flight/modules/PathFollower/pathfollowercontrol.cpp

   1 /*
   2  ******************************************************************************
   3  *
   4  * @file       PathFollowerControl.c
   5  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2015.
   6  * @brief      Controller interface class implementation
   7  * @see        The GNU Public License (GPL) Version 3
   8  *
   9  *****************************************************************************/
  10 /*
  11  * This program is free software; you can redistribute it and/or modify
  12  * it under the terms of the GNU General Public License as published by
  13  * the Free Software Foundation; either version 3 of the License, or
  14  * (at your option) any later version.
  15  *
  16  * This program is distributed in the hope that it will be useful, but
  17  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  18  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  19  * for more details.
  20  *
  21  * You should have received a copy of the GNU General Public License along
  22  * with this program; if not, write to the Free Software Foundation, Inc.,
  23  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  24  */
  25
  26 extern "C" {
  27 #include <openpilot.h>
  28 #include <flightstatus.h>
  29 #include <pathstatus.h>
  30 #include <pathdesired.h>
  31 }
  32
  33 // C++ includes
  34 #include "pathfollowercontrol.h"
  35
  36 PathDesiredData *PathFollowerControl::pathDesired   = 0;
  37 FlightStatusData *PathFollowerControl::flightStatus = 0;
  38 PathStatusData *PathFollowerControl::pathStatus     = 0;
  39
  40 int32_t PathFollowerControl::Initialize(PathDesiredData *ptr_pathDesired,
  41                                         FlightStatusData *ptr_flightStatus,
  42                                         PathStatusData *ptr_pathStatus)
  43 {
  44     PIOS_Assert(ptr_pathDesired);
  45     PIOS_Assert(ptr_flightStatus);
  46     PIOS_Assert(ptr_pathStatus);
  47
  48     pathDesired  = ptr_pathDesired;
  49     flightStatus = ptr_flightStatus;
  50     pathStatus   = ptr_pathStatus;
  51     return 0;
  52 }