adding INDI custom controller

Astik-2002 · May 7, 2024 · f062822 · f062822
1 parent 276afbb
commit f062822
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Showing 5 changed files with 497 additions and 5 deletions.
diff --git a/libraries/AC_CustomControl/AC_CustomControl.cpp b/libraries/AC_CustomControl/AC_CustomControl.cpp
@@ -7,6 +7,7 @@
 #include "AC_CustomControl_Backend.h"
 // #include "AC_CustomControl_Empty.h"
 #include "AC_CustomControl_PID.h"
+#include "AC_CustomControl_INDI.h"
 #include <GCS_MAVLink/GCS.h>
 #include <AP_Logger/AP_Logger.h>
 
@@ -33,6 +34,9 @@ const AP_Param::GroupInfo AC_CustomControl::var_info[] = {
     // parameters for PID controller
     AP_SUBGROUPVARPTR(_backend, "2_", 7, AC_CustomControl, _backend_var_info[1]),
 
+    // parameters for INDI controller
+    AP_SUBGROUPVARPTR(_backend, "3_", 8, AC_CustomControl, _backend_var_info[2]),
+
     AP_GROUPEND
 };
 
@@ -62,6 +66,10 @@ void AC_CustomControl::init(void)
             _backend = new AC_CustomControl_PID(*this, _ahrs, _att_control, _motors, _dt);
             _backend_var_info[get_type()] = AC_CustomControl_PID::var_info;
             break;
+        case CustomControlType::CONT_INDI:
+            _backend = new AC_CustomControl_INDI(*this, _ahrs, _att_control, _motors, _dt);
+            _backend_var_info[get_type()] = AC_CustomControl_INDI::var_info;
+            break;
         default:
             return;
     }

diff --git a/libraries/AC_CustomControl/AC_CustomControl.h b/libraries/AC_CustomControl/AC_CustomControl.h
@@ -14,7 +14,7 @@
 #include <AP_Motors/AP_MotorsMulticopter.h>
 
 #ifndef CUSTOMCONTROL_MAX_TYPES
-#define CUSTOMCONTROL_MAX_TYPES 2
+#define CUSTOMCONTROL_MAX_TYPES 3
 #endif
 
 class AC_CustomControl_Backend;
@@ -49,6 +49,7 @@ class AC_CustomControl {
         CONT_NONE            = 0,
         CONT_EMPTY           = 1,
         CONT_PID             = 2,
+        CONT_INDI            = 3,
     };            // controller that should be used     
 
     enum class  CustomControlOption {