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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_AttitudeControl/AC_CommandModel.cpp
Views: 1798
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#include "AC_CommandModel.h"

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#include <AP_HAL/AP_HAL.h>

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// The Command Model class holds parameters that shape the pilot desired angular rate input.  This class can 

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// be expanded to hold the methods that shape the pilot desired input.

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extern const AP_HAL::HAL& hal;

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// table of user settable parameters

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const AP_Param::GroupInfo AC_CommandModel::var_info[] = {

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    // @Param: RATE

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    // @DisplayName: Maximum Controlled Rate

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    // @Description: Sets the maximum rate commanded. 

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    // @Units: deg/s

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    // @Range: 1 360

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    // @User: Standard

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    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE", 1, AC_CommandModel, rate, default_rate),

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    // @Param: EXPO

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    // @DisplayName: Controlled Expo

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    // @Description: Controlled expo to allow faster rotation when stick at edges

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    // @Values: 0:Disabled,0.1:Very Low,0.2:Low,0.3:Medium,0.4:High,0.5:Very High

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    // @Range: -0.5 1.0

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    // @User: Advanced

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    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("EXPO", 2, AC_CommandModel, expo, default_expo),

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    // @Param: RATE_TC

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    // @DisplayName: Rate control input time constant

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    // @Description: Rate control input time constant.  Low numbers lead to sharper response, higher numbers to softer response

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    // @Units: s

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    // @Range: 0 1

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    // @Increment: 0.01

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    // @Values: 0.5:Very Soft, 0.2:Soft, 0.15:Medium, 0.1:Crisp, 0.05:Very Crisp

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    // @User: Standard

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    AP_GROUPINFO_FLAGS_DEFAULT_POINTER("RATE_TC", 3, AC_CommandModel, rate_tc, default_rate_tc),

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    AP_GROUPEND

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};

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// Constructor

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AC_CommandModel::AC_CommandModel(float initial_rate, float initial_expo, float initial_tc) :

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    default_rate_tc(initial_tc),

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    default_rate(initial_rate),

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    default_expo(initial_expo)

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{

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    AP_Param::setup_object_defaults(this, var_info);

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}

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