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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
Views: 1798
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#include "AC_CustomControl_config.h"

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#if AP_CUSTOMCONTROL_EMPTY_ENABLED

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#include "AC_CustomControl_Empty.h"

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#include <GCS_MAVLink/GCS.h>

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// table of user settable parameters

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

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    // @Param: PARAM1

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    // @DisplayName: Empty param1

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    // @Description: Dummy parameter for empty custom controller backend

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    // @User: Advanced

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    AP_GROUPINFO("PARAM1", 1, AC_CustomControl_Empty, param1, 0.0f),

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    // @Param: PARAM2

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    // @DisplayName: Empty param2

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    // @Description: Dummy parameter for empty custom controller backend

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    // @User: Advanced

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    AP_GROUPINFO("PARAM2", 2, AC_CustomControl_Empty, param2, 0.0f),

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    // @Param: PARAM3

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    // @DisplayName: Empty param3

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    // @Description: Dummy parameter for empty custom controller backend

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    // @User: Advanced

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    AP_GROUPINFO("PARAM3", 3, AC_CustomControl_Empty, param3, 0.0f),

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    AP_GROUPEND

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};

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// initialize in the constructor

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

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    AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt)

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{

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    AP_Param::setup_object_defaults(this, var_info);

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}

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// update controller

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// return roll, pitch, yaw controller output

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Vector3f AC_CustomControl_Empty::update(void)

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{

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    // reset controller based on spool state

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    switch (_motors->get_spool_state()) {

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        case AP_Motors::SpoolState::SHUT_DOWN:

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        case AP_Motors::SpoolState::GROUND_IDLE:

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            // We are still at the ground. Reset custom controller to avoid

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            // build up, ex: integrator

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            reset();

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            break;

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        case AP_Motors::SpoolState::THROTTLE_UNLIMITED:

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        case AP_Motors::SpoolState::SPOOLING_UP:

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        case AP_Motors::SpoolState::SPOOLING_DOWN:

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            // we are off the ground

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            break;

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    }

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    // arducopter main attitude controller already ran

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    // we don't need to do anything else

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    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "empty custom controller working");

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    // return what arducopter main controller outputted

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    return Vector3f(_motors->get_roll(), _motors->get_pitch(), _motors->get_yaw());

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}

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// reset controller to avoid build up on the ground

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// or to provide bumpless transfer from arducopter main controller

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void AC_CustomControl_Empty::reset(void)

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{

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}

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#endif  // AP_CUSTOMCONTROL_EMPTY_ENABLED

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