mirror of https://github.com/ArduPilot/ardupilot
50 lines
1.7 KiB
C++
50 lines
1.7 KiB
C++
#include "AC_CommandModel.h"
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#include <AP_HAL/AP_HAL.h>
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// The Commmand Model class holds parameters that shape the pilot desired angular rate input. This class can
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// be expanded to hold the methods that shape the pilot desired input.
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extern const AP_HAL::HAL& hal;
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// table of user settable parameters
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const AP_Param::GroupInfo AC_CommandModel::var_info[] = {
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// @Param: RATE
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// @DisplayName: Maximum Controlled Rate
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// @Description: Sets the maximum rate commanded.
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// @Units: deg/s
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// @Range: 1 360
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// @User: Standard
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AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE", 1, AC_CommandModel, rate, default_rate),
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// @Param: EXPO
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// @DisplayName: Controlled Expo
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// @Description: Controlled expo to allow faster rotation when stick at edges
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// @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
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// @Range: -0.5 1.0
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// @User: Advanced
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AP_GROUPINFO_FLAGS_DEFAULT_POINTER("EXPO", 2, AC_CommandModel, expo, default_expo),
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// @Param: RATE_TC
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// @DisplayName: Rate control input time constant
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// @Description: Rate control input time constant. Low numbers lead to sharper response, higher numbers to softer response
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// @Units: s
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// @Range: 0 1
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// @Increment: 0.01
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// @Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp
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// @User: Standard
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AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE_TC", 3, AC_CommandModel, rate_tc, default_rate_tc),
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AP_GROUPEND
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};
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// Constructor
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AC_CommandModel::AC_CommandModel(float initial_rate, float initial_expo, float initial_tc) :
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default_rate(initial_rate),
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default_expo(initial_expo),
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default_rate_tc(initial_tc)
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{
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AP_Param::setup_object_defaults(this, var_info);
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}
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