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43 lines
1.3 KiB
43 lines
1.3 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#pragma once |
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/* |
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advanced failsafe support for rover |
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*/ |
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#if ADVANCED_FAILSAFE == ENABLED |
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#include <AP_AdvancedFailsafe/AP_AdvancedFailsafe.h> |
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/* |
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a rover specific AP_AdvancedFailsafe class |
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*/ |
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class AP_AdvancedFailsafe_Rover : public AP_AdvancedFailsafe |
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{ |
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public: |
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AP_AdvancedFailsafe_Rover(AP_Mission &_mission, AP_Baro &_baro, const AP_GPS &_gps, const RCMapper &_rcmap); |
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// called to set all outputs to termination state |
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void terminate_vehicle(void); |
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protected: |
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// setup failsafe values for if FMU firmware stops running |
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void setup_IO_failsafe(void); |
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// return the AFS mapped control mode |
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enum control_mode afs_mode(void); |
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}; |
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#endif // ADVANCED_FAILSAFE
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