Rover: Add rate controller params

MattKear · Jul 22, 2024 · 5ca9acf · 5ca9acf
1 parent 60bfd32
commit 5ca9acf
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Showing 3 changed files with 32 additions and 0 deletions.
diff --git a/Rover/Parameters.cpp b/Rover/Parameters.cpp
@@ -692,6 +692,18 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Path: mode_circle.cpp
     AP_SUBGROUPINFO(mode_circle, "CIRC", 57, ParametersG2, ModeCircle),
 
+    // @Group: RLL
+    // @Path: ../libraries/APM_Control/AP_RollController.cpp
+    AP_SUBGROUPINFO(rollController, "RLL", 58, ParametersG2, AP_RollController),
+
+    // @Group: PTCH
+    // @Path: ../libraries/APM_Control/AP_PitchController.cpp
+    AP_SUBGROUPINFO(pitchController, "PTCH", 59, ParametersG2, AP_PitchController),
+
+    // @Group: YAW
+    // @Path: ../libraries/APM_Control/AP_YawController.cpp
+    AP_SUBGROUPINFO(yawController, "YAW", 60, ParametersG2, AP_YawController),
+
     AP_GROUPEND
 };
 

diff --git a/Rover/Parameters.h b/Rover/Parameters.h
@@ -15,6 +15,10 @@
 #include "AP_Torqeedo/AP_Torqeedo.h"
 #include <AP_WindVane/AP_WindVane.h>
 
+#include <APM_Control/AP_RollController.h>
+#include <APM_Control/AP_PitchController.h>
+#include <APM_Control/AP_YawController.h>
+
 #define AP_PARAM_VEHICLE_NAME rover
 
 // Global parameter class.
@@ -434,6 +438,14 @@ class ParametersG2 {
     AP_Float fs_gcs_timeout;
 
     class ModeCircle mode_circle;
+
+    // key aircraft parameters passed to multiple libraries
+    AP_FixedWing aparm;
+
+    // Attitude to servo controllers
+    AP_RollController rollController{aparm};
+    AP_PitchController pitchController{aparm};
+    AP_YawController yawController{aparm};
 };
 
 extern const AP_Param::Info var_info[];
diff --git a/Rover/Rover.h b/Rover/Rover.h
@@ -121,6 +121,14 @@ class Rover : public AP_Vehicle {
     // variables
     AP_Param param_loader;
 
+    // key aircraft parameters passed to multiple libraries
+    AP_FixedWing aparm;
+
+    // Attitude to servo controllers
+    AP_RollController rollController{aparm};
+    AP_PitchController pitchController{aparm};
+    AP_YawController yawController{aparm};
+
     // all settable parameters
     Parameters g;
     ParametersG2 g2;