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33 lines
780 B
33 lines
780 B
#pragma once |
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/// @file AC_CommandModel.h |
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/// @brief ArduCopter Command Model Library |
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#include <AP_Param/AP_Param.h> |
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/* |
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Command model parameters |
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*/ |
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class AC_CommandModel { |
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public: |
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AC_CommandModel(float initial_rate, float initial_expo, float initial_tc); |
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// Accessors for parameters |
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float get_rate_tc() const { return rate_tc; } |
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float get_rate() const { return rate; } |
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float get_expo() const { return expo; } |
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// Set the max rate |
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void set_rate(float input) { rate.set(input); } |
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// var_info for holding Parameter information |
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static const struct AP_Param::GroupInfo var_info[]; |
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protected: |
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AP_Float rate_tc; // rate time constant |
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AP_Float rate; // maximum rate |
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AP_Float expo; // expo shaping |
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}; |
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