mirror of
https://github.com/ArduPilot/ardupilot.git
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b9eae920be
Avoids needing to call into the scheduler during global construction. This could break users which do work in construction but hopefully it is easy for them to adapt.
77 lines
2.1 KiB
C++
77 lines
2.1 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 "AC_CustomControl_config.h"
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#if AP_CUSTOMCONTROL_ENABLED
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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.h>
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#include <AP_Motors/AP_MotorsMulticopter.h>
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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*& _att_control, AP_MotorsMulticopter*& motors);
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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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// set the PID notch sample rates
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void set_notch_sample_rate(float sample_rate);
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// zero index controller type param, only use it to access _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*& _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 // AP_CUSTOMCONTROL_ENABLED
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