[multirotorapi] make setControllerGains purevirtual; add non-impls in…

… mavlink/arducopter
microsoft · Mar 24, 2020 · 52df395 · 52df395
1 parent c2f4789
commit 52df395
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Showing 3 changed files with 19 additions and 1 deletion.
diff --git a/AirLib/include/vehicles/multirotor/api/MultirotorApiBase.hpp b/AirLib/include/vehicles/multirotor/api/MultirotorApiBase.hpp
@@ -35,7 +35,7 @@ class MultirotorApiBase : public VehicleApiBase {
     virtual void commandPosition(float x, float y, float z, const YawMode& yaw_mode) = 0;
 
     /************************* set Controller Gains APIs *********************************/
-    virtual void setControllerGains(uint8_t controllerType, const vector<float>& kp, const vector<float>& ki, const vector<float>& kd) { }
+    virtual void setControllerGains(uint8_t controllerType, const vector<float>& kp, const vector<float>& ki, const vector<float>& kd) = 0;
 
     /************************* State APIs *********************************/
     virtual Kinematics::State getKinematicsEstimated() const = 0;

diff --git a/AirLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/arducopter/ArduCopterApi.hpp
@@ -180,6 +180,15 @@ class ArduCopterApi : public MultirotorApiBase {
         return 0.5f;    //measured in simulator by firing commands "MoveToLocation -x 0 -y 0" multiple times and looking at distance traveled
     }
 
+    virtual void setControllerGains(uint8_t controllerType, const vector<float>& kp, const vector<float>& ki, const vector<float>& kd) override
+    {
+        unused(controllerType);
+        unused(kp);
+        unused(ki);
+        unused(kd);
+        Utils::log("Not Implemented: setControllerGains", Utils::kLogLevelInfo);
+    }
+
     virtual void commandRollPitchYawrateThrottle(float roll, float pitch, float yaw_rate, float throttle) override
     {
         unused(roll);

diff --git a/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp b/AirLib/include/vehicles/multirotor/firmwares/mavlink/MavLinkMultirotorApi.hpp
@@ -473,6 +473,15 @@ class MavLinkMultirotorApi : public MultirotorApiBase
     }
 
 protected: //methods
+    virtual void setControllerGains(uint8_t controllerType, const vector<float>& kp, const vector<float>& ki, const vector<float>& kd) override
+    {
+        unused(controllerType);
+        unused(kp);
+        unused(ki);
+        unused(kd);
+        Utils::log("Not Implemented: setControllerGains", Utils::kLogLevelInfo);
+    }
+
     virtual void commandRollPitchYawZ(float roll, float pitch, float yaw, float z) override
     {
         if (target_height_ != -z) {