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24 lines
969 B
24 lines
969 B
#pragma once |
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#include "AC_PosControl.h" |
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#define POSCONTROL_JERK_RATIO 1.0f // Defines the time it takes to reach the requested acceleration |
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class AC_PosControl_Sub : public AC_PosControl { |
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public: |
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using AC_PosControl::AC_PosControl; |
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/// set_alt_max - sets maximum altitude above the ekf origin in cm |
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/// only enforced when set_pos_target_z_from_climb_rate_cm is used |
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/// set to zero to disable limit |
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void set_alt_max(float alt) { _alt_max = alt; } |
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/// set_alt_min - sets the minimum altitude (maximum depth) in cm |
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/// only enforced when set_pos_target_z_from_climb_rate_cm is used |
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/// set to zero to disable limit |
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void set_alt_min(float alt) { _alt_min = alt; } |
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private: |
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float _alt_max; // max altitude - should be updated from the main code with altitude limit from fence |
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float _alt_min; // min altitude - should be updated from the main code with altitude limit from fence |
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};
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