Line data    Source code

       1             : /*
       2             :   external control library for MAVLink, DDS and scripting
       3             :  */
       4             : 
       5             : #pragma once
       6             : 
       7             : #include "AP_ExternalControl_config.h"
       8             : 
       9             : #if AP_EXTERNAL_CONTROL_ENABLED
      10             : 
      11             : #include <AP_Arming/AP_Arming.h>
      12             : #include <AP_Common/Location.h>
      13             : #include <AP_Math/AP_Math.h>
      14             : 
      15             : class AP_ExternalControl
      16             : {
      17             : public:
      18             : 
      19             :     AP_ExternalControl();
      20             : 
      21             :     /*
      22             :         Sets the target airspeed.
      23             :     */
      24           0 :     virtual bool set_airspeed(const float airspeed) WARN_IF_UNUSED {
      25           0 :         return false;
      26             :     }
      27             :     /*
      28             :       Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw.
      29             :       Velocity is in earth frame, NED [m/s].
      30             :       Yaw is in earth frame, NED [rad/s].
      31             :      */
      32           0 :     virtual bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity_ned_ms, float yaw_rate_rads) WARN_IF_UNUSED {
      33           0 :         return false;
      34             :     }
      35             : 
      36             :     /*
      37             :         Sets the target global position with standard guided mode behavior.
      38             :     */
      39           0 :     virtual bool set_global_position(const Location& loc) WARN_IF_UNUSED {
      40           0 :         return false;
      41             :     }
      42             : 
      43             :     /*
      44             :         Arm the vehicle
      45             :     */
      46             :     virtual bool arm(AP_Arming::Method method, bool do_arming_checks) WARN_IF_UNUSED;
      47             : 
      48             :     /*
      49             :         Disarm the vehicle
      50             :     */
      51             :     virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks) WARN_IF_UNUSED;
      52             : 
      53           0 :     static AP_ExternalControl *get_singleton(void) WARN_IF_UNUSED {
      54           0 :         return singleton;
      55             :     }
      56             : protected:
      57         434 :     ~AP_ExternalControl() {}
      58             : 
      59             : private:
      60             :     static AP_ExternalControl *singleton;
      61             : };
      62             : 
      63             : 
      64             : namespace AP
      65             : {
      66             : AP_ExternalControl *externalcontrol();
      67             : };
      68             : 
      69             : #endif // AP_EXTERNAL_CONTROL_ENABLED