Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AC_CustomControl_config.h"
       4             : 
       5             : #if AP_COPTER_CUSTOMCONTROL_ENABLED
       6             : 
       7             : #include "AC_CustomControl.h"
       8             : 
       9             : class AC_CustomControl_Backend
      10             : {
      11             : public:
      12           2 :     AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
      13           2 :         _ahrs(ahrs),
      14           2 :         _att_control(att_control),
      15           2 :         _motors(motors),
      16           2 :         _frontend(frontend)
      17           2 :     {}
      18             : 
      19             :     // empty destructor to suppress compiler warning
      20           0 :     virtual ~AC_CustomControl_Backend() {}
      21             : 
      22             :     // update controller, return roll, pitch, yaw controller output
      23             :     virtual Vector3f update() = 0;
      24             : 
      25             :     // reset controller to avoid build up or abrupt response upon switch, ex: integrator, filter
      26             :     virtual void reset() = 0;
      27             : 
      28             :     // set the PID notch sample rates
      29           0 :     virtual void set_notch_sample_rate(float sample_rate) {};
      30             : 
      31             : protected:
      32             :     // References to external libraries
      33             :     AP_AHRS_View*& _ahrs;
      34             :     AC_AttitudeControl*& _att_control;
      35             :     AP_MotorsMulticopter*& _motors;
      36             :     AC_CustomControl& _frontend;
      37             : };
      38             : 
      39             : #endif  // AP_COPTER_CUSTOMCONTROL_ENABLED