ardupilot/ArduCopter/AP_ExternalControl_Copter.h

27 lines
757 B
C++

/*
external control library for copter
*/
#pragma once
#include <AP_ExternalControl/AP_ExternalControl.h>
#if AP_EXTERNAL_CONTROL_ENABLED
class AP_ExternalControl_Copter : public AP_ExternalControl {
public:
/*
Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
Velocity is in earth frame, NED [m/s].
Yaw is in earth frame, NED [rad/s].
*/
bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity, float yaw_rate_rads) override WARN_IF_UNUSED;
private:
/*
Return true if Copter is ready to handle external control data.
Currently checks mode and arm states.
*/
bool ready_for_external_control() WARN_IF_UNUSED;
};
#endif // AP_EXTERNAL_CONTROL_ENABLED