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ardupilot
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master
libraries/AP_ExternalControl/AP_ExternalControl.h
69 строк
2 KB
Leonard Hall
AP_ExternalControl: add unit and axis suffixes to function parameters
10 фев 2026, 16:47
10 фев 2026, 16:47
ffc4c62
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/* external control library for MAVLink, DDS and scripting */ #pragma once #include "AP_ExternalControl_config.h" #if AP_EXTERNAL_CONTROL_ENABLED #include <AP_Arming/AP_Arming.h> #include <AP_Common/Location.h> #include <AP_Math/AP_Math.h> class AP_ExternalControl { public: AP_ExternalControl(); /* Sets the target airspeed. */ virtual bool set_airspeed(const float airspeed) WARN_IF_UNUSED { return false; } /* Set linear velocity and yaw rate. Pass NaN for yaw_rate_rads to not control yaw. Velocity is in earth frame, NED [m/s]. Yaw is in earth frame, NED [rad/s]. */ virtual bool set_linear_velocity_and_yaw_rate(const Vector3f &linear_velocity_ned_ms, float yaw_rate_rads) WARN_IF_UNUSED { return false; } /* Sets the target global position with standard guided mode behavior. */ virtual bool set_global_position(const Location& loc) WARN_IF_UNUSED { return false; } /* Arm the vehicle */ virtual bool arm(AP_Arming::Method method, bool do_arming_checks) WARN_IF_UNUSED; /* Disarm the vehicle */ virtual bool disarm(AP_Arming::Method method, bool do_disarm_checks) WARN_IF_UNUSED; static AP_ExternalControl *get_singleton(void) WARN_IF_UNUSED { return singleton; } protected: ~AP_ExternalControl() {} private: static AP_ExternalControl *singleton; }; namespace AP { AP_ExternalControl *externalcontrol(); }; #endif // AP_EXTERNAL_CONTROL_ENABLED