AP_CustomControl: use base class AC_AttitudeControl object

ArduPilot · Oct 10, 2023 · bb2dabc · bb2dabc
1 parent 88dd813
commit bb2dabc
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Showing 7 changed files with 11 additions and 10 deletions.
diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp
@@ -38,7 +38,7 @@ const AP_Param::GroupInfo AC_CustomControl::var_info[] = {
 
 const struct AP_Param::GroupInfo *AC_CustomControl::_backend_var_info[CUSTOMCONTROL_MAX_TYPES];
 
-AC_CustomControl::AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+AC_CustomControl::AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
     _dt(dt),
     _ahrs(ahrs),
     _att_control(att_control),

diff --git a/libraries/AC_CustomControl/AC_CustomControl.h b/libraries/AC_CustomControl/AC_CustomControl.h
@@ -6,7 +6,7 @@
 #include <AP_Common/AP_Common.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_AHRS/AP_AHRS_View.h>
-#include <AC_AttitudeControl/AC_AttitudeControl_Multi.h>
+#include <AC_AttitudeControl/AC_AttitudeControl.h>
 #include <AP_Motors/AP_MotorsMulticopter.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -20,7 +20,7 @@ class AC_CustomControl_Backend;
 
 class AC_CustomControl {
 public:
-    AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& _att_control, AP_MotorsMulticopter*& motors, float dt);
+    AC_CustomControl(AP_AHRS_View*& ahrs, AC_AttitudeControl*& _att_control, AP_MotorsMulticopter*& motors, float dt);
 
     CLASS_NO_COPY(AC_CustomControl);  /* Do not allow copies */
 
@@ -59,7 +59,7 @@ class AC_CustomControl {
 
     // References to external libraries
     AP_AHRS_View*& _ahrs;
-    AC_AttitudeControl_Multi*& _att_control;
+    AC_AttitudeControl*& _att_control;
     AP_MotorsMulticopter*& _motors;
 
     AP_Enum<CustomControlType> _controller_type;

diff --git a/libraries/AC_CustomControl/AC_CustomControl_Backend.h b/libraries/AC_CustomControl/AC_CustomControl_Backend.h
@@ -7,7 +7,7 @@
 class AC_CustomControl_Backend
 {
 public:
-    AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+    AC_CustomControl_Backend(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
         _frontend(frontend),
         _ahrs(ahrs),
         _att_control(att_control),
@@ -26,7 +26,7 @@ class AC_CustomControl_Backend
 protected:
     // References to external libraries
     AP_AHRS_View*& _ahrs;
-    AC_AttitudeControl_Multi*& _att_control;
+    AC_AttitudeControl*& _att_control;
     AP_MotorsMulticopter*& _motors;
     AC_CustomControl& _frontend;
 };

diff --git a/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp b/libraries/AC_CustomControl/AC_CustomControl_Empty.cpp
@@ -28,7 +28,7 @@ const AP_Param::GroupInfo AC_CustomControl_Empty::var_info[] = {
 };
 
 // initialize in the constructor
-AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+AC_CustomControl_Empty::AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
     AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt)
 {
     AP_Param::setup_object_defaults(this, var_info);

diff --git a/libraries/AC_CustomControl/AC_CustomControl_Empty.h b/libraries/AC_CustomControl/AC_CustomControl_Empty.h
@@ -10,7 +10,7 @@
 
 class AC_CustomControl_Empty : public AC_CustomControl_Backend {
 public:
-    AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt);
+    AC_CustomControl_Empty(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);
 
 
     Vector3f update(void) override;

diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.cpp b/libraries/AC_CustomControl/AC_CustomControl_PID.cpp
@@ -1,4 +1,5 @@
 #include "AC_CustomControl_PID.h"
+#include "AC_AttitudeControl/AC_AttitudeControl_Multi.h"
 
 #if CUSTOMCONTROL_PID_ENABLED
 
@@ -255,7 +256,7 @@ const AP_Param::GroupInfo AC_CustomControl_PID::var_info[] = {
     AP_GROUPEND
 };
 
-AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt) :
+AC_CustomControl_PID::AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt) :
     AC_CustomControl_Backend(frontend, ahrs, att_control, motors, dt),
     _p_angle_roll2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),
     _p_angle_pitch2(AC_ATTITUDE_CONTROL_ANGLE_P * 0.90f),

diff --git a/libraries/AC_CustomControl/AC_CustomControl_PID.h b/libraries/AC_CustomControl/AC_CustomControl_PID.h
@@ -15,7 +15,7 @@
 
 class AC_CustomControl_PID : public AC_CustomControl_Backend {
 public:
-    AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl_Multi*& att_control, AP_MotorsMulticopter*& motors, float dt);
+    AC_CustomControl_PID(AC_CustomControl& frontend, AP_AHRS_View*& ahrs, AC_AttitudeControl*& att_control, AP_MotorsMulticopter*& motors, float dt);
 
     // run lowest level body-frame rate controller and send outputs to the motors
     Vector3f update() override;