_ff - adjusts target up or down using a climb rate in cm/s using feed-forward
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/// should be called continuously (with dt set to be the expected time between calls)
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/// actual position target will be moved no faster than the speed_down and speed_up
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/// target will also be stopped if the motors hit their limits or leash length is exceeded
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/// set force_descend to true during landing to allow target to move low enough to slow the motors
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void set_alt_target_from_climb_rate_ff(float climb_rate_cms, float dt, bool force_descend) override;
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private:
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float _alt_max; // max altitude - should be updated from the main code with altitude limit from fence
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float _alt_min; // min altitude - should be updated from the main code with altitude limit from fence
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};
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