src/main/flight/autopilot_wing.c

   1 /*
   2  * This file is part of Betaflight.
   3  *
   4  * Betaflight is free software: you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation, either version 3 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * Betaflight is distributed in the hope that it will be useful,
  10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
  12  * GNU General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License
  15  * along with Betaflight. If not, see <http://www.gnu.org/licenses/>.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdlib.h>
  20 #include <stdbool.h>
  21 #include <math.h>
  22
  23 #include "platform.h"
  24
  25 #ifdef USE_WING
  26
  27 #include "build/debug.h"
  28 #include "common/axis.h"
  29 #include "common/filter.h"
  30 #include "common/maths.h"
  31 #include "common/vector.h"
  32 #include "fc/rc.h"
  33 #include "fc/runtime_config.h"
  34
  35 #include "flight/imu.h"
  36 #include "flight/position.h"
  37 #include "rx/rx.h"
  38 #include "sensors/gyro.h"
  39
  40 #include "pg/autopilot.h"
  41 #include "autopilot.h"
  42
  43 float autopilotAngle[RP_AXIS_COUNT];
  44
  45 void resetPositionControl(const gpsLocation_t *initialTargetLocation, unsigned taskRateHz)
  46 {
  47     // from pos_hold.c (or other client) when initiating position hold at target location
  48     UNUSED(initialTargetLocation);
  49     UNUSED(taskRateHz);
  50 }
  51
  52 void autopilotInit(void)
  53 {
  54 }
  55
  56 void resetAltitudeControl (void) {
  57 }
  58
  59 void altitudeControl(float targetAltitudeCm, float taskIntervalS, float targetAltitudeStep)
  60 {
  61     UNUSED(targetAltitudeCm);
  62     UNUSED(taskIntervalS);
  63     UNUSED(targetAltitudeStep);
  64 }
  65
  66 void setSticksActiveStatus(bool areSticksActive)
  67 {
  68     UNUSED(areSticksActive);
  69 }
  70
  71 bool positionControl(void)
  72 {
  73     return false;
  74 }
  75
  76 bool isBelowLandingAltitude(void)
  77 {
  78     return false;
  79 }
  80
  81 float getAutopilotThrottle(void)
  82 {
  83     return 0.0f;
  84 }
  85
  86 bool isAutopilotInControl(void)
  87 {
  88     return false;
  89 }
  90
  91 #endif // USE_WING