Line data    Source code

       1             : #pragma once
       2             : 
       3             : /// @file    AC_AttitudeControl_TVBS.h
       4             : /// @brief   ArduCopter attitude control library
       5             : 
       6             : #include "AC_AttitudeControl_Multi.h"
       7             : 
       8             : class AC_AttitudeControl_TS : public AC_AttitudeControl_Multi
       9             : {
      10             : public:
      11             :     using AC_AttitudeControl_Multi::AC_AttitudeControl_Multi;
      12             : 
      13             :     // empty destructor to suppress compiler warning
      14           0 :     virtual ~AC_AttitudeControl_TS() {}
      15             : 
      16             :     // Ensure attitude controllers have zero errors to relax rate controller output
      17             :     // Relax only the roll and yaw rate controllers if exclude_pitch is true
      18             :     virtual void relax_attitude_controllers(bool exclude_pitch) override;
      19             : 
      20             : 
      21             :     // Commands a body-frame roll angle (in centidegrees), an euler pitch angle (in centidegrees), and a yaw rate (in centidegrees/s).
      22             :     // See input_euler_rate_yaw_euler_angle_pitch_bf_roll_rad() for full details.
      23             :     virtual void input_euler_rate_yaw_euler_angle_pitch_bf_roll_cd(bool plane_controls, float body_roll_cd, float euler_pitch_cd, float euler_yaw_rate_cds) override;
      24             :     
      25             :     // Commands a body-frame roll angle (in radians), an euler pitch angle (in radians), and a yaw rate (in radians/s).
      26             :     // Used by tailsitter quadplanes. Optionally swaps roll and yaw effects as pitch nears 90° if plane_controls is true.
      27             :     virtual void input_euler_rate_yaw_euler_angle_pitch_bf_roll_rad(bool plane_controls, float body_roll_rad, float euler_pitch_rad, float euler_yaw_rate_rads) override;
      28             : };