libraries/AC_CustomControl/AC_CustomControl_Empty.cpp - master - Sangak/ardupilot

libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
74 строки2 KB
Leonard Hall
AC_CustomControl: Fix Vector3f () to {}
13 авг 2025, 05:06
13 авг 2025, 05:06654dc51
#include "AC_CustomControl_config.h"

#if AP_CUSTOMCONTROL_EMPTY_ENABLED

#include "AC_CustomControl_Empty.h"

#include <GCS_MAVLink/GCS.h>

// table of user settable parameters
const AP_Param::GroupInfo AC_CustomControl_Empty::var_info[] = {
    // @Param: PARAM1
    // @DisplayName: Empty param1
    // @Description: Dummy parameter for empty custom controller backend
    // @User: Advanced
    AP_GROUPINFO("PARAM1", 1, AC_CustomControl_Empty, param1, 0.0f),

    // @Param: PARAM2
    // @DisplayName: Empty param2
    // @Description: Dummy parameter for empty custom controller backend
    // @User: Advanced
    AP_GROUPINFO("PARAM2", 2, AC_CustomControl_Empty, param2, 0.0f),

    // @Param: PARAM3
    // @DisplayName: Empty param3
    // @Description: Dummy parameter for empty custom controller backend
    // @User: Advanced
    AP_GROUPINFO("PARAM3", 3, AC_CustomControl_Empty, param3, 0.0f),

    AP_GROUPEND
};

// initialize in the constructor
AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
    AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt)
{
    AP_Param::setup_object_defaults(this, var_info);
}

// update controller
// return roll, pitch, yaw controller output
Vector3f AC_CustomControl_Empty::update(void)
{
    // reset controller based on spool state
    switch (_motors->get_spool_state()) {
        case AP_Motors::SpoolState::SHUT_DOWN:
        case AP_Motors::SpoolState::GROUND_IDLE:
            // We are still at the ground. Reset custom controller to avoid
            // build up, ex: integrator
            reset();
            break;

        case AP_Motors::SpoolState::THROTTLE_UNLIMITED:
        case AP_Motors::SpoolState::SPOOLING_UP:
        case AP_Motors::SpoolState::SPOOLING_DOWN:
            // we are off the ground
            break;
    }

    // arducopter main attitude controller already ran
    // we don't need to do anything else

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

    // return what arducopter main controller outputted
    return Vector3f{_motors->get_roll(), _motors->get_pitch(), _motors->get_yaw()};
}

// reset controller to avoid build up on the ground
// or to provide bumpless transfer from arducopter main controller
void AC_CustomControl_Empty::reset(void)
{
}

#endif  // AP_CUSTOMCONTROL_EMPTY_ENABLED