Line data    Source code

       1             : #include "AC_CommandModel.h"
       2             : #include <AP_HAL/AP_HAL.h>
       3             : 
       4             : // The Command Model class holds parameters that shape the pilot desired angular rate input.  This class can 
       5             : // be expanded to hold the methods that shape the pilot desired input.
       6             : 
       7             : extern const AP_HAL::HAL& hal;
       8             : 
       9             : // table of user settable parameters
      10             : const AP_Param::GroupInfo AC_CommandModel::var_info[] = {
      11             : 
      12             :     // @Param: RATE
      13             :     // @DisplayName: Maximum Controlled Rate
      14             :     // @Description: Sets the maximum rate commanded. 
      15             :     // @Units: deg/s
      16             :     // @Range: 1 360
      17             :     // @User: Standard
      18             :     AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE", 1, AC_CommandModel, rate, default_rate),
      19             : 
      20             :     // @Param: EXPO
      21             :     // @DisplayName: Controlled Expo
      22             :     // @Description: Controlled expo to allow faster rotation when stick at edges
      23             :     // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High
      24             :     // @Range: -0.5 1.0
      25             :     // @User: Advanced
      26             :     AP_GROUPINFO_FLAGS_DEFAULT_POINTER("EXPO", 2, AC_CommandModel, expo, default_expo),
      27             : 
      28             :     // @Param: RATE_TC
      29             :     // @DisplayName: Rate control input time constant
      30             :     // @Description: Rate control input time constant.  Low numbers lead to sharper response, higher numbers to softer response
      31             :     // @Units: s
      32             :     // @Range: 0 1
      33             :     // @Increment: 0.01
      34             :     // @Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp
      35             :     // @User: Standard
      36             :     AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE_TC", 3, AC_CommandModel, rate_tc, default_rate_tc),
      37             : 
      38             :     AP_GROUPEND
      39             : };
      40             : 
      41             : // Constructor
      42        3695 : AC_CommandModel::AC_CommandModel(float initial_rate, float initial_expo, float initial_tc) :
      43        3695 :     default_rate_tc(initial_tc),
      44        3695 :     default_rate(initial_rate),
      45        3695 :     default_expo(initial_expo)
      46             : {
      47        3695 :     AP_Param::setup_object_defaults(this, var_info);
      48        3695 : }
      49             :