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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_CustomControl/AC_CustomControl_Backend.h
Views: 1798
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#pragma once

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#include "AC_CustomControl_config.h"

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#if AP_CUSTOMCONTROL_ENABLED

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#include "AC_CustomControl.h"

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class AC_CustomControl_Backend

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{

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public:

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    AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :

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        _ahrs(ahrs),

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        _att_control(att_control),

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        _motors(motors),

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        _frontend(frontend)

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    {}

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    // empty destructor to suppress compiler warning

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    virtual ~AC_CustomControl_Backend() {}

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    // update controller, return roll, pitch, yaw controller output

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    virtual Vector3f update() = 0;

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    // reset controller to avoid build up or abrupt response upon switch, ex: integrator, filter

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    virtual void reset() = 0;

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    // set the PID notch sample rates

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    virtual void set_notch_sample_rate(float sample_rate) {};

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protected:

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    // References to external libraries

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    AP_AHRS_View*& _ahrs;

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    AC_AttitudeControl*& _att_control;

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    AP_MotorsMulticopter*& _motors;

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    AC_CustomControl& _frontend;

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};

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#endif  // AP_CUSTOMCONTROL_ENABLED

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