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