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Copter: use base class AC_AttitudeControl object
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IamPete1 committed Oct 10, 2023
1 parent bb2dabc commit 580a60b
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Showing 2 changed files with 2 additions and 8 deletions.
8 changes: 1 addition & 7 deletions ArduCopter/Copter.h
Original file line number Diff line number Diff line change
Expand Up @@ -77,12 +77,6 @@
#include "defines.h"
#include "config.h"

#if FRAME_CONFIG == HELI_FRAME
#define AC_AttitudeControl_t AC_AttitudeControl_Heli
#else
#define AC_AttitudeControl_t AC_AttitudeControl_Multi
#endif

#if FRAME_CONFIG == HELI_FRAME
#define MOTOR_CLASS AP_MotorsHeli
#else
Expand Down Expand Up @@ -482,7 +476,7 @@ class Copter : public AP_Vehicle {

// Attitude, Position and Waypoint navigation objects
// To-Do: move inertial nav up or other navigation variables down here
AC_AttitudeControl_t *attitude_control;
AC_AttitudeControl *attitude_control;
AC_PosControl *pos_control;
AC_WPNav *wp_nav;
AC_Loiter *loiter_nav;
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2 changes: 1 addition & 1 deletion ArduCopter/mode.h
Original file line number Diff line number Diff line change
Expand Up @@ -179,7 +179,7 @@ class Mode {
AC_PosControl *&pos_control;
AP_InertialNav &inertial_nav;
AP_AHRS &ahrs;
AC_AttitudeControl_t *&attitude_control;
AC_AttitudeControl *&attitude_control;
MOTOR_CLASS *&motors;
RC_Channel *&channel_roll;
RC_Channel *&channel_pitch;
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