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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/ArduCopter/afs_copter.h
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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#pragma once

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/*

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  advanced failsafe support for copter

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 */

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#include "config.h"

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#if AP_COPTER_ADVANCED_FAILSAFE_ENABLED

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#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h>

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/*

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  a plane specific AP_AdvancedFailsafe class

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 */

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class AP_AdvancedFailsafe_Copter : public AP_AdvancedFailsafe

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{

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public:

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    using AP_AdvancedFailsafe::AP_AdvancedFailsafe;

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    // called to set all outputs to termination state

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    void terminate_vehicle(void) override;

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protected:

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    // setup failsafe values for if FMU firmware stops running

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    void setup_IO_failsafe(void) override;

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    // return the AFS mapped control mode

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    enum control_mode afs_mode(void) override;

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    //to force entering auto mode when datalink loss 

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    void set_mode_auto(void) override;

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};

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#endif // AP_COPTER_ADVANCED_FAILSAFE_ENABLED

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