Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include "AP_FW_Controller.h"
       4             : 
       5             : class AP_RollController : public AP_FW_Controller
       6             : {
       7             : public:
       8             :     AP_RollController(const AP_FixedWing &parms);
       9             : 
      10             :     /* Do not allow copies */
      11             :     CLASS_NO_COPY(AP_RollController);
      12             : 
      13             :     static const struct AP_Param::GroupInfo var_info[];
      14             : 
      15             : 
      16             :     /*
      17             :       set the in_recovery flag, which is used during a VTOL upset recovery
      18             :       this flag only lasts one loop
      19             :     */
      20      270914 :     void set_in_recovery(void) {
      21      270914 :         in_recovery = true;
      22      270914 :     }
      23             : 
      24             : private:
      25             :     float run_axis_rate_control(float desired_rate_degs, float scaler, bool disable_integrator, bool ground_mode) override;
      26             : 
      27             :     // Return true if the airspeed should be considered as under speed
      28             :     bool is_underspeed() const override;
      29             : 
      30             :     // Return the measured roll angle in degrees
      31             :     float get_measured_angle_deg() const override;
      32             : 
      33             :     // Return the measured roll rate in radians per second
      34             :     float get_measured_rate_rads() const override;
      35             : 
      36             :     // Return true if rate limits should be applied
      37             :     bool should_apply_rate_limits() const override;
      38             : 
      39             :     // Return positive rate limit in deg per second, zero if disabled
      40             :     float get_positive_rate_limit_degs() const override;
      41             : 
      42             :     // Return negative rate limit in deg per second (as a positive number) zero if disabled
      43             :     float get_negative_rate_limit_degs() const override;
      44             : 
      45             :     bool in_recovery;
      46             : };