mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
da9ecf550a
AP_RollController::convert_pid() and AP_PitchController::convert_pid() converted the old RLL2SRV_/PTCH2SRV_ gains into the AC_PID form. Added Apr-2021 and described in the code as "a temporary conversion function during development"; present in the 4.3.0 release, so anybody running 4.3.0 or later has already had it applied.
47 lines
1.3 KiB
C++
47 lines
1.3 KiB
C++
#pragma once
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#include "AP_FW_Controller.h"
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class AP_RollController : public AP_FW_Controller
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{
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public:
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AP_RollController(const AP_FixedWing &parms);
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/* Do not allow copies */
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CLASS_NO_COPY(AP_RollController);
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static const struct AP_Param::GroupInfo var_info[];
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/*
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set the in_recovery flag, which is used during a VTOL upset recovery
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this flag only lasts one loop
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*/
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void set_in_recovery(void) {
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in_recovery = true;
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}
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private:
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float run_axis_rate_control(float desired_rate_degs, float scaler, bool disable_integrator, bool ground_mode) override;
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// Return true if the airspeed should be considered as under speed
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bool is_underspeed() const override;
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// Return the measured roll angle in degrees
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float get_measured_angle_deg() const override;
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// Return the measured roll rate in radians per second
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float get_measured_rate_rads() const override;
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// Return true if rate limits should be applied
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bool should_apply_rate_limits() const override;
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// Return positive rate limit in deg per second, zero if disabled
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float get_positive_rate_limit_degs() const override;
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// Return negative rate limit in deg per second (as a positive number) zero if disabled
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float get_negative_rate_limit_degs() const override;
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bool in_recovery;
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};
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