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24 lines
576 B
C++
24 lines
576 B
C++
#pragma once
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#include "AP_FW_Controller.h"
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class AP_RollController : public AP_FW_Controller
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{
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public:
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AP_RollController(const AP_FixedWing &parms);
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/* Do not allow copies */
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CLASS_NO_COPY(AP_RollController);
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float get_servo_out(int32_t angle_err, float scaler, bool disable_integrator, bool ground_mode) override;
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static const struct AP_Param::GroupInfo var_info[];
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void convert_pid();
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private:
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float get_airspeed() const override;
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bool is_underspeed(const float aspeed) const override;
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float get_measured_rate() const override;
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};
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